WO2019201228A1 - 位置测量方法和位置测量装置 - Google Patents

位置测量方法和位置测量装置 Download PDF

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Publication number
WO2019201228A1
WO2019201228A1 PCT/CN2019/082812 CN2019082812W WO2019201228A1 WO 2019201228 A1 WO2019201228 A1 WO 2019201228A1 CN 2019082812 W CN2019082812 W CN 2019082812W WO 2019201228 A1 WO2019201228 A1 WO 2019201228A1
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WIPO (PCT)
Prior art keywords
pose data
target object
designated area
map
data
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PCT/CN2019/082812
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English (en)
French (fr)
Inventor
金绍港
王勇
彭安斋
刘胡笳
伍科宇
高扬
Original Assignee
菜鸟智能物流控股有限公司
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Application filed by 菜鸟智能物流控股有限公司 filed Critical 菜鸟智能物流控股有限公司
Publication of WO2019201228A1 publication Critical patent/WO2019201228A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation

Definitions

  • the present invention relates to the field of logistics, and more particularly to a position measuring method and a position measuring device for measuring a position of a target object in a designated area.
  • each order usually contains multiple items when the consumer places an order on the trading platform, the picker (or picking device) needs to pick the goods on different shelves during the delivery phase. Often, the picker is unfamiliar with the shelf location where the item is located and needs to travel an unnecessary distance to pick the item.
  • a target object e.g., a shelf
  • a designated area e.g., a warehouse
  • a patent application with the application number CN201410253486 proposes a method in which a CAD drawing database can be associated and the information in the database is indexed to determine the position of the shelf.
  • CAD drawings cannot be updated in real time. If a certain shelf is displaced, the drawings need to be modified to change the shelf information, which causes inconvenience.
  • the coordinates of the shelf cannot be directly obtained from the CAD drawings. Grab the coordinate information and dump it to save and compare the position of the shelf.
  • an embodiment of the present invention provides a position measurement method to solve the problems of the prior art.
  • an embodiment of the present application discloses a location measurement method for measuring a location of a target object in a designated area, where the method includes:
  • the walking device When the walking device detects that the target object exists in the designated area at the current position, determining the first pose data corresponding to the track point where the current position of the walking device is located;
  • a position measuring apparatus including:
  • a map generating module configured to generate a map of the designated area according to the walking trajectory of the walking device in the designated area, where the map includes a plurality of track points, each track point corresponding to one pose data;
  • a first pose data determining module configured to determine first pose data corresponding to a track point where the current position of the walking device is located when the walking device detects that a target object exists in the designated area at the current position;
  • a second pose data determining module configured to determine second pose data of the target object relative to the walking device
  • a target object position determining module configured to determine a position of the target object in the designated area by using the first pose data and the second pose data.
  • An embodiment of the present application further discloses an electronic device, including:
  • One or more processors are One or more processors.
  • One or more machine-readable media having stored thereon instructions that, when executed by the one or more processors, cause the electronic device to perform the methods described above.
  • An embodiment of the present application also discloses one or more machine readable medium having stored thereon instructions that, when executed by one or more processors, cause an electronic device to perform the methods described above.
  • the map of the designated area may be drawn according to the first pose data corresponding to the plurality of track points of the walking device, and when the target object is detected in the designated area, according to At this time, the first pose data corresponding to the track point where the walking device is located and the second pose data of the target object with respect to the traveling device calculate the position of the target object in the designated area.
  • the data acquired by the walking device can be used to draw the map and mark the position of the target object in the walking area, which avoids the inconvenient modification caused by the prior art using CAD to know the position of the target object, and cannot be directly from the drawing. Get the problem of the location of the target object.
  • the solution proposed by the invention can reduce the workload of the personnel and improve the accuracy of obtaining the position of the target object.
  • FIG. 1 is a schematic diagram showing a map generated by using a walking trajectory of a traveling device according to an embodiment of the present invention.
  • FIG. 2 is a flow chart of a position measuring method of the first embodiment of the present application.
  • FIG. 3 is a flow chart of a position measuring method of a second embodiment of the present application.
  • FIG. 4 is a flow chart showing the sub-steps included in the step of generating a map of a designated area in an embodiment of the present application.
  • FIG. 5 is a flowchart of sub-steps included in the step of acquiring a target object identification ID according to an embodiment of the present application.
  • Figure 6 is a block diagram of a position measuring device of a third embodiment of the present application.
  • Figure 7 is a block diagram of a position measuring device of a fourth embodiment of the present application.
  • Figure 8 is a schematic block diagram showing an electronic device for performing the method according to the present invention.
  • Fig. 9 schematically shows a storage unit for holding or carrying program code implementing the method according to the invention.
  • One of the core concepts of the present invention is to propose a position measuring method and a position measuring device for measuring the position of a target object (e.g., a shelf) in a designated area (e.g., a warehouse).
  • a target object e.g., a shelf
  • a designated area e.g., a warehouse
  • the traveling device to walk in a designated area
  • a map of the designated area can be measured, and the position of the target object in the designated area can be mapped according to the position of the target object with respect to the traveling device.
  • FIG. 1 is a schematic diagram showing a map generated by using a walking trajectory of a traveling device according to an embodiment of the present invention.
  • the traveling device 10 travels along a roadway in a designated area, such as an indoor area 20 of a warehouse in which a plurality of shelves 30 are placed.
  • the traveling device 10 travels in the indoor area 20, and the data acquired by the traveling device 10 is used to map the indoor area 20 (i.e., the outline 40 indicated by a broken line), and the shelf 30 can be identified and labeled.
  • the first embodiment of the present invention proposes a position measuring method.
  • Fig. 2 is a flow chart showing the steps of the position measuring method of the first embodiment of the present invention.
  • the location measurement method in the embodiment of the present invention includes the following steps:
  • S101 Generate a map of the designated area according to the walking trajectory of the walking device in the designated area, where the map includes a plurality of track points, and each track point corresponds to one pose data;
  • the designated area is, for example, a warehouse in which a plurality of shelves are placed.
  • a walking device e.g., a walking robot equipped with a data collecting device can walk in a designated area and transmit the data back to the execution subject to obtain a map of the designated area.
  • the execution subject is, for example, a server, a terminal computer, a control device, or the like.
  • the data acquisition device is, for example, a device such as a sensor, a laser radar, an IMU (Inertial Measurement Unit), or a camera. These data acquisition devices are attached or integrated on the walking device or become part of the walking device, walking along with the walking device and collecting data.
  • the sensor mileage data is, for example, the mileage data traveled by the sensor;
  • the lidar data is, for example, the distance data between the obstacles detected by the lidar at a specific point;
  • the IMU data is the object measured by the inertial measurement unit (IMU).
  • Triaxial attitude angle (or angular rate) and acceleration data Triaxial attitude angle (or angular rate) and acceleration data.
  • the executive body processes the obtained sensor odometer data, lidar data, IMU data, etc., and estimates the walking trajectory of the robot and generates a map of the warehouse.
  • the map may be a two-dimensional map, that is, a map including length information, width information but not height information, or a three-dimensional map, that is, a map including length information, width information, and height information.
  • a pose data corresponding to each track point may be two-dimensional coordinates or position data of the track point with respect to the starting point, for example, may be represented by a coordinate form of (x, y); for example, the track point may be relative to
  • the position data and attitude data of the starting point can be obtained by using the aforementioned sensor odometer data, laser radar data, IMU data and the like, and can be recorded as
  • the walking device acquires its current position, that is, the corresponding track point of the walking device.
  • One position data Used for subsequent processing.
  • the target object is, for example, a shelf, and the shelf may include a sign or other indicia that can be detected and can be used to determine the position and/or posture, where the guide card is used as an example for illustration.
  • this step may use the camera of the walking device to capture the guide card or mark of the shelf, and calculate the guide card or the second pose data marked in the camera coordinate system by an algorithm. It is the second pose data of the shelf in the camera coordinate system.
  • the second pose data may include, for example, a position and a pose. Can be recorded as
  • the second pose data may also include only position data, that is, the second pose data may be position data of the shelf in the camera coordinate system, represented by (x, y).
  • the guide card or the mark on the target object is taken as an example for description.
  • the camera when there is no signboard on the shelf, when the walking device detects the presence of the shelf, the camera may be used to capture the outline of the shelf, or a part of the outline, and then calculate the contour or partial contour in the camera coordinate system by an algorithm.
