CN109146380A - A kind of inventory analysis system based on relative position - Google Patents

A kind of inventory analysis system based on relative position Download PDF

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Publication number
CN109146380A
CN109146380A CN201810967162.0A CN201810967162A CN109146380A CN 109146380 A CN109146380 A CN 109146380A CN 201810967162 A CN201810967162 A CN 201810967162A CN 109146380 A CN109146380 A CN 109146380A
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image
access mechanism
article
shelf
collecting device
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CN109146380B (en
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贺桂和
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Hunan University of Humanities Science and Technology
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贺桂和
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    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
    • G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
    • 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
    • G06Q20/00—Payment architectures, schemes or protocols
    • G06Q20/08—Payment architectures
    • G06Q20/20—Point-of-sale [POS] network systems
    • G06Q20/203—Inventory monitoring
    • 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
    • G06Q20/00—Payment architectures, schemes or protocols
    • G06Q20/08—Payment architectures
    • G06Q20/20—Point-of-sale [POS] network systems
    • G06Q20/208—Input by product or record sensing, e.g. weighing or scanner processing

Abstract

The inventory analysis system based on relative position that the present invention relates to a kind of, including station acquisition device and image collecting device.The station acquisition device can collect the first absolute position of the access mechanism movement；Described image acquisition device can be from access mechanism movement, it continuously tracks the access mechanism and acquires the image information of the access mechanism, when described image acquisition device collects a moment that article variation occurs for the access mechanism, the station acquisition device collects the second absolute position of the access mechanism, and computing system judges the corresponding relationship of the article Yu the shelf based on the first absolute position, the second absolute position and described image information；The computing system takes first relative position and the absolute position to carry out classification analysis to inventory locations variation and the access mechanism, can carry out dynamic according to the variation of the article and the inventory locations whenever and wherever possible and divide the region analyzed and calculated.

Description

A kind of inventory analysis system based on relative position
Technical field
The present invention relates to inventory management system and method more particularly to a kind of inventory analysis systems based on relative position.
Background technique
With the fast development of economic globalization, enterprise is faced with more fierce market competition.Storage controlling is in enterprise Occupy extremely important status in activity, quantity in stock is too big or too small can all reduce enterprise competitiveness.In order to guarantee that enterprise can Quick response customer demand, and it is able to maintain rational inventory level, it is necessary to business inventory control is studied, inventory analysis appropriate is formulated Method, effectively solution inventory problem.Existing inventory is in advance in the area that replenishes (apart from shelf when supplementing and updating kinds of goods Area is closer) get the source of goods ready in advance.In the prior art, it is all based on and inventory analysis, i.e. manual record and record manually is carried out to it Enter system, wastes time and human cost.Moreover, a large amount of unmanned supermarket existing at present gradually enters into market, it is clear that this mould Formula has been unable to meet current requirement, and therefore, it is necessary to a kind of inventory analysis systems to solve current technical problem.
The disclosed system for determining the relative position of multiple kinds of goods on multiple platforms of CN101482615B.The system Including memory, interface & processor.Memory can store the first kinds of goods, the second kinds of goods, first time period, second time period. Interface is operationally communicated with user and antenna.Antenna can detect kinds of goods whithin a period of time.Processor operationally passes through By interface from antenna receive the first kinds of goods, the second kinds of goods, first time period, second time period.Processor can determine each time Whether section overlaps.If each period overlaps mutually, processor can inform that kinds of goods in identical platform, are otherwise informed to user Kinds of goods are on successive platform.
CN107077659A provides a kind of intelligent inventory management system, server, method, terminal and program product, uses In the complexity for reducing stock control；Comprising: which intelligence machine terminal shoots article, and intelligence is sent by the image taken It can inventory management server；The intelligent inventory management server is true according to the image recognition that the intelligence machine terminal takes Determine the article and storage in described image；And article and the inventory information storage for identifying the object identification module.Though its Object recognition technique is so utilized, the workload of manual entry is reduced, the accuracy of Item Information storage is improved, reduces library Deposit the complexity of management；But it cannot accurate evaluation inventory change in real time.It counts and makes an inventory unless there are manpower intervention, otherwise Stockpile number is still in utter disorder.
CN104361039A provides a kind of householder method of embedded intelligence refrigerator based on Qt exploitation comprising following Step: step 1, the expired prompting preview of display and message information；Step 2, food materials stock control, using data and user's operation as base Plinth checks all food materials details in current inventory, and the unified management that food materials information is edited and deleted；And Classification Management is carried out to all food materials, is ranked up according to date of manufacture, remaining shelf-life and expiration date, to check each food Material information；Step 3, expired prompting were counted by the remaining shelf-life to the food materials information on inventory, to the remaining shelf-life Food materials less than 5 days give intuitive information preview, are particularly shown food materials expiration date and remaining shelf-life, and real-time display and It updates；Step 4, the inquiry of recipe and recipe recommendation, provide magnanimity receipe data, and provide the production of various delicious food Method, and scanned for according to existing food materials or customized food materials, obtain specific recipe；According to inventory's food materials or it is current when Season and health-nutrition information are enabled, the recipe of different taste and effect is recommended；Step 5, shopping list by existing food materials or are incited somebody to action Customized food materials information is added to shopping list, to statistics and management that the food materials in the shopping list carry out, and in data Prompting list out of stock is provided on the basis of excavation, the selection of shopping is provided；Step 6, food materials identification and access, know food materials Not and store.The technical solution is unable to real-time statistics inventory consumption, cannot in the kitchen and kitchen storehouse for frequently taking food Play the effect of effectively management inventory.
In addition, in order to accurately manage kitchen inventory, there is special messenger in large hotel and dining room generally to manage inventory's (i.e. inventory's pipe Reason person), only when dining room provides order (being equivalent to present invention feeding information described below), stock clerk just can basis Order (feeding information) provides relevant food to related personnel.Hereafter, order and food are checked in a manual manner by stock clerk Corresponding relationship between product.This mode not only inefficiency, but also since food variety is extremely numerous and jumbled, often occur largely losing Lose situation.
