CN114435828A - Goods storage method and device, carrying equipment and storage medium - Google Patents
Goods storage method and device, carrying equipment and storage medium Download PDFInfo
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- CN114435828A CN114435828A CN202111661052.XA CN202111661052A CN114435828A CN 114435828 A CN114435828 A CN 114435828A CN 202111661052 A CN202111661052 A CN 202111661052A CN 114435828 A CN114435828 A CN 114435828A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/22—Matching criteria, e.g. proximity measures
Abstract
The invention discloses a goods storage method, a device, electronic equipment and a storage medium, wherein the goods storage method comprises the steps of obtaining image information of goods on carrying equipment, and weighing the goods to determine weight information of the goods; determining an image target frame corresponding to the goods according to the image information, and identifying a corresponding target shelf according to the weight information and the image target frame; estimating the storage area of the target shelf to determine an estimation result; and storing the goods according to a preset storage rule according to the estimation result. Therefore, the carrying robot can accurately identify and store goods, the goods are stored more accurately, and the logistics storage efficiency is improved.
Description
Technical Field
The invention relates to the technical field of transfer robots, in particular to a goods storage method, a device, transfer equipment and a storage medium.
Background
At present, with the rapid development of the intelligent unmanned logistics industry, in order to reduce the labor burden, the intelligent carrying robot is brought into the logistics industry, the automation degree of the intelligent carrying robot is improved to become the call of mass logistics practitioners, and the traditional manpower mode is gradually replaced, while the existing intelligent carrying robot basically realizes most functions which can be realized by manpower, such as robot movement, robot grabbing and robot image recognition, so that the existing logistics efficiency is greatly improved; however, in the process of moving and storing goods, the carrying robot identifies and stores goods with insufficient accuracy, cannot store goods efficiently and accurately, and is difficult to improve the efficiency of logistics storage.
Disclosure of Invention
In a first aspect, a primary object of the present invention is to provide an article storage method including:
acquiring image information of goods on a carrying device, and weighing the goods to determine weight information of the goods;
determining an image target frame corresponding to the goods according to the image information, and identifying a corresponding target shelf according to the weight information and the image target frame;
estimating the storage area of the target shelf to determine an estimation result;
and storing the goods according to a preset storage rule according to the estimation result.
Optionally, the determining an image target frame corresponding to the goods according to the image information, and screening out a corresponding target shelf according to the weight information and the image target frame includes:
the carrying equipment respectively determines two farthest distance points in a first direction and two farthest distance points in a second direction through the image information; wherein the first direction and the second direction are perpendicular to each other;
generating the corresponding image target frame according to the two farthest distance points in the first direction and the two farthest distance points in the second direction;
and matching the weight information and the image target frame with a plurality of shelves, and determining the shelf successfully matched as the target shelf.
Optionally, the generating the corresponding image target frame according to the two farthest distance points in the first direction and the two farthest distance points in the second direction includes:
generating corresponding first extension lines according to the two farthest distance points in the first direction, and generating corresponding second extension lines according to the two farthest distance points in the second direction;
determining four intersection coordinate values between the first extension line and the second extension line according to the first extension line and the second extension line;
and determining the enclosing range between the four intersection point coordinate values as the image target frame.
Optionally, the target shelf comprises a plurality of storage areas; the estimating the storage area of the target shelf to determine the estimation result comprises:
identifying the target shelf to determine an identification frame corresponding to each storage area;
and determining an estimated result of the target shelf according to the relation between the image target frame and the identification frame.
Optionally, the identifying the target shelf to determine the identification frame corresponding to each storage area includes:
the carrying equipment acquires image information of a plurality of storage areas;
performing edge detection on the image information of the storage area according to the image information of the storage area to determine a goods detection frame and an area detection frame of the storage area;
determining an overlapping portion and a non-overlapping portion between the item detection frame and the area detection frame;
and screening out the overlapped part, and taking the non-overlapped part as an identification frame corresponding to the storage area.
Optionally, the determining the estimation result of the target shelf according to the relationship between the image target frame and the identification frame includes:
comparing the sizes of the image target frame and the identification frame, and judging whether the identification frame is larger than the image target frame;
when the identification frame is larger than the image target frame, determining that the storage area is in an idle state;
and when the identification frame is smaller than the image target frame, determining that the storage area is in a storage state.
