CN108876249B - Article monitoring system and method - Google Patents

Article monitoring system and method Download PDF

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Publication number
CN108876249B
CN108876249B CN201810712759.0A CN201810712759A CN108876249B CN 108876249 B CN108876249 B CN 108876249B CN 201810712759 A CN201810712759 A CN 201810712759A CN 108876249 B CN108876249 B CN 108876249B
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Prior art keywords
light source
target
light
determining
shelf
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CN108876249A (en
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张宏毅
郑鹏飞
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Beijing Kuangshi Technology Co Ltd
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Beijing Kuangshi Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V8/00—Prospecting or detecting by optical means
    • G01V8/10—Detecting, e.g. by using light barriers
    • G01V8/20—Detecting, e.g. by using light barriers using multiple transmitters or receivers
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/70—SSIS architectures; Circuits associated therewith
    • H04N25/71—Charge-coupled device [CCD] sensors; Charge-transfer registers specially adapted for CCD sensors
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/30—Transforming light or analogous information into electric information
    • H04N5/33—Transforming infrared radiation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources

Abstract

The invention provides an article monitoring system and method, relating to the technical field of intelligent monitoring, wherein the method comprises the following steps: acquiring a sensing signal of a light sensor; determining a first target light source and a second target light source according to the sensing signal; the first target light source is a first light source with blocked emission light, and the second target light source is a second light source with blocked emission light; determining a target object on the shelf according to the first target light source and the second target light source; the target object is an object touched on the object placing frame. The invention can monitor the articles on the article rack in real time and effectively improve the article monitoring effect.

Description

Article monitoring system and method
Technical Field
The invention relates to the technical field of intelligent monitoring, in particular to an article monitoring system and method.
Background
The commodity shelf is widely applied to various industries, such as a commodity shelf adopted in a market, a bookshelf adopted in a library or a bookshop, a storage rack adopted in a warehouse and the like. The commodity shelf on the market is mostly only used for simply bearing articles, the articles on the commodity shelf are completely monitored by manpower, and by taking a supermarket as an example, whether commodities on the commodity shelf are taken or not needs to be periodically checked by manpower so as to further manage the commodities, such as judging whether replenishment is needed or not according to the quantity of the commodities on the commodity shelf or judging the popularity of various commodities to determine a marketing mode and the like. However, the existing manual monitoring mode is not only inefficient, but also difficult to monitor the articles taken from the shelf in real time, and the monitoring effect is not good.
Disclosure of Invention
In view of the above, an object of the present invention is to provide an article monitoring system and method, which can monitor articles on an article rack intelligently, and solve the problem of poor effect of the existing manual monitoring method.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, an embodiment of the present invention provides an article monitoring system, including: the system comprises a commodity shelf, a plurality of first light sources, a plurality of second light sources and a plurality of light-sensitive sensors which are arranged on the commodity shelf, and further comprises processing equipment connected with the light-sensitive sensors; each article on the shelf is at least positioned in the sensing area of one light sensor; the light emitting direction of the first light source is vertical to the ground, and the light emitting direction of the second light source is parallel to the ground; the light sensor is used for sensing light rays of the first light source and/or the second light source, generating a sensing signal and sending the sensing signal to the processing equipment; the processing equipment is used for determining a first target light source and a second target light source according to the sensing signals and determining a target item on the commodity shelf according to the first target light source and the second target light source; the first target light source is a first light source with blocked emission light, and the second target light source is a second light source with blocked emission light; the target object is an object touched on the object placing frame.
Further, an embodiment of the present invention provides a first possible implementation manner of the first aspect, where the first light source and the second light source are both infrared light sources; the light sensor is an infrared CCD image sensor.
Further, an embodiment of the present invention provides a second possible implementation manner of the first aspect, where the first light source is disposed on a top layer or a bottom layer of the rack, and the second light source is disposed on one side of the rack; the plurality of first light sources are arranged at equal intervals, and two adjacent first light sources are spaced by a first interval; the plurality of second light sources are arranged at equal intervals, and two adjacent second light sources are spaced by a second interval; wherein the first interval and the second interval are the same or different.
Further, in a third possible implementation manner of the first aspect, the number of the light sensors is three, the light sensors are respectively disposed at three top corners of the rack, and each of the first light sources and each of the second light sources can be sensed by at least one light sensor.
Further, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, where feature parts are respectively disposed on edge sides of each layer board on the shelf; wherein the feature comprises a protrusion; the processing device is further for determining a height of each of the features from the sensing signal; and calibrating the current height of each layer plate according to the height of each characteristic component.
In a second aspect, an embodiment of the present invention further provides an article monitoring method, where the method is performed by a processing device, and the processing device is connected to a plurality of light-sensitive sensors mounted on a shelf; the shelf is also provided with a plurality of first light sources and a plurality of second light sources; each article on the shelf is at least positioned in the sensing area of one light sensor; the method comprises the following steps: acquiring a sensing signal of the light sensor; determining a first target light source and a second target light source according to the sensing signal; the first target light source is a first light source with blocked emission light, and the second target light source is a second light source with blocked emission light; determining a target item on the shelf according to the first target light source and the second target light source; the target object is an object touched on the object placing frame.
Further, an embodiment of the present invention provides a first possible implementation manner of the second aspect, where the sensing signal includes a plurality of data points, and each data point carries a signal strength; the step of determining a first target light source and a second target light source according to the sensing signal includes: searching data point positions with signal intensity lower than a preset threshold value in the sensing signals, and determining the data point positions as target point positions; searching a first light source and a second light source corresponding to the target point through a pre-recorded point location information table; the point location information table stores corresponding relations of data point locations, the first light sources and the second light sources; and determining the searched first light source as a first target light source with the shielded emission light, and determining the searched second light source as a second target light source with the shielded emission light.
