CN-121974074-A - Container control method and electronic equipment

CN121974074ACN 121974074 ACN121974074 ACN 121974074ACN-121974074-A

Abstract

The disclosure relates to a container control method and electronic equipment. The container control method comprises the steps of calibrating a photographing pose of the mechanical arm according to a target handover position indicated by a handover command in response to the acquisition of the handover command of target goods, obtaining a target photographing pose, controlling the mechanical arm to move to the target photographing pose, collecting a first image of a first position mark through the visual component, and controlling the mechanical arm to execute handover operation on the target goods through the end effector according to the first image. Based on the target handover position, the photographing pose of the mechanical arm is automatically calibrated, the mechanical arm adopts the photographing pose after real-time calibration to collect an image of the visual identification beacon, and the accuracy of the image for space visual positioning is higher, so that the mechanical arm can be controlled to execute handover operation more accurately.

Inventors

ZHANG XU
WANG ZHIHAO
LIU BAOXU

Assignees

美团科技有限公司

Dates

Publication Date: 20260505
Application Date: 20241030

Claims (10)

1. A container control method is characterized in that a movable mechanical arm is arranged in a container, a visual component and an end effector positioned at the tail end of the mechanical arm are arranged on the mechanical arm, and the method comprises the following steps: in response to obtaining a handover command for a target cargo, calibrating a photographing pose of the mechanical arm according to a target handover position indicated by the handover command to obtain a target photographing pose, wherein the target photographing pose is a photographing pose when the mechanical arm photographs a first position identifier through the vision component, the first position identifier is used for identifying the target handover position, and the target handover position is a handover position of the target cargo; after the mechanical arm is controlled to move to the target photographing pose, a first image of the first position mark is acquired through the vision component; And controlling the mechanical arm to execute the handover operation on the target goods through the end effector according to the first image.
2. The method of claim 1, wherein the calibrating the photographing pose of the mechanical arm according to the target handover position indicated by the handover command, to obtain the target photographing pose comprises: Acquiring a preset photographing pose corresponding to the target handover position, wherein the preset photographing pose is a photographing pose of the mechanical arm obtained by pre-calibration; after the mechanical arm is controlled to move to the preset photographing pose, a second image of the first position mark is acquired through the vision component; and recalibrating the photographing pose of the mechanical arm corresponding to the target handover position according to the second image to obtain the target photographing pose.
3. The method of claim 2, wherein the recalibrating the photographing pose of the robotic arm corresponding to the target handover location according to the second image, the obtaining the target photographing pose comprises: Performing quality detection on the second image to obtain a quality detection result, wherein the quality detection result represents whether the second image comprises the first position mark and/or the definition degree of the first position mark; And recalibrating the photographing pose of the mechanical arm corresponding to the target handover position to obtain a target photographing pose under the condition that the first position mark is not included in the second image or the definition of the first position mark is smaller than or equal to a preset definition threshold according to the quality inspection result.
4. The method of claim 3, wherein recalibrating the photographing pose of the robotic arm corresponding to the target handover location to obtain a target photographing pose comprises: acquiring a plurality of preset photographing points corresponding to the target handover position, wherein different preset photographing points represent different photographing postures of the mechanical arm; Controlling the mechanical arm to move to the preset photographing point according to each preset photographing point, and acquiring a third image of the first position mark acquired by the vision component; And performing hand-eye calibration according to the third images corresponding to each preset photographing point respectively to obtain the target photographing pose.
5. The method of claim 1, wherein the container comprises a plurality of storage pockets, each of the storage pockets having a mounting mechanism disposed therein for hanging cargo; the controlling the robotic arm to perform a handover operation on the target cargo by the end effector according to the first image includes: performing spatial visual positioning on the position of the first position mark according to the first image to obtain a first spatial position; The first space position is verified, after the first space position passes the verification, a third image of a second position mark is acquired through the visual component, the second position mark is a visual identification beacon arranged on a target mounting mechanism, the target mounting mechanism comprises a mounting mechanism in a target storage grid for storing the target goods, or the target mounting mechanism comprises a mounting mechanism on a carrier for transporting the target goods; and controlling the mechanical arm to execute the handover operation on the target goods through the end effector according to the third image.
6. The method of claim 5, wherein the controlling the robotic arm to perform a handover operation on the target good via the end effector according to the third image comprises: Performing space vision positioning on the target handover position according to the third image to obtain a second space position; Performing track planning according to the second space position to obtain a target motion track; Controlling the mechanical arm to move according to the target movement track so as to enable the end effector to move to the second space position; and after the end effector moves to the second space position, performing a handover operation on the target cargo through the end effector.
7. The method of claim 6, wherein the handover instructions include a first instruction to mount the target cargo from the end effector to the target mounting mechanism; The performing, by the end effector, a handover operation on the target cargo after the end effector moves to the second spatial position includes: controlling the end effector to transfer the target cargo from the end effector to the target mounting mechanism after the end effector moves to the second spatial position if the handover command is the first command; Or alternatively The handover instructions include second instructions to transfer the target cargo from the target mounting mechanism to the end effector; The performing, by the end effector, a handover operation on the target cargo after the end effector moves to the second spatial position includes: And when the handover command is the second command, controlling the end effector to transfer the target cargo from the target mounting mechanism to the end effector after the end effector moves to the second spatial position.
8. The method of claim 5, wherein the method further comprises: responding to the notification message of the completion of the handover operation, and checking the handover operation result to obtain a check result, wherein the check result represents whether the handover of the target goods is successful or not; and executing a preset fault processing strategy when the handover failure of the target goods is determined according to the verification result.
9. The method of claim 8, wherein verifying the handover operation result comprises: collecting a fourth image in the target storage grid through the vision component, carrying out image recognition on the fourth image, determining the verification result according to the image recognition result, and/or, And acquiring a pressure signal acquired by a pressure sensor, and determining the verification result according to the change of the pressure signal in a preset time period, wherein the pressure sensor is deployed in the target storage grid or on the end effector.
10. An electronic device, comprising: a memory having a computer program stored thereon; a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1-9.