  • the second pose data is the second pose data of the shelf in the camera coordinate system.
  • S104 Determine, by using the first pose data and the second pose data, a position of the target object in a designated area.
  • the first pose data of the walking device in the designated area has been obtained in step S102. And in step S103, the second pose data of the shelf in the camera coordinate system has been obtained. And there is a known conversion relationship between the camera coordinate system of the camera itself carried by the walking device and the coordinate system of the walking device in the designated area (recorded as After the above content is known, in step S104, the pose data of the target object (shelf) in the designated area can be calculated as That is, the coordinates of the shelf in the warehouse are obtained, that is, the position of the target object in the designated area.
  • the map of the designated area may be drawn according to the pose data corresponding to the plurality of track points of the walking device, and when the target object is detected in the designated area, according to the walking device at this time
  • the first pose data corresponding to the track point and the second pose data of the target object with respect to the traveling device calculate the position of the target object in the designated area.
  • the data acquired by the walking device can be used to draw the map and mark the position of the target object in the walking area, thereby avoiding the inconvenient modification caused by the prior art that the CAD drawing is necessary to obtain the position of the target object, from the drawing.
  • the problem of the position of the target object cannot be directly obtained.
  • the solution proposed by the invention can reduce the workload of the personnel and improve the accuracy of obtaining the position of the target object.
  • FIG. 3 is a flow chart showing the steps of the position measuring method of the second embodiment of the present invention.
  • the position measurement method of the embodiment of the present invention is as follows:
  • S201 Generate a map of the designated area according to the walking trajectory of the walking device in the designated area, where the map includes a plurality of track points, and each track point corresponds to one pose data;
  • S205 Determine, by using the first pose data and the second pose data, a location of the target object in a designated area.
  • steps S201, S202, S204 and S205 are the same as or similar to the steps S101 to S104 of the previous embodiment, and are not described herein again. This embodiment focuses on the differences from the previous embodiment.
  • step S201 in the step of generating a map of the designated area according to the walking trajectory of the designated area, the pose data is the starting point of the trajectory point relative to the map Pose data.
  • the starting position of the walking device can be set as the starting point of the map to be drawn, and based on this starting point, the execution subject can calculate or acquire the coordinates of the plurality of track points in the walking track.
  • the starting point may be the position of the entrance of the designated area, or the position where the walking device often stops, such as the center point of the designated area where the distance from each shelf is relatively close, and the like. Setting the starting point makes it easy to draw the map later, and to determine the location of other track points in the specified area.
  • step S204 in the step of determining the second pose data of the target object relative to the walking device, the second pose data is the target object in the The pose data in the image taken by the walking device.
  • the second pose data may be pose data of the shelf photographed by the camera in the camera coordinate system, such as length, width, height, or vertex coordinates in the camera coordinate system.
  • the second pose data may also be data such as the distance of the shelf relative to the walking device detected by the sensor of the walking device, and thus may be based on the first pose data and the second in the subsequent step.
  • the pose data calculates the position of the target object in the specified area.
  • the step S205 that is, the step of determining the position of the target object in the designated area by using the first pose data and the second pose data may specifically include:
  • the pose data of the target object in the designated area is obtained by using the conversion relationship between the coordinate system in which the first pose data is located and the coordinate system in which the second pose data is located.
  • the conversion relationship between the coordinate system in which the first pose data is located and the coordinate system in which the second pose data is located It is known. Therefore, in this step, according to the first pose data of the walking device in the designated area Second pose data with the target object (shelf) in the camera coordinate system Calculate the pose data of the target object (shelf) in the specified area, That is, information such as the coordinates of the target object (shelf) in the warehouse is obtained.
  • the method may further include:
  • the location measurement method proposed by the present invention further includes the following steps:
  • Step S207 may be performed after the foregoing step S205 or step S206.
  • the execution subject does not need to know the specific identification ID of the target object, and thus may be directly on the map after acquiring the position of the target object in the designated area. Marking the target object on the other side; in other scenes, the execution subject needs to know the position of each target object in the specified area, so the identification ID can be marked at the same time as the target object is marked, thereby distinguishing multiple multiples within the specified area by using the identification ID. Target object.
  • the method further includes the following steps:
  • the execution subject may provide, for example, starting from the starting point.
  • Reasonable path planning can improve the picking efficiency of pickers.
  • the route of the picking personnel in the picking process can be optimally planned to improve the picking efficiency of the picking personnel.
  • FIG. 4 is a flowchart of steps included in step S201 of the location measurement method according to an embodiment of the present invention.
  • the step S201 is to generate a map of the designated area according to the walking trajectory of the traveling device in the designated area, which may include:
  • feature points of the position at which the traveling device passes can be extracted from a data acquisition device of the traveling device, such as a laser radar.
  • the extracted feature points may be a plurality of randomly extracted feature points, or may be all feature points, or feature points extracted according to a preset rule.
  • the extracted feature points can be subjected to point cloud matching processing to obtain matching point pose data.
  • the matching point pose data can be merged with the odometer data and/or the IMU data in the foregoing embodiment to obtain the corrected pose data.
  • the obtained matching point pose data may be corrected by other means, and/or optimized processing to obtain the corrected pose data.
  • the pose data of these matching points can be generated into a contour curve, thereby forming a target map of the designated area.
  • FIG. 5 is a flowchart of steps included in step S203 of the location measurement method according to an embodiment of the present invention.
  • the step S203 that is, the step of acquiring the identification ID of the target object may include the following sub-steps:
  • the outline of the guide card can be acquired, identified or checked, and the outline is determined.
  • the characters on the character can be divided into sub-steps S203b, and the cut characters are recognized in the sub-step S203c, thereby identifying each character and obtaining the recognition of the target object. ID.
  • the position measurement method proposed in this embodiment has at least the following advantages:
  • the map of the designated area may be drawn according to the pose data corresponding to the plurality of track points of the walking device, and when the target object exists in the designated area, according to the current location of the walking device
  • the first pose data of the track point and the second pose data of the target object relative to the traveling device calculate the position of the target object in the designated area.
  • the data acquired by the walking device can be used to draw the map and mark the position of the target object in the walking area, thereby avoiding the inconvenient modification caused by the prior art that the CAD drawing is necessary to obtain the position of the target object, from the drawing.
  • the problem of the position of the target object cannot be directly obtained.
  • the solution proposed by the invention can reduce the workload of the personnel and improve the accuracy of obtaining the position of the target object.
  • the solution of the present invention can be applied to the location of the surveying shelf within the warehouse.
  • the map of the warehouse may be drawn by using the trajectory of the walking device, and the first pose data corresponding to the plurality of track points may be respectively acquired, and when the shelf is detected, the guide of the warehouse is photographed by the camera of the walking device.
  • the identification ID of the shelf is identified, and the second pose data of the shelf relative to the camera, that is, the pose data of the shelf in the camera coordinate system, is calculated according to the captured content.
  • the pose data of the shelf in the warehouse is calculated, and You can mark the location of the shelf in the generated map.
  • the data acquired by the walking device can be used to draw the map and label the shelf at the same time, thereby avoiding the workload caused by directly measuring the position of the shelf in the prior art, and avoiding the prior art having to use CAD drawings to know.
  • the problem of the position of the shelf caused inconvenience to modify, the problem of the shelf position could not be directly obtained from the drawing.
  • the solution proposed by the invention can reduce the workload of the personnel and improve the accuracy of obtaining the position of the shelf.
  • the solution proposed by the present invention further includes the step of acquiring an identification ID of the target object, such as a shelf.
  • the identification ID can be obtained, for example, from a shelf card.
  • the identification ID is obtained by steps of recognizing contours, character segmentation, character recognition, and the like, and is associated with the position of the target object so that the plurality of target objects can be distinguished.
  • the solution proposed by the present invention further includes the step of planning the shortest walking path based on the position of the target object. For example, when it is desired to acquire an object on two shelves, a plurality of routes may be provided from the starting point to obtain an object through the two shelves and then return to the starting point. With the solution proposed by the present invention, the shortest path therein can be calculated, and the operation subject (such as an operator or an operation robot) can be instructed to operate, so that the route planning is more reasonable.