Further, the embodiment of the present invention provides a second possible implementation manner of the second aspect, and the step of determining the target item on the rack according to the first target light source and the second target light source includes: searching prestored position information of the first target light source and position information of the second target light source; determining the position information of a target area according to the position information of the first target light source and the position information of the second target light source; wherein the target region is a common sensing region of the first target light source and the second target light source; and determining the target object in the target area according to the position information of the target area and the position information of each type of the objects stored in advance.
Further, an embodiment of the present invention provides a third possible implementation manner of the second aspect, where the method further includes: when the target object is determined, judging whether the target object is touched again within a preset time length; if not, determining that the target object is taken and the number of the target objects on the commodity shelf is reduced by at least one; if yes, determining that the target object is taken and then returned, and keeping the number of the target objects on the commodity shelf unchanged.
Further, an embodiment of the present invention provides a fourth possible implementation manner of the second aspect, where the method further includes: if the target object is determined to be taken, updating the taking times corresponding to the target object in a stored object record table; wherein, the corresponding relation between the articles and the taking times is recorded in the article information recording table; and periodically sending the article record table to a related terminal so that the related terminal determines the corresponding taking times of various articles on the commodity shelf based on the article record table.
Further, an embodiment of the present invention provides a fifth possible implementation manner of the second aspect, where the method further includes: determining the current number of the target articles on the commodity shelf according to the corresponding taking times of the target articles and the pre-recorded initial number of the target articles on the commodity shelf; if the current quantity of the target objects is lower than a preset value, initiating a replenishment prompt to the associated terminal; and the replenishment prompt carries information of the target object.
Further, the embodiment of the present invention provides a sixth possible implementation manner of the second aspect, wherein feature parts are respectively disposed on edge sides of each layer board on the storage rack; wherein the feature is a protrusion, or the feature is an infrared light source with a specific wavelength; the method further comprises the following steps: determining a height of each of the features from the sensing signal; and calibrating the current height of each layer plate according to the height of each characteristic component.
Further, an embodiment of the present invention provides a seventh possible implementation manner of the second aspect, wherein the step of determining the height of each feature component according to the sensing signal includes: searching a characteristic light source; wherein the characteristic light source is a second light source which emits light rays which are continuously shielded; the number of the characteristic light sources is the same as that of the laminates; and determining the height of each characteristic part according to the position information of each characteristic light source.
Further, an embodiment of the present invention provides an eighth possible implementation manner of the second aspect, where the method further includes: judging whether the current height of each layer plate is consistent with the pre-stored reference height of each layer plate or not; if not, updating the reference height of each layer plate according to the current height of each layer plate; and updating the position information of each article according to the updated reference height of each layer plate and the position information of each article stored in advance.
In a third aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processing device, performs the steps of the method in any one of the second aspect.
The embodiment of the invention provides an article monitoring system and method.A processing device is connected with a plurality of light-sensitive sensors, the photoelectric sensors can sense a plurality of first light sources with light emission directions perpendicular to the ground and/or second light sources with light emission directions parallel to the ground and generate sensing signals, and the processing device can determine a first target light source and a second target light source according to the sensing signals of the photoelectric sensors and further determine target articles touched on an article shelf according to the first target light source and the second target light source. Compared with manual monitoring, the method provided by the embodiment saves labor cost, can monitor the articles on the shelf in real time, obtains more accurate monitoring results, and comprehensively improves the monitoring effect; in addition, because the integrated cost of the photoelectric sensor and the light source is generally low, the embodiment is simple and feasible, and is convenient to be widely applied to occasions needing to monitor the articles on the article shelf.
Additional features and advantages of the disclosure will be set forth in the description which follows, or in part may be learned by the practice of the above-described techniques of the disclosure, or may be learned by practice of the disclosure.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic diagram illustrating an electronic system according to an embodiment of the present invention;
FIG. 2 illustrates a circuit diagram of an article monitoring system provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of an article monitoring system according to an embodiment of the present invention;
FIG. 4 illustrates a monitoring schematic diagram of an item monitoring system provided by an embodiment of the present invention;
FIG. 5 illustrates a schematic diagram of a laminate structure provided with features according to an embodiment of the present invention;
fig. 6 shows a flowchart of an article monitoring method according to an embodiment of the present invention.
Icon:
10-a processing device; 20-a light sensor; 30-a first light source; 40-a second light source;
50-a shelf; 50 a-layer plate; 20 a-a first light sensor; 20 b-a second light sensor;
20 c-a third light sensor; 60-feature.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In consideration of the fact that in the prior art, occasions such as supermarkets, bookstores, warehouses and the like need to monitor articles on the article shelf, the existing manual monitoring mode is low in efficiency, real-time monitoring is difficult to achieve, and the monitoring effect is poor, so that the articles on the article shelf are difficult to manage better. To improve this problem, the present invention provides an article monitoring system and method, which can be applied to the occasions requiring monitoring of articles on an article rack, such as convenience stores, shopping malls, supermarkets, bookstores, warehouses, etc. The following describes embodiments of the present invention in detail.
The first embodiment is as follows:
first, an example electronic system 100 for implementing an item monitoring system and method of embodiments of the present invention is described with reference to FIG. 1.
As shown in FIG. 1, an electronic system 100 includes one or more processing devices 102, one or more memory devices 104, an input device 106, an output device 108, and a photosensor 110, which are interconnected via a bus system 112 and/or other type of connection mechanism (not shown). It should be noted that the components and structure of the electronic system 100 shown in fig. 1 are exemplary only, and not limiting, and that the electronic system may have other components and structures as desired.