Optionally, the storing the goods according to the pre-estimated result and the preset storage rule includes:
selecting the storage area with the estimation result in an idle state as a candidate storage area in the storage area of the target shelf;
selecting one candidate storage area to perform label identification so as to determine the current bearing information of the candidate storage area;
judging whether the current bearing information is smaller than the weight information or not;
when the current bearing information is smaller than the weight information, repeating the operation of tag identification on other candidate storage areas on the target shelf until the candidate storage area with the current bearing information larger than or equal to the weight information is determined as the target storage area, and storing the goods to the target storage area by the carrying equipment.
In a second aspect, an embodiment of the present invention provides an article storage device, including:
the system comprises an acquisition module, a storage module and a control module, wherein the acquisition module is used for acquiring the image information of goods on the carrying equipment and weighing the goods to determine the weight information of the goods;
the first determining module is used for determining an image target frame corresponding to the goods according to the image information and identifying a corresponding target shelf according to the weight information and the image target frame;
the estimation module is used for estimating the storage area of the target shelf to determine an estimation result;
and the second determining module is used for storing the goods according to the estimation result and the preset storage rule.
In a third aspect, an embodiment of the present invention provides a carrying apparatus, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the article storage method as described above.
In a fourth aspect, the present invention provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program realizes the steps of the goods storage method as described above.
The scheme of the invention at least comprises the following beneficial effects:
the goods storage method provided by the invention can acquire the image information of the goods on the carrying equipment, and weigh the goods to determine the weight information of the goods; then determining an image target frame corresponding to the goods according to the image information, and identifying a corresponding target shelf according to the weight information and the image target frame; determining an estimation result by estimating the storage area of the target shelf; and finally, storing the goods according to the pre-estimated result and the preset storage rule. Therefore, the carrying robot can accurately identify and store goods, the goods are stored more accurately, and the logistics storage efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is an overall flow diagram of a method for storing goods according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of an article storage method according to an embodiment of the present invention;
fig. 3 is a schematic flowchart of step S30 according to an embodiment of the present invention;
fig. 4 is a schematic flowchart of step S40 according to an embodiment of the present invention;
fig. 5 is another schematic flow chart of the goods storage method according to the embodiment of the present invention;
fig. 6 is another schematic flow chart of step S40 according to the embodiment of the present invention;
fig. 7 is another schematic flow chart of step S30 according to the embodiment of the present invention;
FIG. 8 is a block diagram of an article storage device provided by an embodiment of the present invention;
fig. 9 is a block diagram of a conveying apparatus according to an embodiment of the present invention.
The implementation, functional features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.
The terms "first," "second," and "third," etc. in the description and claims of the present invention and the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "comprises" and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
The following embodiments of the present application will be described by way of example with reference to the accompanying drawings.
As shown in fig. 1, an embodiment of the present invention provides an article storage method, including:
s10, image information of the goods on the carrier device is acquired, and the goods are weighed to determine weight information of the goods.
In this embodiment, the transfer equipment can be the transfer robot who has camera, arm and weighing sensor, and the transfer robot can realize that the goods removes, the goods is snatched and is lifted, the goods is weighed, goods image recognition and goods shelves discernment match the function such as, and of course, the transfer robot can carry out the interaction through thing networking and control platform to receive or send information etc.. The transfer robot may be a mechanical electronic device having an autonomous calculation capability and an execution capability, or may be a combination of a terminal device having a control capability and a mechanical mechanism; it is understood that the transporting device may transport the goods from the initial transporting location to the goods shelf location during the transporting process, and the route of the transporting device may be preset, for example, the initial transporting location is the unloading area, and the goods shelf location is the storage area; the carrying equipment can carry out image information identification on the goods after grabbing the goods, and also can shoot image information and transmit the image information to the control platform for identification; the image information may be in jpg format, PNG format, or the like.