The Chinese patent literature of Publication No. CN105531715A discloses a kind of inventory update side based on image detection Method, wherein by the update and the shopping list that determine inventory before comparing kinds of goods of taking with the image after kinds of goods of taking.It should Method has problems in that, once user removes article, but when sending back to inappropriate position, then shopping list with It is inaccurate that inventory, which updates,.In addition, when user same type like and the similar region in placement position do when comparing repeatedly, Can to taking pictures and calculating brings challenges, if user is taken article simultaneously with both hands, and when putting back to article a to errors present, Shopping list and inventory, which update, often can all go wrong.Which omits clearing links, but have thus also caused other problems.Cause This, there are rooms for improvement for this automatic shopping mode.
The Chinese patent literature of Publication No. CN104637198A discloses a kind of intelligence knot with autonomous following function Shopping cart system is calculated, by MCU microcontroller, controllable direct current generator, pressure and weighting transducers, RFID reader, camera, wirelessly Transceiver, touch display screen, barcode scanner, Unionpay's card reader constitutes autonomous tracking and the big subsystem of self-help settlement two, special Sign is: MCU microcontroller 1 is big by the driving force that the car body weight that pressure and weighting transducers incude controls controllable direct current generator It is small, with the mobile shopping cart of appropriate speed；Article, touch display screen real-time display Item Information are voluntarily scanned by barcode scanner With current purchase total price, wireless transceiver realizes MCU microcontroller and reality of supermarket's background server about Item Information When interaction, consumer voluntarily swiped the card clearing by Unionpay's card reader.Within the system, RFID radio-frequency card is tracked as shopping cart Signal source establishes the single-line link of point-to-point with shopping cart；Camera shoots shopping cart ambient enviroment, passage path identification at any time The autonomous avoiding barrier of algorithm selects track path；It can be known with deflection according to path by the driving wheel that driving motor drives The routing information that other algorithm provides, by the steering of MCU microcontroller control driving wheel.
Notification number provides a kind of self-service intelligent shopping trolley in market, including vehicle for the Chinese patent literature of CN202904765U Frame, the wheel being mounted below vehicle frame, bicycle basket, the push rod being mounted on above vehicle frame, push rod lower end connect the outside of bicycle basket bottom Face, between angle be 40-60 degree, touch display screen is installed, installation on the left of touch display screen between bicycle basket upper end and push rod Scanner, right side install card-brushing groove, and automatic open-close induction door is installed in bicycle basket upper end.The beneficial effect is that the installation of bicycle basket upper end is certainly Dynamic to open and close induction door, installation inductance gauge can sense be put into article in automatic open-close induction door, avoid in shopping process Middle mistake is bought or the trouble of over-bought.
By studying above technical scheme, even if those skilled in the art are incorporated into, also it is unable to get satisfactory For the stock control scheme of " stockroom-style supermarket that people occurs simultaneously with intelligent conveying robot ".
Summary of the invention
In view of the intrinsic problem of aforementioned conventional bulk supermarket and the other problems of unmanned supermarket, the present invention is caused Power is in providing a kind of inventory management system and method, the present invention can be used for a kind of unmanned supermarket of inventory.It is not in the present invention It is absolutely avoided using RFID tag, it is contemplated that the cost problem of RFID tag, the present invention more takes pervasive figure As means of identification.But the present invention does not repel RFID, for using intelligent haulage equipment as the access mechanism of representative, RFID and figure Two dimensional code is all the preferred embodiment of access arrangement identification.This is also in that overwhelming majority stockroom-style supermarket is already equipped at present Video surveillance management system, and the precision of monitoring system is become better and better, can reach grade other precision of images, and this The inexpensive image recognition solution of kind is still in high speed development.
In view of this, the present invention discloses a kind of inventory analysis system based on relative position, including station acquisition device, use In the absolute position of acquisition warehouse area fixed point and/or access mechanism, image collecting device, for acquiring warehouse area fixed point And/or the image information of the access mechanism, a moment that the station acquisition device can be moved in the access mechanism, acquisition The first absolute position moved to the access mechanism, described image acquisition device can be from access mechanism movements, even The continuous image information tracked the access mechanism and acquire the access mechanism, when described image acquisition device collects described deposit Take mechanism that a moment of article variation occurs, the station acquisition device collects the second absolute position of the access mechanism, counts Calculation system analyzes the first relative position of the access mechanism based on the first absolute position and the second absolute position, and based on described First relative position and described image information judge the corresponding relationship of the article Yu the shelf；Wherein, the system is taken First relative position and the absolute position change inventory locations and the access mechanism carries out classification analysis, will store in a warehouse Region and current and its described access mechanism for interacting are associated with each other, make it possible to whenever and wherever possible according to the article and institute The variation for stating inventory locations carrys out dynamic and divides the region analyzed and calculated.
According to a kind of preferred embodiment, at least one of described image acquisition device is that can acquire zoom image Zoom image acquisition device, for shooting the zoom image of at least one described fixed point and/or the access mechanism, the meter Calculation system is primarily based on the second relative position that the zoom image calculates the access mechanism relative to the fixed point, so Revised third is generated based on first relative position and second relative position amendment relative position information error afterwards Relative position finally judges that the article is corresponding with the shelf based on the third relative position and described image information and closes System.
According to a kind of preferred embodiment, from described image acquisition device is when receiving shooting instruction, to the access Mechanism shoots at least one first shooting image, the computing system can based on described first shoot the focal length of image, brightness, Clarity, the access mechanism are at a distance from described image acquisition device, so that described image acquisition device can adjust coke Away from, brightness and/or clarity and then at least one second shooting image is shot, the computing system is based on described first with respect to position It sets, the second relative position and/or third relative position and described second shoot pair that image judges the article Yu the shelf It should be related to.