The processing device 102 may be a gateway, an intelligent terminal, or an apparatus including a Central Processing Unit (CPU) or other forms of processing units with data processing capability and/or instruction execution capability, and may process data of other components in the electronic system 100 and control other components in the electronic system 100 to perform desired functions.
The storage 104 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. On which one or more computer program instructions may be stored that may be executed by processing device 102 to implement client-side functionality (implemented by the processing device) and/or other desired functionality in embodiments of the invention described below. Various applications and various data, such as various data used and/or generated by the applications, may also be stored in the computer-readable storage medium.
The input device 106 may be a device used by a user to input instructions and may include one or more of a keyboard, a mouse, a microphone, a touch screen, and the like.
The output device 108 may output various information (e.g., images or sounds) to the outside (e.g., a user), and may include one or more of a display, a speaker, and the like.
The photosensor 110 may be specifically referred to as an optical sensing sensor, and may be implemented by using a CCD (charge Coupled Device) sensor. Specifically, the sensor may be an infrared CCD image sensor, which may sense infrared light of a specific wavelength and filter out ambient light.
For example, the devices in the exemplary electronic system for implementing the article monitoring system and method according to the embodiment of the invention may be integrally disposed, or may be disposed in a distributed manner, such as integrally disposing the processing device 102, the storage device 104, the input device 106 and the output device 108, and disposing a plurality of photosensors at different positions on the shelf.
For ease of understanding, the following further describes an application example of the electronic system of the present embodiment. The electronic system can be installed and arranged in places such as supermarkets, libraries, warehouses and the like where storage racks are arranged; wherein, photoelectric sensor can set up on the supporter, and every photoelectric sensor's sensing area (shoot the angle of vision) can be because of the mounted position difference to some extent, and every article on the supporter all is located at least one photoelectric sensor's sensing area, and the supporter that is provided with above-mentioned electronic system can be called intelligent supporter to can be applied to each occasion in a flexible way.
Example two:
the embodiment provides an article monitored control system, including the supporter, set up a plurality of first light sources, a plurality of second light source and a plurality of light sense sensor on the supporter, still include the processing apparatus who is connected with the light sense sensor. The first light source and the second light source are different in light emitting direction, the light emitting direction of the first light source is perpendicular to the ground, and the light emitting direction of the second light source is parallel to the ground; in a specific implementation, the hardware structures of the first light source and the second light source may be the same, such as both being implemented by an infrared emission tube. For ease of understanding, the item monitoring system is described in detail below with reference to fig. 2, 3 and 4:
referring to fig. 2, a circuit diagram of an article monitoring system is shown, illustrating a processing device 10, and a plurality of light-sensitive sensors 20 respectively connected to the processing device 10. The light sensor 20 is configured to sense light of the first light source and/or the second light source, generate a sensing signal (i.e., a light signal received by the light sensor), and send the sensing signal to the processing device 10. In a specific application, the number of the photoelectric sensors 20 may depend on the structure of the shelf, and taking a common shelf as an example, the number of the light-sensitive sensors may be three, and the three light-sensitive sensors are respectively disposed at three corners of the shelf, so that only three light-sensitive sensors 20 are illustrated in fig. 2, but should not be considered as a limitation.
The light sensor may be specifically referred to as an optical sensor, and may be implemented using a CCD image sensor. In one embodiment, the first light source and the second light source are both infrared light sources, and the light sensor may be an infrared CCD image sensor, which is capable of sensing infrared light with a specific wavelength and filtering out ambient light. Compared with a camera tube, the CCD image sensor has a series of advantages of small size, light weight, high resolution, high sensitivity, wide dynamic range, high geometric precision of a photosensitive element, wide spectral response range, low working voltage, low power consumption, long service life, good shock resistance and impact resistance, no electromagnetic field interference, high reliability and the like.
The light sensors are all arranged on the commodity shelf and used for monitoring whether articles on the commodity shelf are touched or not. This embodiment has given the mounting means of light sense sensor on the supporter: each article on the shelf is at least positioned in the sensing area (namely, the shooting angle of view) of one light-sensitive sensor.
Referring to fig. 3, a schematic structural diagram of an article monitoring system is shown, which simply illustrates a shelf 50, and three light-sensitive sensors 20, a plurality of first light sources 30, and a plurality of second light sources 40 disposed on the shelf 50. Fig. 3 only illustrates an embodiment of an article monitoring system, that is: first light source 30 sets up in the top layer of supporter 50, and second light source 40 sets up in a side of supporter 50, and three light sense sensor 20 sets up in the supporter apex angle position that can the sensing to the light of first light source and second light source, and the shooting angle can be for about 45. In addition, fig. 3 also illustrates a layer 50a of the shelf 50 for placing articles. In practical application, first light source 30 can also set up in the bottom of supporter 50, and second light source 40 can set up in a flexible way in any side of supporter 50, and three light sense sensor sets up respectively in the three apex angle department of supporter, and the apex angle position that sets up can be based on the position of first light source and second light source and corresponding adjustment, and it can all by at least one light sense sensor sensing to guarantee every first light source and every second light source.
The sensing areas (i.e., the photographing field angles) of the three light-sensitive sensors are clearly illustrated in fig. 4. The light sensors, namely the first light sensor 20a, the second light sensor 20b and the third light sensor 20c, are respectively arranged at three top corners of the shelf 50. The sector area between the two dotted lines drawn from each photo sensor in fig. 4 can be understood as the sensing area of the photo sensor. As can be seen from fig. 4, the sensing areas of the three different light-sensitive sensors are different, but all the various articles on the shelf 50 can be within the field angle of at least one light-sensitive sensor, and once an article is touched, the processing device can determine the touched article by the abnormal sensing signal (usually lower than the preset signal intensity) of the light-sensitive sensor, such as the hand-touched area shown in fig. 4 is the sensing area of the second light-sensitive sensor 20 b.
