US 12,403,608 B2
Pickup robot, pickup method, and computer-readable storage medium
Yingchun Wang, Beijing (CN); Chao Chen, Beijing (CN); and Xiaoli Guo, Beijing (CN)
Assigned to BEIJING GEEKPLUS TECHNOLOGY CO., LTD., Beijing (CN)
Appl. No. 17/634,906
Filed by Beijing Geekplus Technology Co., Ltd., Beijing (CN)
PCT Filed Dec. 22, 2020, PCT No. PCT/CN2020/138291
§ 371(c)(1), (2) Date Feb. 11, 2022,
PCT Pub. No. WO2021/129608, PCT Pub. Date Jul. 1, 2021.
Claims priority of application No. 201911368940.5 (CN), filed on Dec. 26, 2019.
Prior Publication US 2022/0315337 A1, Oct. 6, 2022
Int. Cl. B25J 9/16 (2006.01); B65G 1/137 (2006.01); G06K 7/14 (2006.01); G06Q 10/087 (2023.01); G06T 7/11 (2017.01); G06T 7/70 (2017.01); G06V 10/24 (2022.01); G06V 10/75 (2022.01); B25J 13/08 (2006.01); B25J 19/02 (2006.01); G06K 17/00 (2006.01); G06T 7/136 (2017.01)
CPC B25J 9/1697 (2013.01) [B65G 1/1371 (2013.01); G06K 7/1417 (2013.01); G06T 7/11 (2017.01); G06T 7/70 (2017.01); G06V 10/245 (2022.01); G06V 10/751 (2022.01); G05B 2219/31028 (2013.01); G05B 2219/45063 (2013.01); G06Q 10/087 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A robot, comprising: an image capture device, a processor, and a pick-store component,
the robot is configured to perform at least one of a picking-up process and a storing process;
during the picking-up process, the processor is configured to acquire a target image captured by the image capture device when the robot travels to a target slot where goods are stored, and filter a goods identifier from the target image;
the processor is configured to determine, in response to obtaining the goods identifier through filtering, position information of a position of goods to be picked up in the target slot based on the goods identifier;
the pick-store component is configured to pick up, based on the position information, the goods to be picked up from the target slot, and
during the storing process, the processor is configured to acquire a target image captured by the by the image capture device when the robot travels to a target slot where goods is to be stored and filter a slot identifier from the target image;
the processor is configured to determine, in response to obtaining the slot identifier through filtering, position information of a position of the goods to be stored in the target slot based on a position of the slot identifier in the target image; and
the pick-store component is configured to store the goods to be stored in the target slot based on the position information;
wherein during the picking-up process, for determining the position information of the position of the goods to be picked up in the target slot based on the goods identifier, the processor is further configured to:
determine center position information of the goods identifier in the target image; and
determine, based on the center position information and relative position information between the goods identifier and the goods to be picked up, the position information of the position of the goods to be picked up in the target slot.