According to a kind of preferred embodiment, described image acquisition device includes at least one first image collecting device, Determine that at least one described access mechanism exists based on the first image for acquiring the first image, and by the computing system Absolute position and the access mechanism in shelf region are loaded with the shelf of at least one article relative at least one Relative position；Described image acquisition device includes at least one second image collecting device, for detecting at least one access Second image of the hand of mechanism, second image be the access mechanism hand enter the shelf at least one library It is shot before depositing position；Described image acquisition device includes at least one third image collecting device, is used to detect at least The third image of the hand of one access mechanism, the third image be the access mechanism hand from the shelf at least What one inventory locations was shot after removing；Wherein, phase is determined compared with the third image based on second image It answers access mechanism to hold the state of article, holds the state of article in response to access mechanism and identify in the exhausted of the access mechanism Variation at least one inventory locations of shelf around position, in predetermined relative location, and thus judge the object Corresponding relationship between product and the variation of the inventory locations.
According to a kind of preferred embodiment, at least one the 4th image collecting device is arranged in cargo temporary storage location, Enter the movement of the cargo temporary storage location for detecting article, wherein enter the cargo temporary storage location in response to article Movement is thereby confirmed that into the corresponding pass between the article and the variation of the inventory locations of the cargo temporary storage location System.
According to a kind of preferred embodiment, the 4th image collecting device is additionally configured to: in response to accessing machine The hand of structure enters the movement of the cargo temporary storage location and shoots the 4th image and the 5th image of hand, wherein described the Four images are shot before the hand of the access mechanism enters the cargo temporary storage location, and the 5th image is described What the hand of access mechanism was shot after removing from the cargo temporary storage location, wherein the ratio based on the 4th image and the 5th image Relatively come the state for determining corresponding access mechanism removal article, holds the state of article in response to access mechanism and identify and deposited described The variation of at least one inventory locations of shelf around the absolute position of mechanism, in predetermined relative location is taken, and thus Judge the corresponding relationship between the removal of the article and the variation of the inventory locations.
According to a kind of preferred embodiment, second image collecting device is in the hand for detecting an access mechanism The second image when, the system at least can also be analyzed and be deposited described in determination compared with third image based on the second image 4th image collecting device of cargo temporary storage location entrained by the case where taking mechanism to hold article and/or the access mechanism is visited The article measured enter the cargo temporary storage location movement, when analysis the result shows that the access mechanism do not hold article or When only holding an article, it is close that the system just grants the absolute position that seemed access mechanism access is located at the access mechanism Article at least one inventory locations of the specific warehouse district other, in predetermined relative location.
According to a kind of preferred embodiment, the system also includes: at least one the 5th image collecting device is used, It is arranged in access mechanism access way, to acquire the identification marking for paying and/or registering, wherein the 5th figure Start as acquisition device provides the event of image only in response to the 4th image collecting device.
According to a kind of preferred embodiment, the event of image is provided in response to the 4th image collecting device and according to outfit Position of the cargo temporary storage location of 4th image collecting device relative to access way, the 5th image collecting device adjust it Optically detecting direction and focal length.
According to a kind of preferred embodiment, the first image be taken in second image collecting device it is described It is just shot by the first image acquisition device after second image of the hand of access mechanism, wherein second image It is to be shot before the hand of the access mechanism enters at least one inventory locations of shelf.
According to a kind of preferred embodiment, since the initial time point for determining absolute position based on the first image, institute It states cargo temporary storage location to hold the state of article in response to access mechanism and set and introduce timing cycle, by described specific After introducing timing cycle, if the 4th image collecting device fails to collect the movement that article enters the cargo temporary storage location, The prompt in relation to item property is then issued to the access mechanism for holding article by the cargo temporary storage location, wherein described to mention Showing can be in the form of electronic signal, voice, image or video.
According to a kind of preferred embodiment, the system comprises: the system also includes computing system, the calculating system System by network and input module, output precision and/or directly with the first image collecting device, the second image collecting device, Third image collecting device, the 4th image collecting device, the 5th image collecting device, the 6th image collecting device, the 7th image The communication connection of at least one of acquisition device, the 8th image collecting device and/or cargo temporary storage location.
Absolute position refers to the position in the coordinate system established for the supermarket or warehouse using the inventory management system, Its coordinate origin for example can be a corner such as southeast corner of supermarket or warehouse land occupation face, be also possible to certain clearing sales counter institute Position.Relative position refers to the position relative to each other between super incity shelf, be also possible to access mechanism or personnel with Relative position between shelf.
In view of personnel or access mechanism be all only capable of operating in most cases its it is accessible be near goods Frame.In the present invention, while relative position and absolute position being taken to sort out inventory locations variation and personnel/access mechanism Analysis, so that supermarket, which carrys out dynamic according to " variation spot " whenever and wherever possible, divides the region analyzed and calculated, it can It is accurately that shelf are associated with each other with the personnel or access mechanism that currently interact therewith, solve a large amount of dynamic staffs and dynamic Access mechanism carries out difficulty when shopping or inventory's arrangement simultaneously.In other words, first inventory is become according to position through the invention Change carries out corresponding with personnel or access mechanism, this has conclusive effect to the real-time of large supermarket's stock control.For For the supermarket for possessing thousands of inventory locations, due to " inventory change " and " absolute position " and " relative position " take the lead in into It has gone association, has thus greatly reduced the operand of image recognition, thus, it is possible in the case where not adding a large amount of computing systems Complete Real-time inventory analysis.Also the confusing of inventory data is thus largely avoided.
By this way, the increase and decrease situation that not only can analyze the article at inventory locations, can also analyze respective articles The correct inventory locations whether being put back on shelf.Herein, access mechanism can be people, be also possible to machinery equipment.It is right For people, the object of image recognition is the arm of people；For machinery equipment, the object of image recognition is manipulator or class Like object；So that supermarket's environment that the present invention can flexibly cope with machine and people and deposit.