On the basis of fig. 2 to 4, the following explains the specific working principle of the article monitoring system:
the light sensor is used for sensing the light of the first light source and/or the second light source, generating a sensing signal and sending the sensing signal to the processing equipment.
The processing equipment is used for determining a first target light source and a second target light source according to the sensing signals and determining a target object on the commodity shelf according to the first target light source and the second target light source; the first target light source is a first light source with blocked emission light, and the second target light source is a second light source with blocked emission light; the target object is an object touched on the object placing frame.
It can be understood that each light source (the first light source and the second light source) on the article monitoring system provided by this embodiment has a number, and information of each light source is stored in advance on the processing device, where the information of the light source may include the number and the position information. Taking a certain first light source as an example, the number of the first light source may be 0001, and the position information may be embodied in an (x, y) manner in a pre-established coordinate system.
The processing device is used for determining the first target light source and the second target light source according to the sensing signal, and determining the target object on the shelf according to the first target light source and the second target light source, which can be specifically understood as follows: the processing equipment is used for determining the number of the first target light source and the number of the second target light source according to the sensing signals, and determining the information of the target object on the commodity shelf according to the number of the first target light source and the number of the second target light source. The information on the target item includes information on the target item, such as the type and location of the target item.
In specific implementation, taking the case that the light sensor is a CCD image sensor as an example, a sensing signal of the CCD image sensor includes a plurality of data points, and each data point carries a signal strength; it can thus be performed with reference to the following steps:
(1) and searching data point positions with the signal intensity lower than a preset threshold value in the sensing signals, and determining the data point positions as target point positions.
(2) Searching a first light source and a second light source corresponding to a target point through a pre-recorded point location information table; the point location information table stores the corresponding relationship among the data point location, the first light source and the second light source. Specifically, the number of the first light source and the number of the second light source corresponding to the target point may be looked up through a point location information table recorded in advance.
(3) And determining the searched first light source as a first target light source with the shielded emission light, and determining the searched second light source as a second target light source with the shielded emission light. That is, the processing device may thereby determine the number of the first target light source and the number of the second target light source.
(4) And searching the position information of the first target light source and the position information of the second target light source which are stored in advance. Through the number of the first target light source and the number of the second target light source, the position information of the first target light source and the position information of the second target light source which are stored in advance can be found correspondingly.
(5) Determining the position information of the target area according to the position information of the first target light source and the position information of the second target light source; the target area is a common sensing area of the first target light source and the second target light source.
For ease of understanding, further explanation follows: when a person stretches his hand to take an article from the storage rack, the hand can block the light of the first light source (i.e., the first target light source) and the second light source (i.e., the second target light source) corresponding to the article, and the intensity of the light signal corresponding to the first target light source and the second target light source in the sensing signal of the light sensor is lower than the preset threshold value. Based on this principle, the processing device can search the first light source (i.e., the first target light source) and the second light source (i.e., the second target light source) corresponding to the target point according to the pre-recorded correspondence between the point and the light source by analyzing the data point location of which the signal intensity is lower than the preset threshold in the sensing signal of the second light sensor 20 b.
As shown in fig. 4, when a person reaches for taking an item from the shelf, the first light sources YR1, YR2, YR3 and the second light sources XR1 and XR2 are shielded, causing the light sensors to sense that the intensities of the light signals related to the first light sources YR1, YR2, YR3 and the second light sources XR1 and XR2 are lower than a preset threshold. The processing device analyzes the data point location with the signal intensity lower than the preset threshold value in the sensing signal of the second light sensor 20b, and determines the first target light source and the second target light source corresponding to the touched object (target object) by combining the data point location and the corresponding relationship between the first light source and the second light source, and in practical application, the first target light source and the second target light source may form the following coordinates: (XR1, YR1), (XR1, YR2), (XR1, YR3), (XR2, YR1), (XR2, YR2) and (XR3, YR3), which coordinates can be regarded as location information of the target area, and thus the target item located in the target area can be determined based on the location information of the target area and the location information of each item stored in advance. The position information of each article can be characterized by coordinates, and the article with the article coordinates coincident with the coordinates of the target area can be regarded as the touched target article.
In the article monitoring system provided by the embodiment of the invention, the processing device is connected with the plurality of light-sensitive sensors, the photoelectric sensors can sense the plurality of first light sources with the light emission directions perpendicular to the ground and/or the second light sources with the light emission directions parallel to the ground and generate sensing signals, and the processing device can determine the first target light source and the second target light source according to the sensing signals of the photoelectric sensors and further determine the target articles touched on the shelf according to the first target light source and the second target light source. Compared with manual monitoring, the method provided by the embodiment saves labor cost, can monitor the articles on the shelf in real time, obtains more accurate monitoring results, and comprehensively improves the monitoring effect; in addition, because the integrated cost of the photoelectric sensor and the light source is generally low, the embodiment is simple and feasible, and is convenient to be widely applied to occasions needing to monitor the articles on the article shelf.
In one embodiment, the plurality of first light sources of the article monitoring system are arranged at equal intervals, and two adjacent first light sources are spaced apart by a first interval; the plurality of second light sources are arranged at equal intervals, and two adjacent second light sources are spaced by a second interval; wherein the first and second intervals are the same or different.
