Method for rapidly determining warehousing map, device, storage medium and robot
AssigneeSyrius Robotics Co., Ltd.
InventorsJunbin Liu, Zhiqin Yang
Life of this patent
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Abstract
Provided are a method for rapidly determining a warehousing map, a device, a storage medium and a robot. The method includes: generating a warehouse map of a warehouse; acquiring a motion position and pose of the robot, and acquiring information of a mark on a rack collected by an image collection sensor on the robot; determining a mark position of the mark; determining a rack position of the rack and a depositary place position of each depositary place on the rack; and determining a warehousing map of the warehouse. The method can rapidly create the warehousing map in the warehouse, and position accuracy of the depositary place in the warehousing map is high.
Claims20
A method for determining a warehousing map, comprising:
- generating, according to induction data collected when a robot moves in a warehouse, a warehouse map of the warehouse;
- acquiring a motion position and pose of the robot in real time, and acquiring information of a mark on a rack collected by an image collection sensor on the robot, wherein at least one rack is arranged in the warehouse, each rack is provided with at least one group of marks, and an outer outline surface of the rack is provided with at least one mark;
- determining a mark position of the mark in the warehouse map based on the motion position and pose and the information of the mark;
- determining a rack position of the rack and a depositary place position of each depositary place on the rack in the warehouse map according to preset depositary place information of the rack and the mark position;
- and
- determining a warehousing map of the warehouse according to the warehouse map, the rack position and the depositary place position.
An electronic device, comprising:
- a memory, a processor, and a computer program which is stored on the memory and is runnable on the processor, wherein when executing the program, the processor is configured to:
- generate, according to induction data collected when a robot moves in a warehouse, a warehouse map of the warehouse;
- acquire a motion position and pose of the robot in real time, and acquire information of a mark on a rack collected by an image collection sensor on the robot, wherein at least one rack is arranged in the warehouse, each rack is provided with at least one group of marks, and an outer outline surface of the rack is provided with at least one mark;
- determine a mark position of the mark in the warehouse map based on the motion position and pose and the information of the mark;
- determine a rack position of the rack and a depositary place position of each depositary place on the rack in the warehouse map according to preset depositary place information of the rack and the mark position;
- and
- determine a warehousing map of the warehouse according to the warehouse map, the rack position and the depositary place position.
A robot, comprising:
- an inductive sensor configured to collect induction data in a warehouse;
- an image collection sensor configured to collect information of a mark on a rack of the warehouse;
- a position and pose sensor configured to collect a motion position and pose of the robot;
- and
- a processor configured to determine a mark position of the mark in a warehouse map based on the motion position and pose and the information of the mark;
- determine a depositary place position of each depositary place on the rack in the warehouse map according to preset depositary place information of the rack and the mark position;
- and create a corresponding relation between a preset depositary place mark of each depositary place on the rack and a corresponding depositary place position of the depositary place.
Dependencies are inferred from the claim text.