The present invention provides in the stockroom-style supermarket coexisted for personnel and intelligent haulage equipment inventory management system and Method at least has the advantage that
(1) inventory locations are divided into multiple calculating analyzed areas, the present invention not only can analyze the object at inventory locations The increase and decrease situation of product can also analyze the correct inventory locations whether respective articles are put back on shelf；
(2) inventory locations are divided into multiple calculating analyzed areas, using classification analysis method, reduce monitoring device, most The operating potential of limits performance monitoring device；
(3) present invention can confirm after article is put into cargo temporary storage location and enter the described of the cargo temporary storage location Corresponding relationship between article and the variation of the inventory locations, so that it is more accurate to the statistics of the variation of inventory locations, it mentions The high practicability of system；
(4) present invention can analyze the process again when the removal article from cargo temporary storage location may cause Inventory locations variation, enable inventory locations more comprehensively, be accurately updated.
Detailed description of the invention
Fig. 1 is the module diagram of a preferred embodiment of system of the invention.
Reference signs list
11: the first image collecting device, 12: the two image collecting device
13: 14: the four image collecting device of third image collecting device
15: the five image collecting device, 16: the six image collecting device
17: the seven image collecting device, 18: the eight image collecting device
21: cue mark 22: positional fault label
30: computing system 40: cargo temporary storage location
50: station acquisition device 60: image collecting device
60a: zoom image acquisition device
Specific embodiment
It is described in detail with reference to the accompanying drawing.
In order to make it easy to understand, in the conceived case, indicate common similar in each attached drawing using same reference numerals Element.
Embodiment 1
The inventory analysis system based on relative position that the invention discloses a kind of, the case where not causing conflict or contradiction Under, the preferred embodiment of other embodiments can be used as the supplement of the present embodiment.
The system includes station acquisition device 50, for acquiring the absolute position of warehouse area fixed point and/or access mechanism It sets；With image collecting device 60, for acquiring the image information of warehouse area fixed point and/or access mechanism.Station acquisition device At 50 a moment that can be moved in access mechanism, collect the first absolute position of access mechanism movement, 60 energy of image collecting device Enough self-access mechanism kinematics rise, the continuous image information tracked access mechanism and acquire access mechanism, when image collecting device 60 A moment that article variation occurs for access mechanism is collected, station acquisition device 50 collects the second absolute position of access mechanism, First relative position of the computing system 30 based on the first absolute position and the second absolute position analysis access mechanism, and it is based on first Relative position and image information judge the corresponding relationship of article and shelf；Wherein, computing system 30 take the first relative position with Absolute position changes inventory locations and access mechanism carries out classification analysis, will store in a warehouse region with currently and its access machine for interacting Structure is associated with each other, makes it possible to the variation whenever and wherever possible according to article and inventory locations and is analyzed dynamically to divide With the region of calculating.In view of personnel or access mechanism be all only capable of operating in most cases its it is accessible be near Shelf (being the shelf in 2 meters or so ranges in typical case).In the present invention, while relative position and absolute position being taken Classification analysis is carried out to inventory locations variation and personnel/access mechanism, so that supermarket comes according to " variation spot " whenever and wherever possible The region that dynamic is analyzed and calculated, the personnel that can be accurately interacted therewith by shelf and currently or access machine Structure is associated with each other, solves difficulty when a large amount of dynamic staffs carry out shopping or inventory's arrangement with dynamic access mechanism simultaneously. In other words, first inventory change carried out with personnel or access mechanism according to position through the invention corresponding, this is to large supermarket The real-time of stock control has conclusive effect.For possessing the supermarket of thousands of inventory locations, due to " library Deposit variation " it takes the lead in being associated with " absolute position " and " relative position ", the operand of image recognition is thus greatly reduced, Thus, it is possible to Real-time inventory analysis is completed in the case where not adding a large amount of computing systems.Also library is thus largely avoided Deposit data it is confusing.By this way, the increase and decrease situation that not only can analyze the article at inventory locations, can also analyze Whether respective articles are put back into the correct inventory locations on shelf.Herein, access mechanism can be people, be also possible to machine Equipment.For people, the object of image recognition is the arm of people；For machinery equipment, the object of image recognition is machine Tool hand or the like；So that supermarket's environment that the present invention can flexibly cope with machine and people and deposit.Inventory locations are separated For multiple calculating analyzed areas, the present invention not only can analyze the increase and decrease situation of the article at inventory locations, can also analyze phase Answer whether article is put back into the correct inventory locations on shelf；Inventory locations are divided into multiple calculating analyzed areas, are used Classification analysis method reduces monitoring device, plays the operating potential of monitoring device to greatest extent.
Fixed point refers to the object that can be used as object of reference static in depot area, such as shelf, building column and office Table.
Preferably, at least one of image collecting device 60 is the zoom image acquisition device that can acquire zoom image 60a, for shooting the zoom image of at least one fixed point and/or access mechanism.Computing system 30 is primarily based on zoom image Second relative position of the access mechanism relative to fixed point is calculated, the first relative position and the second relative position is then based on and repairs Positive relative position information error generates revised third relative position, is finally judged based on third relative position and image information The corresponding relationship of article and shelf.Computing system 30 establishes fixed point in the spatial position A of zoom image1.By calculating system The location information that fixed point is preestablished in system establishes the actual spatial position A of fixed point2.Computing system can establish A1And A2 Mapping relations (a, b), and be able to satisfy A2=aA1+b.Computing system 30 extracts the position of fixed point and access mechanism in zoom image Confidence breath, by position B of the access mechanism in zoom image1It is mapped to A2In, i.e. B0=aB1+b, B0As access mechanism is in reality Border space A2In opposite the second relative position with fixed point.First relative position is that access mechanism is opposite certainly in different time Oneself position, and the second relative position is position of the access mechanism with respect to wherein at least one fixed point, computing system 30 is by One relative position and the second relative position are modified to third relative position, can reduce because image collecting device resolution ratio is inadequate With the systematic error of the factors bring station acquisition such as acquisition time error, so that effectively relative position and image information be sentenced The corresponding relationship of disconnected article and shelf, the validity of lifting system.