When the carrying equipment acquires the image information of the goods, the cameras on the carrying equipment can be adopted to shoot the goods so as to determine the image information of the goods, and the goods can be weighed through the weighing sensor so as to obtain the weight information of the goods; from this, store the goods through the image information and the weight information of goods, can accurately discern the goods shelves that the goods should be stored for goods can accurately be saved to the goods shelves that correspond, promote the efficiency of storage.
And S20, determining the image target frame corresponding to the goods according to the image information, and identifying the corresponding target shelf according to the weight information and the image target frame.
In this embodiment, the image information includes contour feature information of the goods, and the contour feature information of the goods may be identified and detected by using a target detection algorithm to determine the image target frame, for example, the YOLO target detection algorithm may be used for identification, and certainly, other target detection algorithms may also be used for identifying the goods.
It can be understood that, because the goods have irregular shape structures, after the image target frame of the goods is identified, whether the target shelf is matched with the goods can be determined through the image target frame; when the target goods shelf is determined, the carrying equipment can firstly search the corresponding goods shelf in the storage area according to the weight information of the goods, then screen out the matched target goods shelf in the goods shelf, and then move and store the goods onto the target goods shelf through the mechanical arm.
In an optional embodiment, the determining the image target frame corresponding to the goods according to the image information, and screening out the corresponding target shelf according to the weight information and the image target frame includes:
s21, the carrying equipment respectively determines two farthest points in the first direction and two farthest points in the second direction through the image information; wherein the first direction and the second direction are perpendicular to each other;
s22, generating a corresponding image target frame according to the two farthest distance points in the first direction and the two farthest distance points in the second direction;
and S23, matching the weight information and the image target frame with a plurality of shelves, and determining the shelf successfully matched as the target shelf.
The first direction may be a horizontal direction, the second direction may be a vertical direction, the farthest point represents two points of the goods which are farthest away in the first direction and the second direction, the image target frame with the largest goods may be determined by the farthest point in the first direction and the farthest point in the second direction, and the target shelf may be screened from the multiple shelves by the image target frame, so that the target shelf may be determined, for example, for some household appliances, when in logistics transportation, a wood shelf needs to be added outside, and therefore, a wood shelf structure which is added outside needs to be identified, so as to determine the image target frame of the wood shelf; optionally, each goods shelf can be provided with a corresponding electronic tag, the carrying equipment can determine whether the goods shelf is matched with the weight information of the goods through the electronic tag, and when the weight information and the image detection frame are successfully matched with the goods shelf, the goods shelf can be determined to be the target goods shelf so as to ensure that the carrying equipment can more accurately determine the goods shelf capable of storing the corresponding goods.
Further, the generating a corresponding image target frame according to the two farthest distance points in the first direction and the two farthest distance points in the second direction includes:
s221, generating corresponding first extension lines according to two farthest distance points in a first direction, and generating corresponding second extension lines according to two farthest distance points in a second direction;
s222, determining four intersection coordinate values between the first extension line and the second extension line according to the first extension line and the second extension line;
and S223, determining the enclosing range among the coordinate values of the four intersection points as an image target frame.
When the image target frame is generated, the first extension line and the second extension line can be two, the two first extension lines can extend along the second direction, the two second extension lines can extend along the first direction, and four intersection points are formed by the first extension line and the second extension line, so that coordinate values of the four intersection points on the image can be determined, and a closure range of the coordinate values of the four intersection points can be determined as a closure range of the image target frame; for example, the coordinate values of the two farthest points in the first direction are (5, 0), (5, 5), and the coordinate values of the two farthest points in the second direction are (0, 2.5), (10, 2.5), respectively, after the intersection is extended by the first extension line and the second extension line, the coordinate values of the four intersection points of the target detection frame can be determined to be (0, 0), (0, 5), (10, 0), (10, 5), respectively, so that the image target frame can be determined, and the matched target shelf can be determined by the image target frame.
And S30, estimating the storage area of the target shelf to determine an estimation result.
In this embodiment, the target shelf includes a plurality of storage areas, the storage areas may be sequentially arranged from top to bottom, and the bearing weight of the storage areas may be gradually increased from top to bottom, when the storage areas of the target shelf are estimated, the carrying device may collect image information of the target shelf through the camera, and identify each storage area in the target shelf, so as to determine whether the corresponding storage area can store the goods, when the goods can be stored, the carrying device may store the goods onto the storage area, and when the goods cannot be stored, the next storage area may be identified; of course, a plurality of storage areas can be identified at the same time, so as to improve the identification efficiency of each storage area.