Taking the shelf as a supermarket shelf as an example, according to the size of most commodities and the commodity placing condition, the first interval and/or the second interval can be 3cm, for example, if a plurality of horizontal laminates for placing the commodities are arranged on the shelf, the distance between two adjacent laminates is 30cm, and 10 second light sources can be arranged between the two laminates. The above is only an exemplary illustration, in practical application, the first interval and the second interval can be flexibly set, and the number of the first light source and the number of the second light source can be flexibly set according to the length and the height of the shelf and the layout of the articles on the shelf.
When the article monitoring system is applied, the processing device usually stores the position information of each article, and considering that the height of each layer plate on the shelf may be changed due to manual adjustment, the position information of each article (mainly the height of the distance between the layers of the article) may be changed accordingly. For example, the height of the third layer plate from top to bottom on the shelf from the original ground is 100cm, and then the height of the third layer plate is adjusted to be 90cm from the ground, so that the heights of all objects on the layer plate are reduced by 10 cm. In order to ensure the accuracy of monitoring the objects, the height of each layer plate is usually required to be calibrated again manually, and the position information of various objects is adjusted correspondingly. In order to reduce labor cost and improve efficiency, the embodiment provides a way to automatically calibrate the layer height of the shelf, referring to a layer structure diagram of fig. 5 with features, which illustrates that the edge side of the layer 50a of the shelf is provided with features 60, and further illustrates that one side of the layer is provided with a second light source 40 (it should be noted that the second light source 40 is not mounted on the layer). The processing device is also used for determining the height of each characteristic part according to the sensing signals of the light-sensitive sensors and calibrating the current height of each layer plate according to the height of each characteristic part.
In one embodiment, the feature may be a protrusion that continuously blocks the emitted light of the second light source 40 disposed at the side of the laminate such that the light sensor does not sense the emitted light of the second light source 40 disposed at the side of the laminate, or the light sensor senses that the emitted light from the second light source 40 at the side of the laminate is lower than a normal signal intensity threshold, and it is determined that the second light source is a feature light source, wherein the feature light source is a second light source whose emitted light is continuously blocked. The processing device may further determine ply locations based on the locations of the characteristic light sources.
After the characteristic component is determined, the processing device correspondingly determines a characteristic light source corresponding to the characteristic component, wherein the characteristic light source is a second light source of which the emitted light is continuously shielded by the characteristic component. After the characteristic light source is determined, the processing equipment can search the position information of the characteristic light source according to the pre-stored position information of each second infrared light source, and then determine the layer plate height corresponding to the characteristic light source. It can be understood that the number of the shelf boards on the shelf is mostly fixed, and the position relationship of each shelf board is also fixed, such as that one shelf board comprises four shelf boards of a, b, c and d, assuming that the initial state of the shelf board is: the height of the layer plate a from the ground is 10cm, the height of the layer plate b from the ground is 40cm, the height of the layer plate c from the ground is 70cm, and the height of the layer plate d from the ground is 100 cm. Even if the heights of the individual laminates are adjusted later, the positional relationship of the laminates is still unchanged, and the laminates are still the laminate a, the laminate b, the laminate c and the laminate d after being arranged in sequence from low to high. Because each laminate is provided with the characteristic component capable of continuously shielding the second light source, the processing equipment can search the second light source corresponding to the data point position with the signal intensity continuously lower than the preset signal intensity according to the sensing signal of the light sensing sensor, namely, the four characteristic light sources. And correspondingly determining the position information of the laminate according to the position information of the four characteristic light sources. Assuming that the height of the characteristic light source 1 is known to be 10cm, the height of the characteristic light source 2 is known to be 43cm, the height of the characteristic light source 3 is known to be 67cm, and the height of the characteristic light source 4 is known to be 100cm, determining that the characteristic light source 1 corresponds to the layer plate a, and the current height of the layer plate a is still 10 cm; the characteristic light source 2 corresponds to the layer b, the current height of the layer b is 43cm, namely the layer b is increased by 3cm compared with the initial state; the characteristic light source 3 corresponds to the layer plate c, the current height of the layer plate c is 67cm, namely, the current height is reduced by 3cm compared with the initial state; the characteristic light source 4 corresponds to the ply d, the current height of which is still 100 cm.
It should be noted that, each second light source of this embodiment is disposed at the edge of the side support rod or the side plate of the shelf, and the position of each second light source is fixed, even if the second light source located at the side of the laminate is also disposed separately from the laminate, and the laminate does not move correspondingly. With the above manner provided by the embodiment, although the positions of the laminas may be shifted, since the relative position relationship of the laminas is not changed, the processing device can determine the characteristic light source blocked by the characteristic component on the lamina according to the sensing signal of the optical sensor, and further determine the position information of the laminas based on the position information of the characteristic light source.
In summary, the article monitoring system provided in this embodiment can comprehensively determine touched articles through the sensing signals of the plurality of photoelectric sensors, and compared with manual monitoring, the manner provided in this embodiment saves labor cost, and can monitor articles on the object shelf in real time, obtain a relatively accurate monitoring result, and comprehensively improve the monitoring effect.
Moreover, the integrated cost of the photoelectric sensor and the light source provided by the embodiment is generally low, and compared with the AI machine vision, the AI machine vision is high in cost, and a consumer is easy to feel that the consumer is monitored and worrys about that the privacy of the consumer is revealed to generate a psychological conflict mood, so that the consumer experience is poor. The cost of using depth sensors, lidar, etc. is relatively high. The infrared sensing mode provided by the embodiment is simple and feasible, can be realized by a small number (such as three) of light-sensitive sensors and a plurality of light sources which can be realized by adopting infrared emission tubes, and is convenient to be widely applied to occasions needing to monitor articles on the object shelf.