  • the operation subject such as an operator or an operation robot
  • a third embodiment of the present invention provides a position measuring device for measuring a position of a target object in a designated area. As shown in FIG. 6, the device includes:
  • a map generating module 301 configured to generate a map of the designated area according to the walking trajectory of the walking device in the designated area, where the map includes a plurality of track points, each track point corresponding to one pose data;
  • the first pose data determining module 302 is configured to: when the walking device detects that the target object exists in the designated area at the current position, determine the first pose data corresponding to the track point where the current position of the walking device is located;
  • a second pose data determining module 303 configured to determine second pose data of the target object relative to the walking device
  • the target object position determining module 304 is configured to determine the position of the target object in the designated area by using the first pose data and the second pose data.
  • the map of the designated area may be drawn according to the pose data corresponding to the plurality of track points of the walking device, and when the target object exists in the designated area, according to the current walking device
  • the first pose data of the track point and the second pose data of the target object relative to the traveling device calculate the position of the target object in the designated area.
  • the data acquired by the walking device can be used to draw the map and mark the position of the target object in the walking area, thereby avoiding the inconvenient modification caused by the prior art that the CAD drawing is necessary to obtain the position of the target object, from the drawing.
  • the problem of the position of the target object cannot be directly obtained.
  • the solution proposed by the invention can reduce the workload of the personnel and improve the accuracy of obtaining the position of the target object.
  • a fourth embodiment of the present invention provides a position measuring device for measuring a position of a target object in a designated area. As shown in FIG. 7, the device includes:
  • the map generating module 401 is configured to generate a map of the designated area according to the walking trajectory of the walking device in the designated area, where the map includes a plurality of track points, and each track point corresponds to one pose data;
  • the first pose data determining module 402 is configured to: when the walking device detects that the target object exists in the designated area at the current position, determine the first pose data corresponding to the track point where the current position of the walking device is located;
  • a second pose data determining module 404 configured to determine second pose data of the target object relative to the walking device
  • the target object position determining module 405 is configured to determine the position of the target object in the designated area by using the first pose data and the second pose data.
  • the first pose data is pose data of the track point relative to a starting point of the map.
  • the second pose data is pose data of the target object in an image captured by the walking device.
  • the target object location determining module 405 is configured to:
  • the pose relationship data of the target object in the designated area is obtained by using the conversion relationship between the coordinate system in which the first pose data is located and the coordinate system in which the second pose data is located.
  • the device further includes:
  • the association module 406 is configured to associate the pose data of the target object in the designated area with the identification ID of the target object.
  • the device further includes:
  • An annotation module 407 is configured to mark the target object in the map.
  • the map generation module 401 may include the following sub-modules:
  • a feature point data extraction sub-module configured to extract feature point data collected by the walking device
  • the matching point pose data acquisition sub-module is configured to process the extracted feature point data by using a point cloud matching algorithm to obtain matching point pose data;
  • a correction submodule configured to correct the position and posture data of the matching point, and obtain the corrected posture data
  • the target map generation sub-module is configured to generate a map by using the corrected matching point pose data.
  • the identification ID obtaining module 403 may include the following sub-modules:
  • a contour acquisition sub-module for obtaining a contour of the guide card
  • the identification sub-module is used to identify the segmented characters.
  • the device further includes:
  • the path planning module 408 is configured to determine a shortest walking path according to the pose data of the target object in the designated area.
  • the position measuring device proposed in this embodiment has at least the following advantages:
  • the map of the designated area may be drawn according to the pose data corresponding to the plurality of track points of the walking device, and when the target object exists in the designated area, according to the current walking device
  • the first pose data of the track point and the second pose data of the target object relative to the traveling device calculate the position of the target object in the designated area.
  • the data acquired by the walking device can be used to draw the map and mark the position of the target object in the walking area, thereby avoiding the inconvenient modification caused by the prior art that the CAD drawing is used to obtain the position of the target object, from the drawing.
  • the problem of the location of the target object cannot be obtained directly.
  • the solution proposed by the invention can reduce the workload of the personnel and improve the accuracy of obtaining the position of the target object.
  • the solution of the present invention can be applied to the location of the surveying shelf within the warehouse.
  • the map of the warehouse may be drawn by using the trajectory of the walking device and the first pose data corresponding to the plurality of track points may be acquired, and when the shelf is detected, the camera of the walking device is used to capture the guide card of the warehouse to identify The identification ID of the shelf is extracted, and the second pose data of the shelf relative to the camera, that is, the pose data of the shelf in the camera coordinate system, is calculated according to the captured content.
  • the pose data of the shelf in the warehouse is calculated, and The location of the shelf is marked in the generated map.
  • the data acquired by the walking device can be used to draw the map and label the shelf at the same time, thereby avoiding the workload caused by directly measuring the position of the shelf in the prior art, and avoiding the prior art having to use CAD drawings to know.
  • the problem of the position of the shelf caused inconvenience to modify, the problem of the shelf position could not be directly obtained from the drawing.
  • the solution proposed by the invention can reduce the workload of the personnel and improve the accuracy of obtaining the position of the shelf.
  • the solution proposed by the present invention further includes the step of acquiring an identification ID of the target object, such as a shelf.
  • the identification ID can be obtained, for example, from a shelf card.
  • the identification ID is obtained by steps of recognizing contours, character segmentation, character recognition, and the like, and is associated with the position of the target object so that the plurality of target objects can be distinguished.
  • the solution proposed by the present invention further includes the step of planning the shortest walking path based on the position of the target object. For example, when it is desired to acquire an object on two shelves, a plurality of routes may be provided from the starting point to obtain an object through the two shelves and then return to the starting point. With the solution proposed by the present invention, the shortest path therein can be calculated, and the operation subject (such as an operator or an operation robot) can be instructed to operate, so that the route planning is more reasonable.
  • the operation subject such as an operator or an operation robot
  • the description is relatively simple, and the relevant parts can be referred to the description of the method embodiment.
  • FIG. 8 is a schematic structural diagram of hardware of an electronic device according to an embodiment of the present disclosure.
  • the electronic device can include an input device 90, a processor 91, an output device 92, a memory 93, and at least one communication bus 94.
  • Communication bus 94 is used to implement a communication connection between components.
  • Memory 93 may include high speed RAM memory and may also include non-volatile memory NVM, such as at least one disk memory, in which various programs may be stored for performing various processing functions and implementing the method steps of the present embodiments.
  • the processor 91 may be, for example, a central processing unit (CPU), an application specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), and programmable logic.
  • CPU central processing unit
  • ASIC application specific integrated circuit
  • DSP digital signal processor
  • DSPD digital signal processing device
  • programmable logic A device (PLD), field programmable gate array (FPGA), controller, microcontroller, microprocessor or other electronic component is implemented that is coupled to the input device 90 and the output device 92 by a wired or wireless connection.
  • PLD field programmable gate array
  • controller microcontroller, microprocessor or other electronic component is implemented that is coupled to the input device 90 and the output device 92 by a wired or wireless connection.
  • the input device 90 may include multiple input devices, for example, at least one of a user-oriented user interface, a device-oriented device interface, a software programmable interface, a camera, and a sensor.
  • the device-oriented device interface may be a wired interface for data transmission between the device and the device, or may be a hardware insertion interface (for example, a USB interface, a serial port, etc.) for data transmission between the device and the device.
  • the user-oriented user interface may be, for example, a user-oriented control button, a voice input device for receiving voice input, and a touch-sensing device for receiving a user's touch input (eg, a touch screen with touch sensing function, touch
  • the programmable interface of the software may be, for example, an input for the user to edit or modify the program, such as an input pin interface or an input interface of the chip; optionally, the transceiver may have Radio frequency transceiver chip, baseband processing chip, and transceiver antenna for communication functions.
  • An audio input device such as a microphone can receive voice data.
  • Output device 92 can include output devices such as displays, stereos, and the like.
  • the processor of the electronic device includes functions for executing each module of the data processing device in each device.
  • the specific functions and technical effects may be referred to the foregoing embodiments, and details are not described herein again.
  • FIG. 9 is a schematic structural diagram of hardware of an electronic device according to another embodiment of the present disclosure.
  • Figure 9 is a specific embodiment of the implementation of Figure 8.
  • the electronic device of this embodiment includes a processor 101 and a memory 102.
  • the processor 101 executes the computer program code stored in the memory 102 to implement the position measuring method of FIGS. 2 to 5 in the above embodiment.