Specifically, the estimating the storage area of the target shelf to determine the estimation result includes:
s31, identifying the target shelf to determine an identification frame corresponding to each storage area;
and S32, determining the estimated result of the target shelf according to the relation between the image target frame and the identification frame.
When the identification frame corresponding to each storage area is determined, the target shelf can be identified and detected by adopting a target detection algorithm, for example, the above YOLO target detection algorithm, the target shelf is provided with a plurality of storage areas, each storage area can store goods with different weights, and the relationship between the image target frame and the identification frame can be determined by identifying the identification frame of each storage area on the target shelf; the relationship between the image target frame and the identification frame may be a storable state when the image target frame is smaller than the identification frame, or an unstorable state when the image target frame is larger than the identification frame, so that the storage area corresponding to the good may be accurately selected.
Further, the identifying the target shelf to determine the identification frame corresponding to each storage area includes:
s311, the carrying equipment collects image information of a plurality of storage areas;
s312, performing edge detection on the image information of the storage area according to the image information of the storage area to determine a goods detection frame and an area detection frame of the storage area;
s313, determining the overlapped part and the non-overlapped part between the goods detection frame and the area detection frame;
and S314, screening out the overlapped part, and taking the non-overlapped part as an identification frame corresponding to the storage area.
In this embodiment, the carrying device may simultaneously capture and detect image information corresponding to a plurality of storage areas through the camera, and when performing a detection operation of an identification frame on a storage area, a pre-trained model may be used to perform feature extraction on the image information of a target shelf, and then determine a goods detection frame in which goods are stored in each storage area and an area detection frame of the whole storage area, and since the goods detection frame and the area detection frame may generate an overlapping portion, it is necessary to screen out the overlapping portion between the goods detection frame and the area detection frame, and keep a non-overlapping portion as the identification frame of the storage area; for example, A, B storage areas are provided on the target shelf, the A, B storage areas are respectively provided with storage areas of a boxes and B boxes, when the A, B storage areas are identified and detected by the conveying equipment, the a boxes and the B boxes of the A, B storage areas and the A area detection frames and the B area detection frames of the A, B storage areas can be identified and detected at the same time, because the overlapping parts of the goods detection frames of the a boxes and the A area detection frames can be screened out, the non-overlapping parts of the A area detection frames are used as the identification frames of the A storage areas, and the overlapping parts of the goods detection frames of the B boxes and the B area detection frames can be screened out, the non-overlapping parts of the B area detection frames are used as the identification frames of the B storage areas.
Optionally, the determining the estimation result of the target shelf according to the relationship between the image target frame and the recognition frame includes:
s321, comparing the sizes of the image target frame and the identification frame, and judging whether the identification frame is larger than the target frame;
s322, when the identification frame is larger than the image target frame, determining that the storage area is in an idle state;
and S323, when the identification frame is smaller than the image target frame, determining the storage area to be in a storage state.
In this embodiment, after the image target frame is determined by the carrying device, the size of the image target frame can be determined by four coordinate values of the image target frame, after the identification frame is determined, the size of the identification frame can be determined by four coordinate values corresponding to the identification frame, whether the identification frame is larger than the target frame is determined by comparing the size of the image target frame with the size of the identification frame, when the identification frame is larger than the target frame, it indicates that the storage area can store corresponding goods, when the identification frame is smaller than the target frame, it indicates that the storage area cannot store the corresponding goods, and then the carrying device can repeat the identification operation on each storage area; of course, if all the storage areas of the target shelf cannot store the corresponding goods, the transporting device may repeat the above-mentioned step of screening the target shelf, so as to determine the corresponding target shelf again for storing the goods.
And S40, storing the goods according to the pre-set storage rule according to the estimation result.