In addition, if the layer plate of the shelf is provided with the characteristic component, the height of the layer plate can be automatically calibrated, even if the height of the layer plate is adjusted, the layer height can be determined according to the sensing signal without manual recalibration, so that the position information of various articles recorded in the processing equipment can be correspondingly adjusted, and the articles on the shelf can be more accurately monitored.
Example three:
on the basis of the article monitoring system provided by the foregoing embodiment, the present embodiment provides an article monitoring method, which can be applied to the article monitoring system, and the method can be executed by a processing device, wherein the processing device is connected to a plurality of light-sensitive sensors mounted on a shelf; the shelf is also provided with a plurality of first light sources and a plurality of second light sources; each article on the shelf is at least positioned in the sensing area of one light-sensitive sensor. For a detailed description of the article monitoring system, reference may be made to embodiment two, which is not described herein again.
Referring to fig. 6, a flow chart of an article monitoring method is shown, which includes the following steps:
step S602: and acquiring a sensing signal of the light sensor. It should be understood that the sensing signals of the light-sensitive sensors on the shelf can be directly acquired by the processing device.
Step S604: determining a first target light source and a second target light source according to the sensing signal; the first target light source is a first light source with blocked emission light, and the second target light source is a second light source with blocked emission light.
In specific implementation, taking the case that the light sensor is a CCD image sensor as an example, a sensing signal of the CCD image sensor includes a plurality of data points, and each data point carries a signal strength; it can thus be performed with reference to the following steps:
(1) and searching data point positions with the signal intensity lower than a preset threshold value in the sensing signals, and determining the data point positions as target point positions.
(2) Searching a first light source and a second light source corresponding to a target point through a pre-recorded point location information table; the point location information table stores the corresponding relationship among the data point location, the first light source and the second light source.
(3) And determining the searched first light source as a first target light source with the shielded emission light, and determining the searched second light source as a second target light source with the shielded emission light.
Step S606: determining a target object on the shelf according to the first target light source and the second target light source; the target object is an object touched on the object placing frame.
In practice, reference may be made to the following steps:
(1) searching prestored position information of a first target light source and position information of a second target light source;
(2) determining the position information of the target area according to the position information of the first target light source and the position information of the second target light source; the target area is a common sensing area of the first target light source and the second target light source;
(3) and determining the target object positioned in the target area according to the position information of the target area and the position information of each object stored in advance.
For the above-mentioned specific principles, reference may be made to the related contents in the foregoing embodiments, which are not described herein again.
According to the article monitoring method provided by the embodiment of the invention, the processing equipment is connected with the plurality of light-sensitive sensors, the photoelectric sensors can sense the plurality of first light sources with the light emission directions perpendicular to the ground and/or the second light sources with the light emission directions parallel to the ground and generate sensing signals, and the processing equipment can determine the first target light source and the second target light source according to the sensing signals of the photoelectric sensors and further determine the target articles touched on the commodity shelf according to the first target light source and the second target light source. Compared with manual monitoring, the method provided by the embodiment saves labor cost, can monitor the articles on the shelf in real time, obtains more accurate monitoring results, and comprehensively improves the monitoring effect; in addition, because the integrated cost of the photoelectric sensor and the light source is generally low, the embodiment is simple and feasible, and is convenient to be widely applied to occasions needing to monitor the articles on the article shelf.
In consideration of the situation that a consumer often returns an article after taking the article to know information in a supermarket, a bookstore and the like, in order to further improve the accuracy of article monitoring, the method can further execute the following steps:
(1) when the target object is determined, whether the target object is touched again within a preset time period is judged.
For example, the preset time period may be 1 minute, and may be flexibly set according to the actual application and the statistical data. For example, when most consumers shop in a supermarket, the consumers are counted to pick up the possibly interested goods to check, and then decide whether to buy within 1 minute, and if not, most consumers put the goods back in place within 1 minute. Thus, the preset time period may be set to 1 minute. The foregoing is by way of example only and should not be construed as limiting.
(2) If not, the target object is taken, and the number of the target objects on the object shelf is reduced by at least one. Since most consumers take at least one target item at a time, the number of target items set here is reduced by at least one on an original basis.
(3) If yes, the target object is taken and then returned, and the number of the target objects on the shelf is unchanged. For example, if the target item is monitored to be touched again within 1 minute, it is determined that the target item is taken and then returned. The specific manner for determining whether the target object is touched may refer to the steps shown in fig. 6, and will not be described herein again.
In order to better reflect the taking condition of various articles on the shelf, the method provided by the embodiment further comprises the following steps: if the target object is taken, updating the taking times corresponding to the target object in the stored object record table; wherein, the corresponding relation between the articles and the taking times is recorded in the article information recording list; and regularly sending the article record table to the association terminal so that the association terminal determines the corresponding taking times of various articles on the commodity shelf based on the article record table.
For example, each time it is determined that a target item is taken, the number of times of taking corresponding to the target item may be added by one in the item record table, and then the item record table is periodically sent to the association terminal, so that the relevant person can view the number of times of taking various items, thereby better managing the items. Taking a supermarket as an example, if a supermarket manager knows that the taking times of the article a and the article B in a certain time period are 30 times and 2 times respectively through the article record table, the supermarket manager determines that the article a is more popular than the article B, and therefore, corresponding countermeasures can be taken, such as sales promotion of the article B through discounting, discount and the like, or direct shelf placement of the article B.