  • the memory 102 is configured to store various types of data to support operation at the electronic device. Examples of such data include instructions for any application or method operating on an electronic device, such as a message, picture, video, and the like.
  • the memory 102 may include a random access memory (RAM), and may also include a non-volatile memory such as at least one disk storage.
  • the processor 101 is disposed in the processing component 100.
  • the electronic device may also include a communication component 103, a power component 104, a multimedia component 105, an audio component 106, an input/output interface 107, and/or a sensor component 108.
  • the components and the like included in the electronic device are set according to actual requirements, which is not limited in this embodiment.
  • Processing component 100 typically controls the overall operation of the electronic device.
  • Processing component 100 may include one or more processors 101 to execute instructions to perform all or part of the steps of the methods of Figures 2 through 5 above.
  • processing component 100 can include one or more modules to facilitate interaction between component 100 and other components.
  • processing component 100 can include a multimedia module to facilitate interaction between multimedia component 105 and processing component 100.
  • Power component 104 provides power to various components of the electronic device.
  • Power component 104 can include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the electronic device.
  • the multimedia component 105 includes a display screen that provides an output interface between the electronic device and the user.
  • the display screen can include a liquid crystal display (LCD) and a touch panel (TP). If the display includes a touch panel, the display can be implemented as a touch screen to receive input signals from the user.
  • the touch panel includes one or more touch sensors to sense touches, slides, and gestures on the touch panel. The touch sensor may sense not only the boundary of the touch or sliding action, but also the duration and pressure associated with the touch or slide operation.
  • the audio component 106 is configured to output and/or input an audio signal.
  • the audio component 106 includes a microphone (MIC) that is configured to receive an external audio signal when the electronic device is in an operational mode, such as a voice recognition mode.
  • the received audio signal may be further stored in memory 102 or transmitted via communication component 103.
  • the audio component 106 also includes a speaker for outputting an audio signal.
  • the input/output interface 107 provides an interface between the processing component 100 and the peripheral interface module, which may be a click wheel, a button, or the like. These buttons may include, but are not limited to, a volume button, a start button, and a lock button.
  • Sensor assembly 108 includes one or more sensors for providing various aspects of state assessment for an electronic device.
  • sensor assembly 108 can detect an open/closed state of the electronic device, a relative positioning of the components, and the presence or absence of contact of the user with the electronic device.
  • the sensor assembly 108 can include a proximity sensor configured to detect the presence of nearby objects without any physical contact, including detecting the distance between the user and the electronic device.
  • the sensor assembly 108 can also include a camera or the like.
  • the communication component 103 is configured to facilitate wired or wireless communication between the electronic device and other devices.
  • the electronic device can access a wireless network based on a communication standard such as WiFi, 2G or 3G, or a combination thereof.
  • the electronic device may include a SIM card slot for inserting the SIM card, so that the electronic device can log in to the GPRS network to establish communication with the server through the Internet.
