CN-122023737-A - File intelligent on-shelf guiding method and device, electronic equipment and storage medium

CN122023737ACN 122023737 ACN122023737 ACN 122023737ACN-122023737-A

Abstract

The application provides an intelligent archive loading guiding method, an intelligent archive loading guiding device, electronic equipment and a storage medium, wherein an initial pose which is output by a user through fusion of a camera on augmented reality equipment and an inertial sensor is obtained by acquiring a target archive position of an archive to be archived; generating an initial navigation path based on a target archiving position, an initial pose and a pre-constructed archive three-dimensional map, rendering and superposing the initial navigation path to a real picture currently shot by a camera in a virtual arrow sequence mode, continuously tracking the current real-time pose of a user in the process of the user travelling along the initial navigation path, calculating the deviation distance between the position of the current real-time pose and the initial navigation path, and re-planning the navigation path to the target archiving position by taking the position of the current real-time pose as a new starting point when the deviation distance is larger than a preset deviation range, and updating the virtual arrow sequence. The application improves the accuracy of the whole guiding process while improving the racking efficiency.

Inventors

Ma Chunchuo
YU DEMING
LIU HONG

Assignees

北京合思信息技术有限公司

Dates

Publication Date: 20260512
Application Date: 20260128

Claims (10)

1. An intelligent archive loading guiding method is characterized by comprising the following steps: acquiring a target filing position of a file volume to be filed and an initial pose which is output by a user through fusion of a camera on augmented reality equipment and an inertial sensor; Generating an initial navigation path based on the target archiving position, the initial pose and a pre-constructed archive three-dimensional map, and rendering and overlaying the initial navigation path into a real picture currently shot by the camera in the form of a virtual arrow sequence, wherein the virtual arrow sequence extends along the ground in the real picture; Continuously tracking the current real-time pose of the user in the process of the user travelling along the initial navigation path, and calculating the deviation distance between the position of the current real-time pose and the initial navigation path; when the deviation distance is larger than a preset deviation range, the position of the current real-time pose is taken as a new starting point, a navigation path to the target archiving position is planned again, and the virtual arrow sequence is updated.
2. The method of claim 1, wherein obtaining a target archive location of an archive to be archived comprises: Scanning the identification code of the archive to be archived based on a camera on the augmented reality device to identify the archive ID thereof; querying metadata corresponding to the archive ID based on the archive ID, Reading a real-time bin occupancy state table of the archive warehouse, and determining all idle bins and physical properties thereof; and determining a target archiving position by utilizing a preset warehousing optimization algorithm based on the metadata of the archive ID, all idle bins and physical attributes thereof.
3. The method of claim 2, wherein the metadata includes archive type, history borrowing frequency, security level and project association identification, the physical attributes include bin size, security control level of the area and horizontal distance from the main channel, and determining the target archive location using a preset warehouse optimization algorithm includes: Selecting idle bin positions with physical size not smaller than a preset volume threshold value of the file type and the security control level of the area not lower than the security level of the file ID from all idle bin positions to form a primary selection set; If the history borrowing frequency is greater than or equal to 5 times per month, selecting a bin with the horizontal distance from the main channel being less than or equal to 8 meters from the primary channel as a hot zone candidate set, otherwise, reserving all primary bin as a cold zone candidate set; Inquiring whether a stored association file with the same item association identifier exists, if so, selecting a bin position which is positioned in the same archive cabinet or an adjacent cabinet group with the stored association file from the hot area candidate set or the cold area candidate set to obtain a candidate bin position; the candidate bins are ranked according to the following priority, wherein the first priority is whether the associated storage is met, the second priority is that the horizontal distance from the main channel is from near to far, and the third priority is that the number of the inner layer of the cabinet is from low to high; And selecting a first bin in the sorting result, and taking a structured address of the first bin as the target filing position, wherein the structured address comprises an area, a filing cabinet number, a layer number and a bin number.
4. The method of claim 1, wherein the initial pose of the user, and the current real-time pose, is determined by: Acquiring image information acquired by the camera and sensing data acquired by an inertial sensor; Based on the image information and the sensing data, the pose of the user is determined by using a visual inertial odometer method.
5. The method of claim 4, wherein while continuously tracking the current real-time pose of the user, the method further comprises: Periodically scanning beacons deployed in an archive to obtain signal intensity values and beacon IDs of the beacons, calculating the distance from a user to the beacons by utilizing a logarithmic distance path loss model according to preset transmitting power and received signal intensity values of the beacons, determining the absolute position of the user in the archive by utilizing a triangulation positioning method based on the distance from the user to the beacons, inputting the absolute position serving as external observation to an extended Kalman filter, fusing the absolute position with the pose calculated by a visual inertial odometer method through the extended Kalman filter, and outputting the corrected current real-time pose.
6. The method of claim 1, wherein generating the initial navigation path based on the target archive location, the initial pose, and the pre-constructed archive three-dimensional map comprises: extracting the current position coordinates of the user from the initial pose, and analyzing the physical coordinates of the target filing cabinet from the target filing position; Projecting the archive three-dimensional map into a two-dimensional passable area grid map, wherein each grid is marked as a passable or obstacle, and the obstacle comprises an archive body, an upright post and a forbidden area; Calling a path planner on the grid map by taking the current position of a user as a starting point and the bottom center point of a target file cabinet as an end point, and generating a shortest feasible path by combining a cost function considering turning punishment and path smoothness; performing spline interpolation on the discrete road mark points on the shortest feasible path to generate a continuous smooth three-dimensional path point sequence, wherein Z coordinates of all the path points are constrained to be within a preset distance from the ground so as to ensure that the virtual arrow sequence is rendered along the real ground; And outputting the three-dimensional path point sequence as the initial navigation path.
7. The method of claim 1, wherein the target archive location comprises a target archive cabinet and a bin number, and wherein when the user's current location is less than a predetermined distance from the target archive location, the method further comprises: Stopping rendering the virtual arrow sequence, rendering and overlaying the target file cabinet in a real picture of the augmented reality equipment in a virtual frame mode, scanning marks preset by all bin positions on the target file cabinet based on the camera, binding each mark with a corresponding bin position number, acquiring bin position size of the bin position corresponding to the mark when the mark matched with the bin position number of the target filing position is scanned, generating a virtual local highlight frame matched with the bin position size based on the bin position size, and rendering the local highlight frame into the real picture currently shot by the camera.
8. An intelligent archive loading guide device, which is characterized by comprising: The acquisition unit is used for acquiring a target filing position of a file volume to be filed and an initial pose which is fused and output by a user through a camera on the augmented reality device and the inertial sensor; The generating unit is used for generating an initial navigation path based on the target archiving position, the initial pose and the pre-constructed archive three-dimensional map, and rendering and overlaying the initial navigation path into a real picture currently shot by the camera in the form of a virtual arrow sequence, wherein the virtual arrow sequence extends along the ground in the real picture; The tracking unit is used for continuously tracking the current real-time pose of the user in the process of the user travelling along the initial navigation path and calculating the deviation distance between the position of the current real-time pose and the initial navigation path; and the updating unit is used for re-planning a navigation path to the target archiving position by taking the position of the current real-time pose as a new starting point when the deviation distance is larger than a preset deviation range, and updating the virtual arrow sequence.
9. An electronic device, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are in communication with each other through the communication bus; the memory is used for storing a computer program; The processor is configured to implement the method of any one of claims 1-7 when executing a program stored on the memory.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a computer program which, when executed by a processor, implements the method of any of claims 1-7.