Further, considering that when the goods on the shelf are sold, the relevant personnel need to check whether to replenish the goods on site at regular intervals, the embodiment further proposes the following method: determining the current number of the target articles on the storage rack according to the corresponding taking times of the target articles and the initial number of the target articles on the storage rack recorded in advance; if the current quantity of the target objects is lower than a preset value, initiating a replenishment prompt to the associated terminal; wherein the replenishment prompt carries information of the target object. Through the mode, manual monitoring is not needed, prompt can be timely initiated to the associated terminal when the quantity of the articles is not enough, so that relevant personnel can take replenishment measures, convenience is better provided for the relevant personnel, the article monitoring effect is improved, and the replenishment efficiency is effectively improved.
Considering that the height of each layer plate on the shelf may be changed due to manual adjustment, the position information (mainly the height of the distance between the objects) of each object is changed accordingly. The edge side of each layer plate on the shelf is respectively provided with a characteristic part; wherein the feature may be a protrusion. The embodiment also provides a method for automatically calibrating the height of the laminate based on the characteristic components, which specifically refers to the following steps: the height of each feature is determined according to the sensing signal of the light sensor. And calibrating the current height of each layer plate according to the height of each characteristic component.
In particular, the height of each feature may be determined by reference to the following steps:
(1) searching a characteristic light source; the characteristic light source is a second light source which emits light rays which are continuously shielded; the number of characteristic light sources found should be the same as the number of laminae.
(2) And determining the height of each characteristic part according to the position information of each characteristic light source.
On the basis of being able to calibrate the current height of each ply according to the height of each feature, the method may further comprise the steps of:
first, it is determined whether the current height of each ply coincides with a reference height of each ply stored in advance. The reference height can be the height of the layer plate recorded by the processing equipment, and the processing equipment performs calculation based on the recorded reference height when monitoring the article. For example, if the processing device calibrates the layer b, determines that the current height of the layer b is 43cm, and the stored reference height of the layer b is 40cm, the current height of the layer b is not consistent with the reference height, which indicates that the position of the layer b is shifted.
Then, if the current height is not consistent with the reference height, the reference height of each ply is updated according to the current height of each ply. For example, the reference height of the ply b is updated from 40cm to 43 cm.
And finally, updating the position information of each article according to the updated reference height of each layer plate and the position information of each article stored in advance. For example, the location coordinates of the item are known as (x, y); the coordinate y value of the article A is 40cm, which indicates that the article A is arranged on the layer b, and accordingly, the coordinate y value of the article A is updated to 43 cm. Since only the height of the layer changes, only the value of the coordinate y of the article A changes, and the value of the coordinate x of the article A does not change.
By the mode, the height of the laminate can be calibrated automatically after the position of the laminate is adjusted, and the position information of each article on the laminate is correspondingly adjusted, so that the complexity of manual recalibration is better simplified.
The article monitoring method provided by the embodiment has the same implementation principle and technical effect as the foregoing embodiments, and for the sake of brief description, reference may be made to the corresponding contents in the foregoing method embodiments for parts that are not mentioned in the present embodiment.
In summary, the article monitoring method provided by the embodiment includes, but is not limited to, at least one of the following advantages:
(1) the touched articles can be comprehensively determined through the sensing signals of the light sensor, the articles on the article shelf can be monitored in real time, a more accurate monitoring result is obtained, and the monitoring effect is comprehensively improved.
(2) The comprehensive cost of the light sensation sensor and the light source provided by the embodiment is generally lower, compared with the AI machine vision, the AI machine vision is high in cost, and a consumer is easy to feel that the user is monitored and worrys about that the privacy of the user is revealed to generate a psychological conflict emotion, so that the experience of the consumer is poor. The light-sensing sensor provided by the embodiment is simple and feasible in mode, can be realized by a small number (such as three) of light-sensing sensors and some light sources which can be realized by adopting infrared emission tubes, and is also convenient to be widely applied to occasions needing to monitor articles on the object shelf.
(3) If the layer plate of the shelf is provided with the characteristic part, the height of the layer plate can be automatically calibrated, even if the height of the layer plate is adjusted, the layer height can be determined according to the sensing signal without manual recalibration, so that the position information of various articles recorded in the processing equipment can be correspondingly adjusted, and the articles on the shelf can be more accurately monitored.
(4) The number of times that each article on the supporter was taken can be recorded automatically to regularly send the article record table that has recorded article and the number of times corresponding relation of taking to associated terminal, so that relevant personnel can clearly understand the condition of taking of various articles, and welcome degree etc. thereby take corresponding measure.
(5) The current quantity of the articles on the shelf can be determined, if the current quantity of the articles is not enough, the replenishment prompt is initiated to the associated terminal, and related personnel are prompted to take replenishment measures in time, so that the related personnel are not required to check on site, convenience is provided for the related personnel, and the replenishment efficiency is effectively improved.
The article monitoring method provided by the embodiment can be applied to the article monitoring system in the foregoing embodiment, and thus the beneficial effects of the article monitoring method in the embodiment are also applied to the article monitoring system in the foregoing embodiment.
Example four:
corresponding to the systems and methods provided in the foregoing embodiments, this embodiment further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to perform the steps of the object monitoring method provided in the third foregoing embodiment.