  • the communication component 103, the audio component 106, the input/output interface 107, and the sensor component 108 involved in the embodiment of FIG. 9 can be implemented as an input device in the embodiment of FIG.
  • An embodiment of the present application provides an electronic device, including: one or more processors; and one or more machine-readable media having instructions stored thereon, when executed by the one or more processors, The electronic device performs a position measurement method as described in one or more of the embodiments of the present application.

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Abstract

一种位置测量方法和位置测量装置，用于测量目标物体（30）在指定区域（20）的位置，方法包括：根据行走装置（10）在指定区域（20）的行走轨迹生成指定区域（20）的地图（40），该地图（40）包括多个轨迹点，每一个轨迹点对应一个位姿数据（S101，S201）；当行走装置（10）在当前位置检测到指定区域（20）存在目标物体（30）时，确定行走装置（10）当前位置所在的轨迹点对应的第一位姿数据（S102，S202）；确定目标物体（30）相对于行走装置（10）的第二位姿数据（S103，S204）；利用第一位姿数据和第二位姿数据确定目标物体（30）在指定区域（20）的位置（S104，S205）。位置测量装置包括：地图生成模块（301，401），第一位姿数据确定模块（302，402），第二位姿数据确定模块（303，404）和目标物体位置确定模块（304，405），该方法和装置可以减少人员的工作量，提高获取目标物体（30）的位置的准确性。

Description

位置测量方法和位置测量装置
本申请要求2018年04月17日递交的申请号为201810344883.6、发明名称为“位置测量方法和位置测量装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及物流领域，尤其涉及一种用于测量目标物体在指定区域内的位置的位置测量方法和位置测量装置。
背景技术
目前，随着网购的火爆，仓库每日的订单量巨大，为了能够尽早发货，提高客户的满意度，仓库需要采取各种措施提高发货效率。其中，提高拣货人员的拣货效率是一种有效的措施。
物流仓库中通常摆有许多货架，每个货架放有不同的商品。由于消费者在交易平台下单时每个订单通常包含多种商品，在发货阶段拣货人员(或拣货装置)需要在不同的货架上拣选货物。通常情况下，拣货人员对商品所处在的货架位置并不熟悉，需要行走不必要的距离才能拣选到货物。
因此，需要提出一种能够确定目标物体(例如货架)在指定区域(例如仓库)中的位置的方案，以辅助拣货人员进行拣货操作。
为解决这一问题，申请号为CN201410253486的专利申请提出一种方法，在这一方法中，可以关联CAD图纸数据库，并索引数据库中的信息确定货架的位置。但是这一方案中由于CAD图纸无法实时更新，如果某一货架发生移位，则需要修改图纸更改其中的货架信息，造成不便；再者，从CAD图纸中无法直接获得货架的坐标，需要从图纸中抓取坐标信息并转存，才能将货架的位置保存并对照。
因此，本领域尚无一种能够快速准确地确定目标物体(例如货架)在指定区域(例如仓库)中的位置的方案。
发明内容
鉴于上述问题，本发明一实施例提出一种位置测量方法，以解决现有技术存在的问题。
为了解决上述问题，本申请一实施例公开一种位置测量方法，用于测量目标物体在指定区域的位置，所述方法包括：
根据行走装置在指定区域的行走轨迹生成指定区域的地图，其中所述地图包括多个轨迹点，每一个轨迹点对应一个位姿数据；
当所述行走装置在当前位置检测到指定区域存在目标物体时，确定所述行走装置当前位置所在的轨迹点对应的第一位姿数据；
确定所述目标物体相对于所述行走装置的第二位姿数据；
利用所述第一位姿数据和所述第二位姿数据确定所述目标物体在指定区域的位置。
为了解决上述问题，本申请一实施例公开一种位置测量装置，包括：
地图生成模块，用于根据行走装置在指定区域的行走轨迹生成指定区域的地图，其中所述地图包括多个轨迹点，每一个轨迹点对应一个位姿数据；
第一位姿数据确定模块，用于当所述行走装置在当前位置检测到指定区域存在目标物体时，确定所述行走装置当前位置所在的轨迹点对应的第一位姿数据；
第二位姿数据确定模块，用于确定所述目标物体相对于所述行走装置的第二位姿数据；
目标物体位置确定模块，用于利用所述第一位姿数据和所述第二位姿数据确定所述目标物体在指定区域的位置。
本申请一实施例还公开一种电子装置，包括：
一个或多个处理器；和
其上存储有指令的一个或多个机器可读介质，当由所述一个或多个处理器执行时，使得所述电子装置执行上述的方法。
本申请一实施例还公开一个或多个机器可读介质，其上存储有指令，当由一个或多个处理器执行时，使得电子装置执行上述的方法。
由上述可知，本申请实施例包括以下优点：
在本发明实施例提出的位置测量方法和位置测量装置中，可以根据行走装置的多个轨迹点对应的第一位姿数据绘制指定区域的地图，并在检测到指定区域存在目标物体时，根据此时行走装置所位于的轨迹点对应的第一位姿数据和目标物体相对于行走装置的第二位姿数据计算目标物体在指定区域的位置。通过这一方式，可以利用行走装置获取的数据实现绘制地图和标注目标物体在行走区域的位置，避免了现有技术利用CAD获知目标物体的位置的方案导致的不便于修改、从图上无法直接获取目标物体位置的问题。本 发明提出的方案可以减少人员的工作量，提高获取目标物体的位置的准确性。
附图说明
或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1所示为本发明一实施例的利用行走装置的行走轨迹生成地图的示意图。
图2是本申请第一实施例的位置测量方法的流程图。
图3是本申请第二实施例的位置测量方法的流程图。
图4是本申请一实施例中生成指定区域的地图的步骤所包含的子步骤流程图。
图5是本申请一实施例提出的获取目标物体识别ID的步骤所包含的子步骤的流程图。
图6是本申请第三实施例的位置测量装置的方框图。
图7是本申请第四实施例的位置测量装置的方框图。
图8示意性地示出了用于执行根据本发明的方法的电子装置的框图；以及
图9示意性地示出了用于保持或者携带实现根据本发明的方法的程序代码的存储单元。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员所获得的所有其他实施例，都属于本申请保护的范围。
本发明的核心构思之一在于提出一种位置测量方法和位置测量装置，用于测量目标物体(例如货架)在指定区域(例如仓库)的位置。在本发明中，利用行走装置在指定区域行走，可以测量出指定区域的地图，并根据目标物体相对于行走装置的位置测绘出目标物体在指定区域的位置。
图1所示为本发明一实施例的利用行走装置的行走轨迹生成地图的示意图。如图1所示，行走装置10在指定区域内沿着巷道行走，指定区域例如为库房的室内区域20，其中摆放着多个货架30。行走装置10在室内区域20行走，行走装置10获取的数据用 于绘制室内区域20的地图(即虚线标注的轮廓40)，并可以对货架30进行识别和标注。
以下通过多个实施例说明本发明提出的位置测量方法和装置。
第一实施例
本发明第一实施例提出一种位置测量方法。图2所示为本发明第一实施例的位置测量方法的步骤流程图。如图2所示，本发明实施例的位置测量方法包括如下步骤：
S101，根据行走装置在指定区域的行走轨迹生成指定区域的地图，其中所述地图包括多个轨迹点，每一个轨迹点对应一个位姿数据；
在这一步骤中，指定区域例如为放置多个货架的仓库。装设有数据采集装置的行走装置(例如行走机器人)可以在指定区域中行走，并将数据回传至执行主体，获得指定区域的地图。
执行主体例如为服务器、终端电脑、控制装置等。数据采集装置例如为传感器、激光雷达、IMU(Inertial measurement unit,惯性测量单元)、照相机等装置。这些数据采集装置附着或者集成在行走装置上，或者成为行走装置的一部分，随着行走装置一起行走并采集数据。传感器里程数据例如为传感器行进的里程数据；激光雷达数据例如为激光雷达探测到的其在特定点位的距离障碍物之间的距离数据；IMU数据为惯性测量单元(IMU)所测得的物体三轴姿态角(或角速率)以及加速度等数据。
执行主体将获得的传感器里程计数据、激光雷达数据、IMU数据等数据进行处理，处理后估计出机器人的行走轨迹，并生成仓库的地图。该地图可以是二维地图，即包括长度信息、宽度信息但不包括高度信息的地图，也可以是三维地图，即包括长度信息、宽度信息、高度信息的地图。
机器人最初起步行走的地方称为起点，可以作为整张地图的坐标系原点。每个轨迹点对应的一个位姿数据，例如可以是该轨迹点相对于起点的二维坐标或位置数据，例如可以通过(x，y)的坐标形式体现；又例如可以是该轨迹点相对于起点的位置数据和姿态数据，可以利用前述的传感器里程计数据、激光雷达数据、IMU数据等数据获得，并可以记作
Figure PCTCN2019082812-appb-000001
S102，当所述行走装置在当前位置检测到指定区域存在目标物体时，确定所述行走装置当前位置所在的轨迹点对应的第一位姿数据；