In this embodiment, the estimation result includes that the storage area is in an idle state or the storage area is in a storage state; the preset storage rule indicates that when the bearing weight corresponding to the storage area determined by the carrying equipment is larger than the weight information of the goods, the goods are stored in the corresponding storage area, and when the bearing weight corresponding to the storage area determined by the carrying equipment is smaller than the weight information of the goods, other storage areas can be selected to store the goods; that is to say, when the carrying device determines that the space of the storage area can store the corresponding goods, whether the goods are stored in the storage area can be judged according to the preset storage rule; optionally, before determining the state of the storage area, the handling device may also determine whether the bearing weight of the storage area is greater than the weight information of the goods; for example, the target shelf comprises C, D, E, F four storage areas from bottom to top, the weight of the storage area C is 200 kg, the weight of the storage area D is 150 kg, the weight of the storage area E is 100 kg, and the weight of the storage area F is 80 kg, when the weight of an article is 100 kg, it can be determined that the storage areas C, D and E can store the article, so that the storage areas with matched bearing weights can be determined first, and the comparison between the image target frame and the identification frame is performed on each storage area to determine the most suitable storage area to store the article.
Optionally, the storing the goods according to the pre-estimated result and the preset storage rule includes:
s41, selecting a storage area with an estimation result of idle state as a candidate storage area in the storage area of the target shelf;
s42, selecting a candidate storage area for label identification to determine the current bearing information of the candidate storage area;
s43, judging whether the current bearing information is less than the weight information;
and S44, when the current bearing information is smaller than the weight information, repeating the operation of performing label identification on other candidate storage areas on the target shelf until the candidate storage area with the current bearing information larger than or equal to the weight information is determined as the target storage area, and storing the goods into the target storage area by the carrying equipment.
In this embodiment, the tag identification indicates that each storage area has a corresponding electronic tag, and the handling device can identify through the electronic tag to determine the current bearing information of each candidate storage area; the current bearing information can be updated after goods are stored each time, so that the electronic tag can perform information interaction with the carrying equipment or the control platform, and update the current bearing information of the candidate storage area in time, and further the carrying equipment can determine whether the candidate storage area can bear the weight of the corresponding goods within the current time when goods are stored subsequently; it can be understood that when the current bearing information is less than the weight information of the goods, the carrying device may repeatedly perform tag identification on other candidate storage areas on the target shelf to determine a target storage area greater than or equal to the weight information of the goods; as above, haulage equipment can determine the target storage area of goods according to every candidate storage area's current bearing information earlier, then determines the identification frame in target storage area again to make the weight information and the volume information of goods all can match successfully with target storage area, and then make haulage equipment can accurately deposit goods to the target storage area that corresponds, and the degree of accuracy is higher, promotes haulage equipment to the storage efficiency of goods.
The goods storage method provided by the invention can acquire the image information of the goods on the carrying equipment, and weigh the goods to determine the weight information of the goods; then determining an image target frame corresponding to the goods according to the image information, and identifying a corresponding target shelf according to the weight information and the image target frame; determining an estimation result by estimating a storage area of a target shelf; and finally, storing the goods according to the preset storage rule according to the estimation result. Therefore, the carrying robot can accurately identify and store goods, the goods are stored more accurately, and the logistics storage efficiency is improved.
In a second aspect, an embodiment of the present invention provides an article storage device 10, including:
the acquiring module 11 is configured to acquire image information of the goods based on the transporting device, and weigh the goods to determine weight information of the goods;
the first determining module 12 is configured to determine an image target frame corresponding to the goods according to the image information, and identify a corresponding target shelf according to the weight information and the image target frame;
the estimation module 13 is used for estimating the storage area of the target shelf to determine an estimation result;
and the second determining module 14 is used for storing the goods according to the estimated result and the preset storage rule.
The goods storage device provided by the invention can acquire the image information of goods on the carrying equipment and weigh the goods to determine the weight information of the goods; then determining an image target frame corresponding to the goods according to the image information, and identifying a corresponding target shelf according to the weight information and the image target frame; determining an estimation result by estimating a storage area of a target shelf; and finally, storing the goods according to the preset storage rule according to the estimation result. Therefore, the carrying robot can accurately identify and store goods, the goods are stored more accurately, and the logistics storage efficiency is improved.