Preferably, from image collecting device 60 is when receiving shooting instruction, an at least first count is shot to access mechanism Take the photograph image, focal length, brightness, clarity, access mechanism and image collector of the image collecting device 60 based on the first shooting image The distance set, image collecting device 60 can adjust focal length, brightness and/or clarity and then shoot at least second shooting figure Picture, computing system 30 are based on the first relative position, the second relative position and/or third relative position and the second shooting image judgement The corresponding relationship of article and shelf.For example, shooting first shooting figure from image collecting device 60 is when receiving shooting instruction Picture, and obtain by computing system 30 preview image of first shooting image, it is the first shooting of analysis focal length of image, brightness, clear At a distance from image collecting device, adjustment image collecting device 60 can adjust focal length, brightness and/or clear for degree, access mechanism At least one second shooting image is spent and then shoots, computing system 30 is based on the first relative position, the second relative position and/or the Three relative positions and the second shooting image judge the corresponding relationship of article and shelf.
Embodiment 2
Embodiment 2 is further to improve on the basis of embodiment 1, in the case where not causing conflict or contradictory situation, The preferred embodiment of other embodiments can be used as the supplement of the present embodiment.
According to a preferred embodiment, referring to Fig. 1, which may include: the first image collecting device 11, be used for The first image is acquired, and determines at least one access mechanism in shelf region based on the first image by the system Absolute position and the access mechanism relative positions of the shelf of at least one article is loaded with relative at least one.It is preferred that Ground can be equipped with corresponding datum mark and/or reference line auxiliary system for identification on ground and determine absolute position and opposite Position.Absolute position refers to the position in the coordinate system established for the supermarket or warehouse using the inventory management system, Coordinate origin for example can be a corner such as southeast corner of supermarket or warehouse land occupation face, be also possible to where certain clearing sales counter Position.Relative position refers to the position relative to each other between super incity shelf, is also possible to access mechanism or personnel and goods Relative position between frame.
According to a preferred embodiment, which can also include: the second image collecting device 12, be used to detect extremely Second image of the hand of a few access mechanism, second image are to enter at least the one of shelf in the hand of the access mechanism It is shot before a inventory locations.Preferably for a shelf, at least one inventory locations can have.One shelf Multilayer can be divided into.Every layer can be an inventory locations.Alternatively, one layer can be divided into multiple regions in the horizontal direction, often A region can be an inventory locations.It should be noted that can be can image recognition for separator bar between these regions Separating device and/or can not image recognition virtual partition line.Separating device is, for example, the reference line of partition and/or spraying.No Can the virtual dividing line of image recognition can be in shelf, the second image collecting device 12 corresponding with the shelf and/or third After image collecting device 13 fixes, put corresponding article, then by the image information of the system acquisition shelf to shelf into Row segmentation, to obtain including at least at least one inventory locations of a kind of article.For example, the second image collecting device 12 needs pair Articles for daily use goods area carries out Image Acquisition, the total two layers liang of column of daily goods area, each overhead baggage rack unit store respectively have towel, soap, Perfumed soap and basin, then the second image collecting device 12 respectively can be split shelf by towel, soap, perfumed soap and basin, Shelf can also be split respectively with the combination of perfumed soap (size and shape is similar), towel, basin by soap.To there is area It is other that kinds of goods and shelf are associated in advance, analysis is reduced because system leads to analysis system because kinds of goods and shelf relationship are indefinite Workload, meanwhile, decrease the arrangement amount of image collecting device.
According to a preferred embodiment, which can also include: third image collecting device 13, be used to detect extremely The third image of the hand of a few access mechanism, the third image are the hands in the access mechanism from least the one of the shelf What a inventory locations were shot after removing.
According to a preferred embodiment, which can be determined compared with third image accordingly based on the second image Access mechanism holds the state of article, holds the state of article in response to access mechanism and identifies in the absolute position of the access mechanism The variation of at least one inventory locations that set surrounding, shelf in predetermined relative location, and thus judge the article with Corresponding relationship between the variation of the inventory locations.Then take relative position and absolute position to inventory locations variation and people Member/access mechanism carries out classification analysis, personnel or access mechanism associated with each other accurately interacted therewith by shelf and currently Come, makes it possible to be analyzed and counted dynamically to divide according to the article and the variation of the inventory locations whenever and wherever possible The region of calculation.Since " inventory change " is taken the lead in being associated with " absolute position " and " relative position ", to substantially reduce The operand of image recognition, thus, it is possible to Real-time inventory analysis is completed in the case where not adding a large amount of computing systems.
For example, there is multiple shelf around absolute position, but it cannot be accurately determined by absolute position and actually occur change Inventory locations of change, and relative position can be related to distance between the two, only corresponding access mechanism with a goods When the distance of frame is less than or equal to pre-determined distance, be possible to the access mechanism and the shelf generation object in relative position occur The case where product transfer relationship.In the case where the access mechanism is close with the corresponding inventory locations distance for storing the article, this is deposited When taking mechanism that the article is put back into corresponding inventory locations, then the variation of the inventory locations only includes the increase of quantity, without Increase including category.In the case where the access mechanism is remote with the corresponding inventory locations distance for storing the article, the access Mechanism is possible to that article is not put back into the corresponding inventory locations of the article because of its own operating mistake.Therefore, it is inciting somebody to action In the case that article is put back on shelf and is not put back into its corresponding inventory locations, then the shelf of predetermined relative location are in The variation of at least one inventory locations may include: that the category of inventory locations storage article increases and store the quantity increasing of article Add.Preferably, the state for holding article may include the type and/or quantity of article.Preferably, judging the article and institute Before stating the corresponding relationship between the variation of inventory locations, can be identified based on the data received from various input units from The inventory locations removal of shelf and/or the identity for the article being put into the inventory locations of shelf.For example, passing through image collecting device It the hand channel in corresponding access mechanism can be acquired crosses plane and enter in inventory locations the sequence of images of foregoing description hand and also Acquire the sequence of images of the hand after the hand leaves inventory locations.Comparison based on described image can determine corresponding access Whether mechanism from inventory locations removing objects or places an object into inventory locations.For example, based on the analysis to image, it can be true Fixed corresponding access mechanism does not hold object when hand enters inventory locations, but holds object when hand is removed from inventory locations (corresponding access mechanism from inventory locations removing objects).Likewise it is possible to identify whether to enter library in hand using image analysis Deposit the holding object on hand but do not hold object when hand is removed from inventory locations at them of corresponding access mechanism before position (corresponding access mechanism places an object into inventory locations).That is, the present invention is used for the second image and third figure compared As being not only merely to include the case where single image, it is also possible to a series of second image and a series of third image it is comprehensive Composition and division in a proportion pair.Inventory locations are divided into multiple calculating analyzed areas, the present invention not only can analyze the article at inventory locations Increase and decrease situation, the correct inventory locations whether respective articles are put back on shelf can also be analyzed.