在这一步骤中，当检测到指定区域存在目标物体时，例如当行走装置的传感器检测 到前方存在货架时，行走装置获取其自身当前所在的位置，即行走装置当前所在的轨迹点对应的第一位姿数据
Figure PCTCN2019082812-appb-000002
用于后续处理。
S103，确定所述目标物体相对于所述行走装置的第二位姿数据；
目标物体例如为货架，货架上可以包括指引牌或者其他可以被检测到并可以被用来确定位置和/或姿态的标记，在此以指引牌为例进行说明。
在步骤S102中确定了存在目标物体之后，这一步骤可以利用行走装置的相机，拍摄货架的指引牌或标记，通过算法计算出指引牌或标记在相机坐标系下的第二位姿数据，也就是货架在相机坐标系下的第二位姿数据。第二位姿数据例如可以包括位置和姿态。可以记作
Figure PCTCN2019082812-appb-000003
在其他实施例中，第二位姿数据也可以仅包括位置数据，即，第二位姿数据可以是货架在相机坐标系中的位置数据，用(x，y)表示。
值得说明的是，在本实施例中是以目标物体上的指引牌或标记为例进行了说明。在其他实施例中，当货架上没有指引牌时，可以在行走装置检测到存在货架时，利用相机拍摄货架的轮廓，或者轮廓的一部分，再通过算法计算出该轮廓或部分轮廓在相机坐标系下的第二位姿数据，也就是货架在相机坐标系下的第二位姿数据。
S104，利用所述第一位姿数据和所述第二位姿数据确定所述目标物体在指定区域的位置。
在步骤S102中已经获得了行走装置在指定区域的第一位姿数据
Figure PCTCN2019082812-appb-000004
并且在步骤S103中已经获得了货架在相机坐标系下的第二位姿数据
Figure PCTCN2019082812-appb-000005
并且行走装置携带的相机本身的相机坐标系与行走装置在指定区域的坐标系之间存在已知的转换关系(记作
Figure PCTCN2019082812-appb-000006
)，在已知了上述内容之后，在步骤S104中，可以计算出目标物体(货架)在指定区域的位姿数据，为
Figure PCTCN2019082812-appb-000007
即得到货架在仓库里的坐标等信息，即目标物体在指定区域的位置。
由上述可知，本发明第一实施例提出的位置测量方法至少具有如下技术效果：
在本发明实施例提出的位置测量方法中，可以根据行走装置的多个轨迹点分别对应的位姿数据绘制指定区域的地图，并在检测到指定区域存在目标物体时，根据此时行走 装置所位于的轨迹点对应的第一位姿数据和目标物体相对于行走装置的第二位姿数据计算目标物体在指定区域的位置。通过这一方式，可以利用行走装置获取的数据实现绘制地图和标注目标物体在行走区域的位置，避免了现有技术必须利用CAD图纸才能获知目标物体的位置的方案导致的不便于修改、从图纸上无法直接获取目标物体位置的问题。本发明提出的方案可以减少人员的工作量，提高获取目标物体的位置的准确性。
第二实施例
本发明第二实施例提出一种位置测量方法。图3所示为本发明第二实施例的位置测量方法的步骤流程图。如图3所示，本发明实施例的位置测量方法如下步骤：
S201，根据行走装置在指定区域的行走轨迹生成指定区域的地图，其中所述地图包括多个轨迹点，每一个轨迹点对应一个位姿数据；
S202，当所述行走装置在当前位置检测到指定区域存在目标物体时，确定所述行走装置当前位置所在的轨迹点对应的第一位姿数据；
S204，确定所述目标物体相对于所述行走装置的第二位姿数据；
S205，利用所述第一位姿数据和所述第二位姿数据确定所述目标物体在指定区域的位置。
上述步骤S201、S202、S204和步骤S205与上一实施例的步骤S101至步骤S104相同或相似，在此不再赘述。本实施例重点说明与上一实施例的不同之处。
在本实施例中，可选地，在步骤S201，即根据行走装置在指定区域的行走轨迹生成指定区域的地图的步骤中，所述位姿数据为所述轨迹点相对于所述地图的起点的位姿数据。
具体来说，可以将行走装置的出发位置设置为所需要绘制的地图的起点，基于这一起点，执行主体可以计算或者获取行走轨迹中的多个轨迹点的坐标。起点可以是指定区域的入口的位置，或者是行走装置经常停靠的位置，例如距离每一个货架的距离都相对比较近的指定区域的中心点等等。设置起点可以方便后续绘制地图，以及可以确定其他轨迹点在指定区域的位置。
在本实施例中，可选地，在步骤S204，即确定所述目标物体相对于所述行走装置的第二位姿数据的步骤中，所述第二位姿数据是所述目标物体在所述行走装置所拍摄的图像中的位姿数据。
具体来说，第二位姿数据可以是相机拍摄到的货架在相机坐标系中的位姿数据，例如在相机坐标系中的长、宽、高或者顶点坐标等等。
或者，在其他实施例中，第二位姿数据也可以是利用行走装置的传感器检测到的货架相对于行走装置的距离等数据，从而也可以在后续步骤中根据第一位姿数据和第二位姿数据计算出目标物体在指定区域的位置。
在本实施例中，可选地，所述步骤S205，即利用所述第一位姿数据和所述第二位姿数据确定所述目标物体在指定区域的位置的步骤具体可以包括：
利用所述第一位姿数据所在的坐标系和所述第二位姿数据所在的坐标系的转换关系，获取目标物体在指定区域的位姿数据。
通常来说第一位姿数据所在的坐标系和第二位姿数据所在的坐标系的转换关系
Figure PCTCN2019082812-appb-000008
是已知的。因此在这一步骤中，可以根据行走装置在指定区域的第一位姿数据
Figure PCTCN2019082812-appb-000009
和目标物体(货架)在相机坐标系下的的第二位姿数据
Figure PCTCN2019082812-appb-000010
计算出目标物体(货架)在指定区域的位姿数据，为
Figure PCTCN2019082812-appb-000011
即得到目标物体(货架)在仓库里的坐标等信息。
在本实施例中，可选地，所述方法还可以包括：
S203，获取目标物体的识别ID；以及
S206，将所述目标物体在指定区域的位姿数据与所述目标物体的识别ID相互关联。
在本实施例中，可选地，本发明提出的位置测量方法还包括如下步骤：
S207，在所述地图中标注所述目标物体。
步骤S207可以在前述的步骤S205或者步骤S206之后执行，例如，在一些场景下，执行主体并不需要知道目标物体的具体识别ID，因此可以在获取到目标物体在指定区域的位置后直接在地图上标注目标物体；在另一些场景下，执行主体需要知道每一个目标物体的在指定区域的位置，因此可以在标注目标物体的同时标注其识别ID，从而利用识别ID区分指定区域内的多个目标物体。
利用目标物体在指定区域的位姿数据
Figure PCTCN2019082812-appb-000012
标出货架在地图中的位置，可供执行主体就该地图和目标物体进行可视化展示。
在本实施例中，可选地，该方法还包括如下步骤：
S208，根据所述目标物体在指定区域的位姿数据确定行走路径。
在这一步骤中，当获知了每一个目标物体的在指定区域的位置，且在接收到需要前 往至少一个目标物体(例如货架)进行例如获取物品的指令时，执行主体可以提供例如从起点出发的多条路线，并从这些路线中选择符合要求的行走路径——例如路程最短的行走路径，通过展示、发送等方式推荐给操作人员、行走装置等。
合理的路径规划可以提高拣货人员的拣货效率。在本发明实施例中，可以对拣货人员在拣选过程中行走的路径进行最优规划，提高拣货人员的拣货效率。
图4为本发明实施例提出的位置测量方法的步骤S201所包含的步骤的流程图。在本实施例中，步骤S201即根据行走装置在指定区域的行走轨迹生成指定区域的地图的步骤可以包括：
S201a，提取行走装置采集的特征点数据；
在这一步骤中，可以从行走装置的数据采集装置，例如激光雷达中，提取该行走装置所经过的位置的特征点。所提取的到的特征点可以为多个随机提取的特征点，也可以是全部的特征点，或者是根据预先设置的规则提取的特征点。
S201b，通过点云匹配算法处理提取到的特征点数据，获取匹配点位姿数据；
在这一步骤中，可以将提取的特征点进行点云匹配处理，获得匹配点位姿数据。
S201c，修正所述匹配点位姿数据，获得修正后位姿数据；
在这一步骤中，可以将匹配点位姿数据与前述实施例中的里程计数据和/或IMU数据融合，而得到修正后的位姿数据。或者也可以利用其他手段修正所获取的匹配点位姿数据，和/或经过优化处理，获得修正后的位姿数据。
S201d，利用修正后的匹配点位姿数据生成地图。
在这一步骤中，可以将这些匹配点的位姿数据生成轮廓曲线，进而形成指定区域的目标地图。
图5为本发明实施例提出的位置测量方法的步骤S203所包含的步骤的流程图。在本实施例中，步骤S203，即获取目标物体的识别ID的步骤可以包括如下子步骤：
S203a，获取指引牌的轮廓；
S203b，对指引牌上的文字进行字符分割；以及
S203c，对分割后获得的字符进行识别。
在上述子步骤S203a中，可以获取、识别或检验指引牌的轮廓，对轮廓进行确定。在确定指引牌的轮廓之后，可以在子步骤S203b中对其上的文字进行字符分割，并在子步骤S203c中对切割后的字符进行文字识别，从而识别出每一个字符，获得目标物体的 识别ID。
综上所述，本实施例提出的位置测量方法至少具有如下优点：
在本发明实施例提出的位置测量方法中，可以根据行走装置的多个轨迹点对应的位姿数据绘制指定区域的地图，并在检测到指定区域存在目标物体时，根据此时行走装置所位于的轨迹点的第一位姿数据和目标物体相对于行走装置的第二位姿数据计算目标物体在指定区域的位置。通过这一方式，可以利用行走装置获取的数据实现绘制地图和标注目标物体在行走区域的位置，避免了现有技术必须利用CAD图纸才能获知目标物体的位置的方案导致的不便于修改、从图纸上无法直接获取目标物体位置的问题。本发明提出的方案可以减少人员的工作量，提高获取目标物体的位置的准确性。