Description

File intelligent on-shelf guiding method and device, electronic equipment and storage medium Technical Field The invention relates to the technical field of warehousing, in particular to an intelligent archive loading guiding method and device, electronic equipment and a storage medium. Background In large archives, libraries, enterprise archives centers, etc., a large number of physical archives each day need to be placed accurately on the designated archives and bins in the warehouse. The archive storehouse is huge in space, complex in layout, thousands of archive cabinets and bins, and dense in arrangement. The staff needs to search the corresponding storage position according to the management number of the files, and then accurately put the files on the shelf. This process is an extremely important and error-prone step in archive management. In the prior art, manual loading is low in efficiency and error rate, while a semi-automatic mode is adopted, for example, an LED indicator lamp is installed in each bin, and a user is guided by lighting a lamp of a target bin. This approach can accurately position to the final bin, but cannot provide route guidance from the current location to the target shelf, which can take a significant amount of time in a large warehouse where only the shelf is found. Disclosure of Invention Accordingly, the present invention is directed to an intelligent archive loading guiding method, apparatus, electronic device and storage medium, so as to provide an intelligent guiding path and improve efficiency and accuracy of archive loading operation. In a first aspect, an intelligent archive loading guiding method is provided, including: acquiring a target filing position of a file volume to be filed and an initial pose which is output by a user through fusion of a camera on augmented reality equipment and an inertial sensor; generating an initial navigation path based on a target filing position, an initial pose and a pre-constructed archive three-dimensional map, and rendering and overlaying the initial navigation path into a real picture currently shot by a camera in the form of a virtual arrow sequence, wherein the virtual arrow sequence extends along the ground in the real picture; continuously tracking the current real-time pose of the user in the process of the user travelling along the initial navigation path, and calculating the deviation distance between the position of the current real-time pose and the initial navigation path; when the deviation distance is larger than the preset deviation range, the position of the current real-time pose is taken as a new starting point, a navigation path to the target archiving position is planned again, and the virtual arrow sequence is updated. Optionally, obtaining the target archive location of the archive to be archived includes: Scanning an identification code of an archive book to be archived based on a camera on the augmented reality device to identify an archive ID thereof; And inquiring metadata corresponding to the archive ID based on the archive ID. Reading a real-time bin occupancy state table of the archive warehouse, and determining all idle bins and physical properties thereof; And determining a target filing position by using a preset warehouse optimization algorithm based on the metadata of the file ID, all the idle warehouse spaces and the physical attributes of the idle warehouse spaces. Optionally, the metadata includes file type, history borrowing frequency, security level and project association identifier, the physical attribute includes bin size, security control level of the area where the bin is located and horizontal distance from the main channel, and determining the target archiving position by using a preset warehouse optimization algorithm includes: selecting idle bin positions with physical size not smaller than a preset volume threshold of the file type and the security control level of the area not lower than the security level of the file ID from all idle bin positions to form a primary selection set; if the history borrowing frequency is more than or equal to 5 times/month, selecting a bin with the horizontal distance from the main channel being less than or equal to 8 meters from the primary selection set as a hot zone candidate set, otherwise, reserving all the primary selection bins as cold zone candidate sets; Inquiring whether a stored association file with the same item association identifier exists, if so, selecting a bin position which is positioned in the same archive cabinet or an adjacent cabinet group with the stored association file from a hot area candidate set or a cold area candidate set to obtain a candidate bin position; the candidate bins are ranked according to the following priority, wherein the first priority is whether the associated storage is met, the second priority is that the horizontal distance from the main channel is from near to far, and the third priority is that the