Preferably, management system of the invention also discloses the 4th image collecting device 14, and it is temporary single to be arranged in cargo Member 40 enters the movement of the cargo temporary storage location 40 for detecting article, wherein enters the cargo temporary storage location in response to article 40 movement is thereby confirmed that into corresponding between the article and the variation of the inventory locations of the cargo temporary storage location 40 Relationship.Preferably, after the verification step, it is clear that the item descriptors for representing the article are added to delivery of cargo Single, the bill of lading is associated at least one access mechanism.By the way that item descriptors are added to bill of lading, in user It is calculated with carrying out bill of lading in real time during strolling supermarket according to the article being put into cargo temporary storage location 40, finally may be used With directly according to bill of lading carry out expense clearing, avoid again by article successively removes scanning bar code carry out settle accounts cause The problem of time-consuming.Preferably, cargo temporary storage location 40 is, for example, the dedicated stock frame of access mechanism, shopping cart, Shopping Basket and purchase At least one of object bag.
Preferably, the 4th image collecting device 14 may be further configured for: in response to access mechanism hand into Enter the movement of the cargo temporary storage location 40 and shoot the 4th image and the 5th image of hand, wherein the 4th image be The hand of the access mechanism enter the cargo temporary storage location 40 before shoot, the 5th image be the access mechanism hand from What the cargo temporary storage location 40 was shot after removing, wherein determined compared with the 5th image based on the 4th image and accordingly deposited It takes mechanism to remove the state of article, holds the state of article in response to access mechanism and identify in the absolute position of the access mechanism Around, the variations of at least one inventory locations of shelf in predetermined relative location, and thus judge the shifting of the article Corresponding relationship between the variation of the inventory locations out.Here, passing through the removal of article and the variation two of inventory locations Person determines that certain article is back to inventory locations from cargo temporary storage location.Thus it can be primarily based on determined by the first image absolutely Position and relative position confirm changed inventory locations, while based on the second image, third image, the 4th and the 5th figure As determining returned article to analyze.Inventory locations or starting cargo liquidation procedures can be accordingly updated at this time, such as are summoned Manpower intervention removes the article for not meeting shelf cargo, or the article of mistake is sent into recovery approach in a manner of auto-feed. For example, shelf goods will do not met by installing moveable mechanical arm or automatic cleaning vehicle with mechanical arm in ceiling The article of object or the article of mistake carry out playback arrangement or are put into recovery approach.Preferably, when based on second, third, the After four and the 5th image determines the article returned, the item descriptors for representing the article are removed from bill of lading, it is described Bill of lading is associated at least one access mechanism.Preferably, the 4th image is that the hand of the access mechanism is not holding article In the case where the hand enter the cargo temporary storage location 40 before shoot.5th image is the hand in the access mechanism from the cargo What temporary storage location 40 was shot after removing article.
According to a preferred embodiment, the 4th image collecting device 14 be may be further configured for: in response to depositing Mechanism is taken to arrive at clearing region and start, the space for acquiring the article occupancy cargo temporary storage location 40 in cargo temporary storage location 40 is big It is small, indicate that the offer equipment in clearing region provides the bag of matched size for the access mechanism according to space size by the system.It is logical Which is crossed, the bag of suitable size can be provided for the access mechanism, is avoided in clearing region because judging the big of required bag It is small and waste the excessive time, improve settlement efficiency.
According to a preferred embodiment, the invention also discloses the 5th image collecting devices 15, are arranged in access machine In structure access way, to acquire the identification marking for paying and/or registering.Preferably, the identification marking can be At least one of RFID, two dimensional code, fingerprint, human body contour outline, facial contour, iris image and typical thermal characteristics image.Than Such as, after an access mechanism is detected and holds a cargo temporary storage location 40, then system by the cargo temporary storage location 40 with Access mechanism association.It, then can be in clearing in the case where the access mechanism is non-registered users when disbursement and sattlement When or remind before the access mechanism owning side register or payment is done directly with remote mode.In possessing for access mechanism When side or the user's registration as natural person, owning side or user can be required to select a kind of distinguishing mark as later expense Voucher when clearing, and the corresponding information of identification marking requirement user's typing selected according to user.Assuming that user's selection is logical It crosses iris image, figure two dimensional code or RFID to be paid, then the access mechanism is when disbursement and sattlement, by figure two dimensional code The pickup area of (posting up access mechanism) or the 5th image collecting device 15 of corresponding eye direction, in the verifying by system Later, disbursement and sattlement is completed using the payment accounts of binding；Or make RFID or its figure two dimensional code typing of access mechanism System is to settle accounts.
According to a preferred embodiment, the 5th image collecting device 15 is provided only in response to the 4th image collecting device 14 The event of image and start.Preferably, in response to the 4th image collecting device 14 provide image event and according to be equipped with this Position of the cargo temporary storage location 40 of four image collecting devices 14 relative to access way, the 5th image collecting device 15 adjust it Optically detecting direction and focal length.