在可选实施例中，本发明的方案可以应用于测绘货架在仓库内的位置。在具体实施例中，可以利用行走装置行走的轨迹绘制仓库的地图并分别获取多个轨迹点对应的的第一位姿数据，并在检测到货架时，利用行走装置的相机拍摄仓库的指引牌，识别出该货架的识别ID，并根据拍摄的内容计算出货架相对于相机的第二位姿数据，即货架在相机坐标系中的位姿数据。之后利用所述第一位姿数据、第二位姿数据和第一位姿数据所在的坐标系和第二位姿数据所在的坐标系的转换关系，计算货架在仓库中的位姿数据，并可以在生成的地图中标注货架的位置。
通过这一方式，可以利用行走装置所获取的数据同时进行绘制地图和标注货架，避免了如现有技术中直接测量货架的位置带来的工作量，也避免了现有技术必须利用CAD图纸获知货架的位置的方案导致的不便于修改、从图纸上无法直接获取货架位置的问题。本发明提出的方案可以减少人员的工作量，提高获取货架的位置的准确性。
在可选实施例中，本发明提出的方案还包括获取目标物体例如货架的识别ID的步骤。识别ID例如可以从货架的指引牌上获取。通过识别轮廓、字符分割、字符识别等步骤获取识别ID，并与该目标物体的位置相互关联，以使得多个目标物体能够被区分开来。
在可选实施例中，本发明提出的方案还包括根据目标物体的位置规划最短行走路径的步骤。例如，当需要在两个货架上获取物体时，可以提供多条从起点出发经过所述两个货架获取物体后再回到起点的路线。利用本发明提出的方案可以计算出其中的最短路径，并指示操作主体(例如操作人员或者操作机器人)进行操作，使得路线规划更加合理。
第三实施例
本发明第三实施例提出一种位置测量装置，用于测量目标物体在指定区域的位置，如图6所示，所述装置包括：
地图生成模块301，用于根据行走装置在指定区域的行走轨迹生成指定区域的地图，其中所述地图包括多个轨迹点，每一个轨迹点对应一个位姿数据；
第一位姿数据确定模块302，用于当所述行走装置在当前位置检测到指定区域存在目标物体时，确定所述行走装置当前位置所在的轨迹点对应的第一位姿数据；
第二位姿数据确定模块303，用于确定所述目标物体相对于所述行走装置的第二位姿数据；
目标物体位置确定模块304，用于利用所述第一位姿数据和所述第二位姿数据确定所述目标物体在指定区域的位置。
本实施例提出的位置测量装置至少具有如下优点：
在本发明实施例提出的位置测量装置中，可以根据行走装置的多个轨迹点对应的位姿数据绘制指定区域的地图，并在检测到指定区域存在目标物体时，根据此时行走装置所位于的轨迹点的第一位姿数据和目标物体相对于行走装置的第二位姿数据计算目标物体在指定区域的位置。通过这一方式，可以利用行走装置获取的数据实现绘制地图和标注目标物体在行走区域的位置，避免了现有技术必须利用CAD图纸才能获知目标物体的位置的方案导致的不便于修改、从图纸上无法直接获取目标物体位置的问题。本发明提出的方案可以减少人员的工作量，提高获取目标物体的位置的准确性。
第四实施例
本发明第四实施例提出一种位置测量装置，用于测量目标物体在指定区域的位置，如图7所示，该装置包括：
地图生成模块401，用于根据行走装置在指定区域的行走轨迹生成指定区域的地图，其中所述地图包括多个轨迹点，每一个轨迹点对应一个位姿数据；
第一位姿数据确定模块402，用于当所述行走装置在当前位置检测到指定区域存在目标物体时，确定所述行走装置当前位置所在的轨迹点对应的第一位姿数据；
第二位姿数据确定模块404，用于确定所述目标物体相对于所述行走装置的第二位姿数据；
目标物体位置确定模块405，用于利用所述第一位姿数据和所述第二位姿数据确定所述目标物体在指定区域的位置。
在一实施例中，可选地，所述第一位姿数据为所述轨迹点相对于所述地图的起点的位姿数据。
在一实施例中，可选地，所述第二位姿数据是所述目标物体在所述行走装置所拍摄的图像中的位姿数据。
在一实施例中，可选地，所述目标物体位置确定模块405用于：
利用所述第一位姿数据所在的坐标系和第二位姿数据所在的坐标系的转换关系，获取目标物体在指定区域的位姿数据。
在一实施例中，可选地，所述装置还包括：
识别ID获取模块403，用一个获取目标物体的识别ID；以及
关联模块406，用于将所述目标物体在指定区域的位姿数据与所述目标物体的识别ID相互关联。
在一实施例中，可选地，所述装置还包括：
标注模块407，用于在所述地图中标注所述目标物体。
在一实施例中，可选地，所述地图生成模块401可以包括如下子模块：
特征点数据提取子模块，用于提取行走装置采集的特征点数据；
匹配点位姿数据获取子模块，用于通过点云匹配算法处理提取到的特征点数据，获取匹配点位姿数据；
修正子模块，用于修正所述匹配点位姿数据，获得修正后位姿数据；
目标地图生成子模块，用于利用修正后的匹配点位姿数据生成地图。
在一实施例中，可选地，所述识别ID获取模块403可以包括如下子模块：
轮廓获取子模块，用于获取指引牌的轮廓；
字符分割子模块，用于对指引牌上的文字进行字符分割；
识别子模块，用于对分割后的字符进行识别。
在一实施例中，可选地，所述装置还包括：
路径规划模块408，用于根据所述目标物体在指定区域的位姿数据确定最短行走路径。
综上所述，本实施例提出的位置测量装置至少具有如下优点：
在本发明实施例提出的位置测量装置中，可以根据行走装置的多个轨迹点对应的位姿数据绘制指定区域的地图，并在检测到指定区域存在目标物体时，根据此时行走装置所位于的轨迹点的第一位姿数据和目标物体相对于行走装置的第二位姿数据计算目标物 体在指定区域的位置。通过这一方式，可以利用行走装置获取的数据实现绘制地图和标注目标物体在行走区域的位置，避免了现有技术必须利用CAD图纸获知目标物体的位置的方案导致的不便于修改、从图纸上无法直接获取目标物体位置的问题。本发明提出的方案可以减少人员的工作量，提高获取目标物体的位置的准确性。
在可选实施例中，本发明的方案可以应用于测绘货架在仓库内的位置。在具体实施例中，可以利用行走装置行走的轨迹绘制仓库的地图并获取多个轨迹点对应的第一位姿数据，并在检测到货架时，利用行走装置的相机拍摄仓库的指引牌，识别出该货架的识别ID，并根据拍摄的内容计算出货架相对于相机的第二位姿数据，即货架在相机坐标系中的位姿数据。之后利用第一位姿数据、第二位姿数据和第一位姿数据所在的坐标系和第二位姿数据所在的坐标系的转换关系，计算货架在仓库中的位姿数据，并可以在生成的地图中标注货架的位置。
通过这一方式，可以利用行走装置所获取的数据同时进行绘制地图和标注货架，避免了如现有技术中直接测量货架的位置带来的工作量，也避免了现有技术必须利用CAD图纸获知货架的位置的方案导致的不便于修改、从图纸上无法直接获取货架位置的问题。本发明提出的方案可以减少人员的工作量，提高获取货架的位置的准确性。
在可选实施例中，本发明提出的方案还包括获取目标物体例如货架的识别ID的步骤。识别ID例如可以从货架的指引牌上获取。通过识别轮廓、字符分割、字符识别等步骤获取识别ID，并与该目标物体的位置相互关联，以使得多个目标物体能够被区分开来。
在可选实施例中，本发明提出的方案还包括根据目标物体的位置规划最短行走路径的步骤。例如，当需要在两个货架上获取物体时，可以提供多条从起点出发经过所述两个货架获取物体后再回到起点的路线。利用本发明提出的方案可以计算出其中的最短路径，并指示操作主体(例如操作人员或者操作机器人)进行操作，使得路线规划更加合理。
对于装置实施例而言，由于其与方法实施例基本相似，所以描述得比较简单，相关之处参见方法实施例的部分说明即可。
图8为本申请一实施例提供的电子装置的硬件结构示意图。如图8所示，该电子装置可以包括输入设备90、处理器91、输出设备92、存储器93和至少一个通信总线94。通信总线94用于实现元件之间的通信连接。存储器93可能包含高速RAM存储器，也可能还包括非易失性存储NVM，例如至少一个磁盘存储器，存储器93中可以存储各种 程序，用于完成各种处理功能以及实现本实施例的方法步骤。
可选的，上述处理器91例如可以为中央处理器(Central Processing Unit，简称CPU)、应用专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理设备(DSPD)、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)、控制器、微控制器、微处理器或其他电子元件实现，该处理器91通过有线或无线连接耦合到上述输入设备90和输出设备92。
可选的，上述输入设备90可以包括多种输入设备，例如可以包括面向用户的用户接口、面向设备的设备接口、软件的可编程接口、摄像头、传感器中至少一种。可选的，该面向设备的设备接口可以是用于设备与设备之间进行数据传输的有线接口、还可以是用于设备与设备之间进行数据传输的硬件插入接口(例如USB接口、串口等)；可选的，该面向用户的用户接口例如可以是面向用户的控制按键、用于接收语音输入的语音输入设备以及用户接收用户触摸输入的触摸感知设备(例如具有触摸感应功能的触摸屏、触控板等)；可选的，上述软件的可编程接口例如可以是供用户编辑或者修改程序的入口，例如芯片的输入引脚接口或者输入接口等；可选的，上述收发信机可以是具有通信功能的射频收发芯片、基带处理芯片以及收发天线等。麦克风等音频输入设备可以接收语音数据。输出设备92可以包括显示器、音响等输出设备。
在本实施例中，该电子装置的处理器包括用于执行各设备中数据处理装置各模块的功能，具体功能和技术效果参照上述实施例即可，此处不再赘述。
图9为本申请另一实施例提供的电子装置的硬件结构示意图。图9是对图8在实现过程中的一个具体的实施例。如图9所示，本实施例的电子装置包括处理器101以及存储器102。
处理器101执行存储器102所存放的计算机程序代码，实现上述实施例中图2至图5的位置测量方法。
存储器102被配置为存储各种类型的数据以支持在电子装置的操作。这些数据的示例包括用于在电子装置上操作的任何应用程序或方法的指令，例如消息，图片，视频等。存储器102可能包含随机存取存储器(random access memory，简称RAM)，也可能还包括非易失性存储器(non-volatile memory)，例如至少一个磁盘存储器。