It should be noted that the article storage device 10 provided in the embodiment of the present invention is a device corresponding to the article storage method, all embodiments of the article storage method are applicable to the article storage device 10, and corresponding modules in the embodiments of the article storage device 10 correspond to the steps in the article storage method, so that the same or similar beneficial effects can be achieved, and in order to avoid too many repetitions, each module in the article storage device 2 is not described in detail herein.
As shown in fig. 9, the embodiment of the present invention further provides a handling apparatus 20, which includes a memory 202, a processor 201, and a computer program stored in the memory 202 and operable on the processor 201, wherein the processor 201 implements the steps of the article storage method described above when executing the computer program.
Specifically, the processor 201 is configured to call the computer program stored in the memory 202, and execute the following steps:
acquiring image information of goods on the carrying equipment, and weighing the goods to determine weight information of the goods;
determining an image target frame corresponding to the goods according to the image information, and identifying a corresponding target shelf according to the weight information and the image target frame;
estimating a storage area of a target shelf to determine an estimation result;
and storing the goods according to the pre-estimated result and the preset storage rule.
Optionally, the determining, by the processor 201, the image target frame corresponding to the goods according to the image information, and screening out the corresponding target shelf according to the weight information and the image target frame includes:
the carrying equipment respectively determines two farthest distance points in the first direction and two farthest distance points in the second direction through the image information; wherein the first direction and the second direction are perpendicular to each other;
generating a corresponding image target frame according to the two farthest distance points in the first direction and the two farthest distance points in the second direction;
and matching the weight information and the image target frame with a plurality of shelves, and determining the shelf successfully matched as the target shelf.
Optionally, the generating, by the processor 201, a corresponding image target frame according to the two farthest distance points in the first direction and the two farthest distance points in the second direction includes:
generating corresponding first extension lines according to the two farthest distance points in the first direction, and generating corresponding second extension lines according to the two farthest distance points in the second direction;
determining four intersection coordinate values between the first extension line and the second extension line according to the first extension line and the second extension line;
and determining the enclosing range between the coordinate values of the four intersection points as an image target frame.
Optionally, the target shelf comprises a plurality of storage areas; the processor 201 performs the estimation on the storage area of the target shelf to determine the estimation result includes:
identifying the target shelf to determine an identification frame corresponding to each storage area;
and determining an estimated result of the target shelf according to the relation between the image target frame and the identification frame.
Optionally, the identifying the target shelf performed by the processor 201 to determine the identification frame corresponding to each storage area includes:
the carrying equipment collects image information of a plurality of storage areas;
performing edge detection on the image information of the storage area according to the image information of the storage area to determine a goods detection frame and an area detection frame of the storage area;
determining an overlapping portion and a non-overlapping portion between the goods detection frame and the area detection frame;
and screening out the overlapped part, and taking the non-overlapped part as an identification frame corresponding to the storage area.
Optionally, the determining, by the processor 201, an estimated result of the target shelf according to the relationship between the image target frame and the recognition frame includes:
comparing the sizes of the image target frame and the identification frame, and judging whether the identification frame is larger than the image target frame;
when the identification frame is larger than the image target frame, determining that the storage area is in an idle state;
and when the identification frame is smaller than the image target frame, determining the storage area to be in a storage state.
Optionally, the processor 201 stores the goods according to the preset storage rule according to the estimation result, including:
selecting a storage area with an estimation result in an idle state as a candidate storage area in the storage area of the target shelf;
selecting a candidate storage area for tag identification to determine the current bearing information of the candidate storage area;
judging whether the current bearing information is less than the weight information;
when the current bearing information is smaller than the weight information, the operation of label identification is repeatedly executed on other candidate storage areas on the target shelf until the candidate storage area with the current bearing information larger than or equal to the weight information is determined to be used as the target storage area, and the carrying equipment stores goods to the target storage area.
That is, in the embodiment of the present invention, the processor 201 of the transfer device 20 executes the computer program to implement the steps of the above-described goods storage method, thereby enabling the transfer robot to accurately identify and store the goods, and improving the efficiency of physical distribution storage.
It should be noted that all the embodiments of the article storage method described above are applicable to the carrier device 20 and can achieve the same or similar beneficial effects, because the processor 201 of the carrier device 20 executes the computer program to implement the steps of the article storage method described above.