Description

Container control method and electronic equipment Technical Field The disclosure relates to the technical field of cargo connection, in particular to a container control method and electronic equipment. Background Performing a handover operation on goods refers to receiving the goods and transporting the goods to a designated location. Before the handover operation, the goods handover position needs to be spatially positioned based on a visual space positioning technology, so that the accurate handover operation of the goods is realized based on a positioning result. In the process of spatially locating the goods delivery position based on the visual space locating technology, a visual component is required to be used for collecting images of preset identification beacons, and the spatial visual locating of the goods delivery position is realized based on the images. In the related art, the positioning accuracy of performing space vision positioning based on the image of the preset identification beacon needs to be improved, so that the accuracy of cargo handover operation can be affected. Disclosure of Invention An object of the present disclosure is to provide a container control method, apparatus, storage medium, electronic device, and program product. In a first aspect, the present disclosure provides a container control method, the container including a movable robotic arm having a vision assembly disposed thereon and an end effector located at a distal end of the robotic arm, the method comprising: in response to obtaining a handover command for a target cargo, calibrating a photographing pose of the mechanical arm according to a target handover position indicated by the handover command to obtain a target photographing pose, wherein the target photographing pose is a photographing pose when the mechanical arm photographs a first position identifier through the vision component, the first position identifier is used for identifying the target handover position, and the target handover position is a handover position of the target cargo; after the mechanical arm is controlled to move to the target photographing pose, a first image of the first position mark is acquired through the vision component; And controlling the mechanical arm to execute the handover operation on the target goods through the end effector according to the first image. Optionally, the calibrating the photographing pose of the mechanical arm according to the target handover position indicated by the handover instruction, where obtaining the target photographing pose includes: Acquiring a preset photographing pose corresponding to the target handover position, wherein the preset photographing pose is a photographing pose of the mechanical arm obtained by pre-calibration; after the mechanical arm is controlled to move to the preset photographing pose, a second image of the first position mark is acquired through the vision component; and recalibrating the photographing pose of the mechanical arm corresponding to the target handover position according to the second image to obtain the target photographing pose. Optionally, the recalibrating the photographing pose of the mechanical arm corresponding to the target handover position according to the second image, to obtain the target photographing pose includes: Performing quality detection on the second image to obtain a quality detection result, wherein the quality detection result represents whether the second image comprises the first position mark and/or the definition degree of the first position mark; And recalibrating the photographing pose of the mechanical arm corresponding to the target handover position to obtain a target photographing pose under the condition that the first position mark is not included in the second image or the definition of the first position mark is smaller than or equal to a preset definition threshold according to the quality inspection result. Optionally, recalibrating the photographing pose of the mechanical arm corresponding to the target handover position, where obtaining the target photographing pose includes: acquiring a plurality of preset photographing points corresponding to the target handover position, wherein different preset photographing points represent different photographing postures of the mechanical arm; Controlling the mechanical arm to move to the preset photographing point according to each preset photographing point, and acquiring a third image of the first position mark acquired by the vision component; And performing hand-eye calibration according to the third images corresponding to each preset photographing point respectively to obtain the target photographing pose. Optionally, the container includes a plurality of storage openings, and a mounting mechanism for hanging cargo is configured in each storage opening; the controlling the robotic arm to perform a handover operation on the target cargo by the end effector according t