The object monitoring method, device and computer program product of the system provided by the embodiments of the present invention include a computer readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiments, and specific implementation may refer to the method embodiments, and will not be described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims (15)

1. An item monitoring system, comprising: the system comprises a commodity shelf, a plurality of first light sources, a plurality of second light sources and a plurality of light-sensitive sensors which are arranged on the commodity shelf, and further comprises processing equipment connected with the light-sensitive sensors; each article on the shelf is at least positioned in the sensing area of one light sensor; the first light source is arranged on the top layer or the bottom layer of the commodity shelf, and the second light source is arranged on one side edge of the commodity shelf;
the light emitting direction of the first light source is vertical to the ground, and the light emitting direction of the second light source is parallel to the ground;
the light sensor is used for sensing light rays of the first light source and/or the second light source, generating a sensing signal and sending the sensing signal to the processing equipment;
the processing equipment is used for determining a target point position according to the signal intensity of each data point position in the sensing signal, determining a first target light source and a second target light source based on the target point position and a point position information table recorded in advance, and determining a target object on the commodity shelf according to the first target light source and the second target light source; the first target light source is a first light source with blocked emission light, and the second target light source is a second light source with blocked emission light; the target object is an object touched on the object placing frame.
2. The system of claim 1, wherein the first light source and the second light source are both infrared light sources; the light sensor is an infrared CCD image sensor.
3. The system of claim 1,
the plurality of first light sources are arranged at equal intervals, and two adjacent first light sources are spaced by a first interval; the plurality of second light sources are arranged at equal intervals, and two adjacent second light sources are spaced by a second interval; wherein the first interval and the second interval are the same or different.
4. The system of claim 3, wherein the number of the light sensors is three, the three light sensors are respectively disposed at three corners of the rack, and each of the first light sources and each of the second light sources can be sensed by at least one light sensor.
5. The system according to any one of claims 1 to 4, wherein each layer edge side on the shelf is provided with a feature part; wherein the feature comprises a protrusion;
the processing device is further for determining a height of each of the features from the sensing signal; and calibrating the current height of each layer plate according to the height of each characteristic component.
6. An article monitoring method is characterized in that the method is executed by processing equipment, and the processing equipment is connected with a plurality of light-sensitive sensors arranged on a commodity shelf; the shelf is also provided with a plurality of first light sources and a plurality of second light sources; each article on the shelf is at least positioned in the sensing area of one light sensor; the first light source is arranged on the top layer or the bottom layer of the commodity shelf, and the second light source is arranged on one side edge of the commodity shelf; the emitting directions of the first light sources are vertical to the ground; the emission directions of the plurality of second light sources are parallel to the ground;
the method comprises the following steps:
acquiring a sensing signal of the light sensor;
determining a target point position according to the signal intensity of each data point position in the sensing signal, and determining a first target light source and a second target light source based on the target point position and a point position information table recorded in advance; the first target light source is a first light source with blocked emission light, and the second target light source is a second light source with blocked emission light;
determining a target item on the shelf according to the first target light source and the second target light source; the target object is an object touched on the object placing frame.
7. The method of claim 6,
the sensing signal comprises a plurality of data points, and each data point carries a signal strength; the step of determining a target point location according to the signal intensity of each data point location in the sensing signal, and determining a first target light source and a second target light source based on the target point location and a point location information table recorded in advance includes:
searching data point positions with signal intensity lower than a preset threshold value in the sensing signals, and determining the data point positions as target point positions;
searching a first light source and a second light source corresponding to the target point through a pre-recorded point location information table; the point location information table stores corresponding relations of data point locations, the first light sources and the second light sources;
and determining the searched first light source as a first target light source with the shielded emission light, and determining the searched second light source as a second target light source with the shielded emission light.
8. The method of claim 6, wherein said step of determining a target item on said shelf based on said first target light source and said second target light source comprises:
searching prestored position information of the first target light source and position information of the second target light source;
determining the position information of a target area according to the position information of the first target light source and the position information of the second target light source; wherein the target region is a common sensing region of the first target light source and the second target light source;
and determining the target object in the target area according to the position information of the target area and the position information of each type of the objects stored in advance.
9. The method of claim 6, further comprising:
when the target object is determined, judging whether the target object is touched again within a preset time length;
if not, determining that the target object is taken and the number of the target objects on the commodity shelf is reduced by at least one;
if yes, determining that the target object is taken and then returned, and keeping the number of the target objects on the commodity shelf unchanged.
10. The method of claim 9, further comprising:
if the target object is determined to be taken, updating the taking times corresponding to the target object in a stored object record table; wherein, the corresponding relation between the articles and the taking times is recorded in the article record table;
and periodically sending the article record table to a related terminal so that the related terminal determines the corresponding taking times of various articles on the commodity shelf based on the article record table.
11. The method of claim 10, further comprising:
determining the current number of the target articles on the commodity shelf according to the corresponding taking times of the target articles and the pre-recorded initial number of the target articles on the commodity shelf;
if the current quantity of the target objects is lower than a preset value, initiating a replenishment prompt to the associated terminal; and the replenishment prompt carries information of the target object.
12. Method according to any of claims 6 to 11, characterized in that each layer on the shelf is provided with features on the edge side; wherein the feature is a protrusion, or the feature is an infrared light source with a specific wavelength;
the method further comprises the following steps:
determining a height of each of the features from the sensing signal;
and calibrating the current height of each layer plate according to the height of each characteristic component.
13. The method of claim 12, wherein the step of determining the height of each of the features from the sensing signal comprises:
searching a characteristic light source; wherein the characteristic light source is a second light source which emits light rays which are continuously shielded; the number of the characteristic light sources is the same as that of the laminates;
and determining the height of each characteristic part according to the position information of each characteristic light source.
14. The method of claim 13, further comprising:
judging whether the current height of each layer plate is consistent with the pre-stored reference height of each layer plate or not;
if not, updating the reference height of each layer plate according to the current height of each layer plate;
and updating the position information of each article according to the updated reference height of each layer plate and the position information of each article stored in advance.
15. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processing device, carries out the steps of the method of any one of the preceding claims 6 to 14.
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