The computer-readable storage medium provided in the embodiments of the present invention stores a computer program thereon, and when the computer program is executed by a processor, the computer program implements each process of the goods storage method or the application-side goods storage method provided in the embodiments of the present invention, and can achieve the same technical effect, and is not described herein again to avoid repetition.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method of storing goods, comprising:
acquiring image information of goods on a carrying device, and weighing the goods to determine weight information of the goods;
determining an image target frame corresponding to the goods according to the image information, and identifying a corresponding target shelf according to the weight information and the image target frame;
estimating the storage area of the target shelf to determine an estimation result;
and storing the goods according to a preset storage rule according to the estimation result.
2. The article storage method of claim 1, wherein the determining the image target frame corresponding to the article according to the image information and screening out the corresponding target shelf according to the weight information and the image target frame comprises:
the carrying equipment respectively determines two farthest distance points in a first direction and two farthest distance points in a second direction through the image information; wherein the first direction and the second direction are perpendicular to each other;
generating the corresponding image target frame according to the farthest distance point in the first direction and the two farthest distance points in the second direction;
and matching the weight information and the image target frame with a plurality of shelves, and determining the shelf successfully matched as the target shelf.
3. The item storage method according to claim 2, wherein the generating the corresponding image target frames from the two farthest distance points in the first direction and the two farthest distance points in the second direction includes:
generating corresponding first extension lines according to the two farthest distance points in the first direction, and generating corresponding second extension lines according to the two farthest distance points in the second direction;
determining four intersection coordinate values between the first extension line and the second extension line according to the first extension line and the second extension line;
and determining the enclosing range between the four intersection point coordinate values as the image target frame.
4. The article storage method according to claim 1, wherein the target shelf includes a plurality of storage areas; the estimating the storage area of the target shelf to determine the estimation result comprises:
identifying the target shelf to determine an identification frame corresponding to each storage area;
and determining an estimated result of the target shelf according to the relation between the image target frame and the identification frame.
5. The item storage method according to claim 4, wherein the identifying the target shelf to determine the identification frame corresponding to each storage area comprises:
the carrying equipment acquires image information of a plurality of storage areas;
performing edge detection on the image information of the storage area according to the image information of the storage area to determine a goods detection frame and an area detection frame of the storage area;
determining an overlapping portion and a non-overlapping portion between the item detection frame and the area detection frame;
and screening out the overlapped part, and taking the non-overlapped part as an identification frame corresponding to the storage area.
6. The item storage method of claim 4, wherein determining the estimated result of the target shelf based on the relationship between the image target frame and the identification frame comprises:
comparing the sizes of the image target frame and the identification frame, and judging whether the identification frame is larger than the image target frame;
when the identification frame is larger than the image target frame, determining that the storage area is in an idle state;
and when the identification frame is smaller than the image target frame, determining that the storage area is in a storage state.
7. The goods storage method according to claim 4, wherein the storing the goods according to the estimation result and the preset storage rule comprises the following steps:
selecting the storage area with the estimation result in an idle state as a candidate storage area in the storage area of the target shelf;
selecting one candidate storage area to perform label identification so as to determine the current bearing information of the candidate storage area;
judging whether the current bearing information is smaller than the weight information or not;
when the current bearing information is smaller than the weight information, the operation of tag identification is repeatedly executed on other candidate storage areas on the target shelf until the current bearing information is larger than or equal to the weight information candidate storage area as a target storage area, and the carrying equipment stores the goods to the target storage area.
8. An article storage device, comprising:
the system comprises an acquisition module, a storage module and a control module, wherein the acquisition module is used for acquiring the image information of goods on the carrying equipment and weighing the goods to determine the weight information of the goods;
the first determining module is used for determining an image target frame corresponding to the goods according to the image information and identifying a corresponding target shelf according to the weight information and the image target frame;
the estimation module is used for estimating the storage area of the target shelf to determine an estimation result;
and the second determining module is used for storing the goods according to the estimation result and the preset storage rule.
9. A handling device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor when executing the computer program carries out the steps of the item storage method according to any one of claims 1 to 7.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the item storage method according to any one of claims 1 to 7.
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