Method and apparatus for positioning target object, device and storage medium

An electronic device, comprising:

• a memory configured to store computer-executable instructions;
• and
• a processor configured to read the instructions from the memory and execute the instructions to:
• obtain image information of an identifier to be identified on a shelf collected by a visual scanning device after a transfer robot transports the shelf to a workstation, wherein the identifier to be identified comprises at least one of a visual identification code arranged on the shelf, a corner of the shelf and an intersection position of compartment openings in the shelf, and the number of visual identification codes arranged on the shelf is smaller than the number of the compartment openings in the shelf;
• calculate first position information of the identifier to be identified in a first coordinate system based on the image information of the identifier to be identified, wherein the first coordinate system is a coordinate system constructed based on the visual scanning device;
• obtain second position information of the identifier to be identified in a second coordinate system, wherein the second coordinate system is a coordinate system constructed based on the shelf;
• calculate a conversion relationship between the first coordinate system and the second coordinate system based on the first position information and the second position information;
• and
• obtain third position information of at least one container to be transported on the shelf in the second coordinate system, determining fourth position information of the container to be transported relative to a container picking device based on the third position information and the conversion relationship, and sending the fourth position information to a control device, to trigger the control device to control a mechanical arm to pick up the container to be transported based on the fourth position information.

A non-transitory computer-readable storage medium, storing computer program instructions which, when read by a computer, cause the computer to:

• obtain image information of an identifier to be identified on a shelf collected by a visual scanning device after a transfer robot transports the shelf to a workstation, wherein the identifier to be identified comprises at least one of a visual identification code arranged on the shelf, a corner of the shelf and an intersection position of compartment openings in the shelf, and the number of visual identification codes arranged on the shelf is smaller than the number of the compartment openings in the shelf;
• calculate first position information of the identifier to be identified in a first coordinate system based on the image information of the position to be identified, wherein the first coordinate system is a coordinate system constructed based on the visual scanning device;
• obtain second position information of the identifier to be identified in a second coordinate system, wherein the second coordinate system is a coordinate system constructed based on the shelf;
• calculate a conversion relationship between the first coordinate system and the second coordinate system based on the first position information and the second position information;
• and
• obtain third position information of at least one container to be transported on the shelf in the second coordinate system, determining fourth position information of the container to be transported relative to a container picking device based on the third position information and the conversion relationship, and sending the fourth position information to a control device, to trigger the control device to control a mechanical arm to pick up the container to be transported based on the fourth position information.