According to a preferred embodiment, the first image is to take this in second image collecting device 12 to deposit The second image of the hand of mechanism is taken just to be shot later by the first image acquisition device 11, wherein second image It is to be shot before the hand of the access mechanism enters at least one inventory locations of shelf.As a result, unmanned supermarket can be with The scene that more people purchase into shop is coped with simultaneously, only when carrying out article access again there are the access mechanism of the first image or put back to When, system just will start a series of responsible image analysis operations.In other words, system starts from it for the tracking of access mechanism When attempting the article touched on shelf.
Preferably, since the initial time point for determining absolute position based on the first image, 40 sound of cargo temporary storage location The state of article should be held in access mechanism and set and introduce timing cycle (such as 5 seconds), pass through the specific timing cycle Later, if the 4th image collecting device 14 fails to collect the movement that article enters the cargo temporary storage location 40, pass through the goods Object temporary storage location 40 issues the prompt in relation to item property to the access mechanism for holding article, wherein the prompt can be in electricity The form of subsignal, voice, image or video.Judge its holder for personnel rather than in haulage equipment in the cargo temporary storage location When the access mechanism of form, which can prompt the access mechanism to remove from shelf but be not loaded into the cargo The commodity price of temporary storage location 40 is 20 yuan, and according to its deadline shelf-life, there are also ten months.Preferably, the cargo temporary storage location 40 in response to introducing the setting of timing cycle, and also timing cycle (such as 30 seconds) are reminded in setting, have passed through prompting timing cycle Later, if the 4th image collecting device 14 fails to collect the movement that article enters the cargo temporary storage location 40, pass through the goods Object temporary storage location 40 issues prompt to the access mechanism for holding article and current item is correctly packed into the cargo temporary storage location 40 Prompt, wherein the prompt can take be directed toward utensil receiving opening arrow as graphics mode.Preferably, it have passed through the prompting After timing cycle, fail the feelings for collecting the movement of article into the cargo temporary storage location 40 in the 4th image collecting device 14 Under condition, then the system also passes through the correct position that current item is put back on shelf by the instruction of cue mark 21.Wherein, the instruction Label 21 can take graphics mode as the arrow for being directed toward the ware region of current item.More specifically, than Such as, cue mark 21 is green fluorescence arrow and can flash according to predeterminated frequency.Its holder is judged in the cargo temporary storage location When for personnel in the access mechanism of haulage equipment form rather than as natural person, by the cargo temporary storage location 40 by dependent merchandise Recommended information is sent to the access mechanism in a manner of electronic signal, issues and prompts from it to remote user, to complete to purchase as early as possible It determines.
Preferably, which further includes the 6th image collecting device 16, and the 6th image collecting device 16 is mentioned have passed through this It wakes up after timing cycle, fails to collect the movement of article into the cargo temporary storage location 40 in the 4th image collecting device 14 In the case of start, for acquire with the 6th image of the shelf of item associations and the 7th image of shelf, wherein the 6th figure It seem to be shot before the hand for holding article in the access mechanism enters shelf, the 7th image is held in the access mechanism What the hand of article was shot after removing from shelf, based on the 6th image and the 7th image relatively come the secondary judgement article and institute State the corresponding relationship between the variation of inventory locations.6th image collecting device 16 only have passed through the prompting timing cycle it Afterwards, fail to collect in the case that article enters the movement of the cargo temporary storage location 40 in the 4th image collecting device 14 and start, It is that environmental information required on shelf is more and analysis difficulty is bigger compared to article is taken out from shelf because article is played back to.It is excellent Selection of land also secondary is sentenced by the 6th with the progress of the 7th image in the case where once judge by the progress of second, third image Disconnected, the corresponding relationship between the variation of the obtained article and the inventory locations is more accurate and reliable.Preferably, twice When the result of judgement is inconsistent, artificial nucleus can be arranged to check to or by intelligent robot scene.Preferably, the 6th image It is with the main distinction of the 7th image and the second image and third image, the object of the 6th image and the 7th image is shelf. And the object of the second image and third image is hand.The meaning that the 6th image collecting device 16 is arranged is to identify corresponding access machine It also can correspondingly be tracked when structure is placed on other shelf again after taking out from the article on shelf.For example, an access Mechanism is taken in an inventory locations after corresponding article, sees another article of same type in another inventory locations, It is more attractive, and then, user then wishes to remove corresponding article, replaces another article, still, the access at this time Mechanism is likely to not near the correspondence shelf for corresponding article of taking, and causes it that article is returned corresponding inventory locations Wish it is low, directly corresponding article may be placed on the shelf of current location, this will lead to corresponding article may The non-corresponding inventory locations being placed on the shelf of non-corresponding.It is thus preferable that in the access mechanism for holding article not according to finger When the article is put back into the correct position on shelf by indicating note 21, the system plays advice to it by voice mode and mentions It wakes up.For example, distinguished client, certain commodity is not put back into its correct position by you, in order to safeguard good shopping environment, avoid to Other people cause to mislead, and would you please that certain commodity is put back into correct position, the cooperation of thank you according to cue mark 21.Preferably, exist It plays after advice is reminded and in the case that corresponding article is not taken back to correct position yet, under the errors present of the article Display position error flag 22, wherein positional fault label 22 can be taken in exclamation mark, cross or written form at least It is a kind of.Preferably, after the article for not being taken back to correct position is removed from the shelf of display position error flag 22, lead to Cross voice and/or graphics mode indicate the article correct position and/or correct price.For example, passing through the indicateing arm in flashing Note 21 and voice: distinguished customer, you are good, you have been placed on the position of mistake article on hand, and correct position is 21 position of cue mark of flashing, the correspondence price tag for please referring to proper position are bought, be thanks！By this way, Employee can be allowed to be quickly found out misplaced article, and be quickly placed back into correct position, working efficiency is improved.Meanwhile also Can to avoid not corresponded to shopper because of price tag and actual object caused by mistake shopping guiding, improve user experience.Moreover, logical Which is crossed, due to can quickly know the correct position of article, walks to the distance of the required movement of correct position in user In the case where not far, even if having seen that the article, some user's meetings are not bought in user's selection after practical price tag and/or correct price The article is auxiliarily put back into its correct position, reduces the workload of employee.Preferably, which can also include instruction Display, indication display can be used for the correct position in misplaced article not when on its misplaced shelf, pass through instruction Display is to pick up the access mechanism of misplaced article to play its correct price.
