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

1 . A method for positioning a container, performed by a terminal, the terminal being respectively coupled with a control device and a visual scanning device on a container picking device, the control device being coupled with a mechanical arm on the container picking device, and the method comprising:

obtaining image information of an identifier to be identified on a shelf collected by the 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;

calculating 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;

obtaining 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;

calculating 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

obtaining 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 the container picking device based on the third position information and the conversion relationship, and sending the fourth position information to the control device, to trigger the control device to control the mechanical arm to pick up the container to be transported based on the fourth position information.

2 . The method for positioning the container according to claim 1 , wherein four or more identifiers to be identified are arranged, and positions of four or more individual identifiers to be identified are not in a straight line.

3 . The method for positioning the container according to claim 1 , wherein the identifier to be identified comprises four corners of at least one of a front area or a top area of the shelf.

4 . The method for positioning the container according to claim 1 , wherein the identifier to be identified comprises an intersection position of compartment openings in at least one of a front area or a top area of the shelf.

5 . The method for positioning the container according to claim 1 , wherein the identifier to be identified comprises a corner of at least one of a front area or a top area of the shelf and an intersection position of compartment openings in the at least one of the front area or the top area of the shelf.

6 . The method for positioning the container according to claim 1 , wherein the identifier to be identified comprises more than four visual identification codes, and the more than four visual identification codes are respectively arranged at four corners of one of a front area and a top area of the shelf and at least one preset target position of the other one of the front area and the top area of the shelf.

7 . The method for positioning the container according to claim 1 , wherein the identifier to be identified comprises four visual identification codes, and the four visual identification codes are arranged at four corners of at least one of a front area or a top area of the shelf, respectively.

8 . The method for positioning the container according to claim 1 , wherein the identifier to be identified comprises at least one of:

three visual identification codes arranged at any three corners of at least one of a front area or a top area of the shelf, respectively;

two visual identification codes arranged at two corners at a diagonal of at least one of a front area or a top area of the shelf, respectively; or

one visual identification code arranged at a center of at least one of a front area or a top area of the shelf.

9 . The method for positioning the container according to claim 1 , wherein calculating the conversion relationship between the first coordinate system and the second coordinate system based on the first position information and the second position information comprises:

calculating the first position information and the second position information by adopting a preset algorithm, to generate a rotation parameter and a translation parameter; and

determining the conversion relationship between the first coordinate system and the second coordinate system based on the rotation parameter and the translation parameter.

10 . The method for positioning the container according to claim 1 , wherein determining the fourth position information of the container to be transported relative to the container picking device based on the third position information and the conversion relationship comprises:

determining intermediate position information of the container to be transported relative to the visual scanning device based on the third position information and the conversion relationship; and

determining the fourth position information of the container to be transported relative to the container picking device based on the intermediate position information and a preset position relationship between the visual scanning device and the container picking device.

11 . The method for positioning the container according to claim 1 , wherein obtaining the second position information of the identifier to be identified in the second coordinate system comprises:

constructing the second coordinate system with a preset point on the shelf as an origin; and

calculating the second position information of the identifier to be identified in the second coordinate system based on preset size information of the compartment opening on the shelf for placing the container to be transported.

12 . 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.

13 . 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.