可选地，处理器101设置在处理组件100中。该电子装置还可以包括：通信组件103，电源组件104，多媒体组件105，音频组件106，输入/输出接口107和/或传感器组件108。电子装置具体所包含的组件等依据实际需求设定，本实施例对此不作限定。
处理组件100通常控制电子装置的整体操作。处理组件100可以包括一个或多个处理器101来执行指令，以完成上述图2至图5方法的全部或部分步骤。此外，处理组件100可以包括一个或多个模块，便于处理组件100和其他组件之间的交互。例如，处理组件100可以包括多媒体模块，以方便多媒体组件105和处理组件100之间的交互。
电源组件104为电子装置的各种组件提供电力。电源组件104可以包括电源管理系统，一个或多个电源，及其他与为电子装置生成、管理和分配电力相关联的组件。
多媒体组件105包括在电子装置和用户之间的提供一个输出接口的显示屏。在一些实施例中，显示屏可以包括液晶显示器(LCD)和触摸面板(TP)。如果显示屏包括触摸面板，显示屏可以被实现为触摸屏，以接收来自用户的输入信号。触摸面板包括一个或多个触摸传感器以感测触摸、滑动和触摸面板上的手势。所述触摸传感器可以不仅感测触摸或滑动动作的边界，而且还检测与所述触摸或滑动操作相关的持续时间和压力。
音频组件106被配置为输出和/或输入音频信号。例如，音频组件106包括一个麦克风(MIC)，当电子装置处于操作模式，如语音识别模式时，麦克风被配置为接收外部音频信号。所接收的音频信号可以被进一步存储在存储器102或经由通信组件103发送。在一些实施例中，音频组件106还包括一个扬声器，用于输出音频信号。
输入/输出接口107为处理组件100和外围接口模块之间提供接口，上述外围接口模块可以是点击轮，按钮等。这些按钮可包括但不限于：音量按钮、启动按钮和锁定按钮。
传感器组件108包括一个或多个传感器，用于为电子装置提供各个方面的状态评估。例如，传感器组件108可以检测到电子装置的打开/关闭状态，组件的相对定位，用户与电子装置接触的存在或不存在。传感器组件108可以包括接近传感器，被配置用来在没有任何的物理接触时检测附近物体的存在，包括检测用户与电子装置间的距离。在一些实施例中，该传感器组件108还可以包括摄像头等。
通信组件103被配置为便于电子装置和其他设备之间有线或无线方式的通信。电子装置可以接入基于通信标准的无线网络，如WiFi，2G或3G，或它们的组合。在一个实施例中，该电子装置中可以包括SIM卡插槽，该SIM卡插槽用于插入SIM卡，使得电子装置可以登录GPRS网络，通过互联网与服务端建立通信。
由上可知，在图9实施例中所涉及的通信组件103、音频组件106以及输入/输出接口107、传感器组件108均可以作为图8实施例中的输入设备的实现方式。
本申请实施例提供了一种电子装置，包括：一个或多个处理器；和其上存储有指令的一个或多个机器可读介质，当由所述一个或多个处理器执行时，使得所述电子装置执 行如本申请实施例中一个或多个所述的位置测量方法。
本说明书中的各个实施例均采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似的部分互相参见即可。
尽管已描述了本申请实施例的优选实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例做出另外的变更和修改。所以，所附权利要求意欲解释为包括优选实施例以及落入本申请实施例范围的所有变更和修改。
最后，还需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者电子装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者电子装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者电子装置中还存在另外的相同要素。
以上对本申请所提供的一种位置测量方法和装置，进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的一般技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。

Claims (20)

  1. 一种位置测量方法，用于测量目标物体在指定区域的位置，其特征在于，所述方法包括：
    根据行走装置在指定区域的行走轨迹生成指定区域的地图，其中所述地图包括多个轨迹点，每一个轨迹点对应一个位姿数据；
    当所述行走装置在当前位置检测到指定区域存在目标物体时，确定所述行走装置当前位置所在的轨迹点对应的第一位姿数据；
    确定所述目标物体相对于所述行走装置的第二位姿数据；
    利用所述第一位姿数据和所述第二位姿数据确定所述目标物体在指定区域的位置。
  2. 根据权利要求1所述的方法，其特征在于，所述第一位姿数据为所述轨迹点相对于所述地图的起点的位姿数据。
  3. 根据权利要求1所述的方法，其特征在于，所述第二位姿数据为所述目标物体在所述行走装置所拍摄的图像中的位姿数据。
  4. 根据权利要求1所述的方法，其特征在于，所述利用所述第一位姿数据和所述第二位姿数据确定所述目标物体在指定区域的位置的步骤包括：
    利用所述第一位姿数据所在的坐标系和所述第二位姿数据所在的坐标系的转换关系，获取目标物体在指定区域的位姿数据。
  5. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    获取所述目标物体的识别ID；以及
    将所述目标物体在指定区域的位姿数据与所述目标物体的识别ID相互关联。
  6. 根据权利要求1或5所述的方法，其特征在于，所述方法还包括：
    在所述地图中标注所述目标物体。
  7. 根据权利要求1所述的方法，其特征在于，根据行走装置在指定区域的行走轨迹生成指定区域的地图的步骤包括：
    提取所述行走装置采集的特征点数据；
    通过点云匹配算法处理提取到的特征点数据，获取匹配点位姿数据；
    修正所述匹配点位姿数据，获得修正后位姿数据；以及
    利用所述修正后的匹配点位姿数据生成地图。
  8. 根据权利要求5所述的方法，其特征在于，所述获取目标物体的识别ID的步骤包括：
    获取指引牌的轮廓；
    对指引牌上的文字进行字符分割；以及
    对分割后获得的字符进行识别。
  9. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    根据所述目标物体在指定区域的位姿数据确定行走路径。
  10. 一种位置测量装置，用于测量目标物体在指定区域的位置，其特征在于，所述装置包括：
    地图生成模块，用于根据行走装置在指定区域的行走轨迹生成指定区域的地图，其中所述地图包括多个轨迹点，每一个轨迹点对应一个位姿数据；
    第一位姿数据确定模块，用于当所述行走装置在当前位置检测到指定区域存在目标物体时，确定所述行走装置当前位置所在的轨迹点对应的第一位姿数据；
    第二位姿数据确定模块，用于确定所述目标物体相对于所述行走装置的第二位姿数据；
    目标物体位置确定模块，用于利用所述第一位姿数据和所述第二位姿数据确定所述目标物体在指定区域的位置。
  11. 根据权利要求10所述的装置，其特征在于，所述第一位姿数据为所述轨迹点相对于所述地图的起点的位姿数据。
  12. 根据权利要求10所述的装置，其特征在于，所述第二位姿数据为所述目标物体在所述行走装置所拍摄的图像中的位姿数据。
  13. 根据权利要求10所述的装置，其特征在于，所述目标物体位置确定模块用于：
    利用所述第一位姿数据所在的坐标系和所述第二位姿数据所在的坐标系的转换关系，获取目标物体在指定区域的位姿数据。
  14. 根据权利要求10所述的装置，其特征在于，所述装置还包括：
    识别ID获取模块，用一个获取目标物体的识别ID；以及
    关联模块，用于将所述目标物体在指定区域的位姿数据与所述目标物体的识别ID相互关联。
  15. 根据权利要求10或14所述的装置，其特征在于，所述装置还包括：
    标注模块，用于在所述地图中标注所述目标物体。
  16. 根据权利要求10所述的装置，其特征在于，所述地图生成模块包括：
    特征点数据提取子模块，用于提取所述行走装置采集的特征点数据；
    匹配点位姿数据获取子模块，用于通过点云匹配算法处理提取到的特征点数据，获取匹配点位姿数据；
    修正子模块，用于修正所述匹配点位姿数据，获得修正后位姿数据；
    目标地图生成子模块，用于利用修正后的匹配点位姿数据生成地图。
  17. 根据权利要求14所述的装置，其特征在于，所述识别ID获取模块包括：
    轮廓获取子模块，用于获取指引牌的轮廓；
    字符分割子模块，用于对指引牌上的文字进行字符分割；以及
    识别子模块，用于对分割后获得的字符进行识别。
  18. 根据权利要求10所述的装置，其特征在于，所述装置还包括：
    路径规划模块，用于根据所述目标物体在指定区域的位姿数据确定最短行走路径。
  19. 一种电子装置，其特征在于，包括：
    一个或多个处理器；和
    其上存储有指令的一个或多个机器可读介质，当由所述一个或多个处理器执行时，使得所述电子装置执行如权利要求1-9中一个或多个所述的方法。
  20. 一个或多个机器可读介质，其上存储有指令，当由一个或多个处理器执行时，使得电子装置执行如权利要求1-9中一个或多个所述的方法。
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