According to a preferred embodiment, positional fault label 22 can be by least two different visual states to divide The extent of deviation of grade display mode error differentiating.Extent of deviation be, for example, in range deviation, price deviation and effectiveness deviation extremely Few one kind.It is intuitively prompted to employee or shopper with this.For example, can be shown by being classified in position error flag 22 When the mode of showing distinguishes range deviation, by the first color, different from the first color the second color and be different from first and the The third color of second colors distinguishes the extent of deviation of range deviation in a manner of point third gear.By the article from current errors present The required distance of its correct position is put back into less than or equal to when the first distance threshold value, configures first for positional fault label 22 The article is being greater than the first distance threshold value and small from the required distance that current errors present is put back into its correct position by color When being equal to the second distance threshold value, configure the second color for positional fault label 22, by the article from current mistake When the required distance that position is put back into its correct position is greater than third distance threshold value, third is configured by positional fault label 22 Color.Preferably, the first color, the second color and third color can be respectively blue, yellow and red.First distance threshold value E.g. 5 meters.Second distance threshold value is, for example, 20 meters.Third distance threshold value is, for example, 40 meters.Preferably, effectiveness deviation is, for example, The deviation of getting fat and weight-reducing, defaecation and antidiarrheal one kind.It should be noted that the present invention can also be by other means or a variety of The combination of mode realizes different visual states, rather than can only be realized with different colors.For example, the present invention is also It can be realized by the combination of number and color.Specifically, here or by taking range deviation as an example, by the article from current Errors present be put back into its correct position required distance be less than or equal to the first distance threshold value when, by positional fault label 22 It is configured to the first color and shows the first number, needed for the article is put back into its correct position from current errors present When distance is greater than the first distance threshold value and is less than or equal to the second distance threshold value, the second color is configured by positional fault label 22 And show the second number, which is being greater than third road from the required distance that current errors present is put back into its correct position When journey threshold value, third color is configured by positional fault label 22 and shows third number.First number is, for example, 1, second Number is, for example, 2, and third number is, for example, 3.
According to a preferred embodiment, which further includes the 7th image collecting device 17, the 7th image collecting device 17 for before the system indicates the correct position that current item is put back on shelf by the cue mark 21 on shelf Acquire the 8th image, by the system according to the corresponding cue mark 21 in the 8th image analysis correct position can optionally, only The cue mark is just shown in the case where in the visual range that the cue mark 21 is located at the access mechanism for picking up current item 21.Preferably, in the visual range that the cue mark 21 is not located at the access mechanism for picking up current item in the case where, or Say there are the feelings for the fixed obstacle for hindering sight between the access mechanism for picking up current item cue mark 21 corresponding with this Under condition, by voice mode indicate the article correct position and/or correct price.By this way, can article just True position not in the visible range in the case where do not cause to mislead to other people.Preferably, the system is also according to the 8th image analysis The identity situation of the access mechanism of current item is picked up, only in the cue mark 21 positioned at the access mechanism for picking up current item In visual range and the identity of the access mechanism is just to show the cue mark 21 in the case where arranging access mechanism.For example, point The identity situation of analysis personnel can by recognition of face, at least one of wear specific work dress and carry electronic tag.
According to a preferred embodiment, before showing the cue mark 21, the system is also according to the 8th image analysis The first display number for picking up the cue mark 21 for needing to show simultaneously in the visual range of the access mechanism of current item, One display number be more than or equal to two when, by corresponding positional fault label 22 and cue mark 21 in a manner of grouping It is associated, and is adopted between same group of positional fault label 22 and cue mark 21 using between visually association and different groups It is configured with ground mode is visually distinguished.For example, in same group, positional fault label 22 at least partly with cue mark 21 Same color label is issued, the color mark between different groups is different.For another example, in same group, positional fault label 22 and finger 21 display same numbers of indicating note mark, and the numeral mark between different groups is different.For another example, in same group, positional fault mark Note 22 shows identical pictorial symbolization with cue mark 21, and the pictorial symbolization between different groups is different.Pictorial symbolization be, for example, circle, Triangle or quadrangle.
According to a preferred embodiment, which can also include: the 8th image collecting device 18, be used to acquire goods The 9th image in at least partly region of seated position error flag 22 is set up, and actual according to the 9th image analysis by the system The match condition of the setting of positional fault label 22 in the display of positional fault label 22 and the system, wherein the two not When matching, positions the shelf at unmatched 22 place of positional fault label and notify maintenance personnel.It by this way, can be quick Ground identifies and positions the shelf to break down to position error flag 22, and is rapidly safeguarded, spill tag or wrong mark are reduced The case where.
Preferably, the second image collecting device 12 is when detecting the second image of the hand of an access mechanism, Can also analyze both following: " based on the second image compared with third image the access mechanism having of determination The case where product " and " article that the 4th image collecting device 14 of cargo temporary storage location 40 entrained by the access mechanism detects Into the movement of the cargo temporary storage location 40 ", when analysis the result shows that the access mechanism does not hold article or only holds one When article, it is near the absolute position of the access mechanism, opposite in making a reservation for which just grants access mechanism access Article at least one inventory locations of the shelf of position.By this way, warehouse inventory can be analyzed in an orderly manner, It reduces kinds of goods and repeats the case where recording or failing to record.
According to a preferred embodiment, any kind of phase is can be used in each image collecting device mentioned in the present invention Machine and other alternative imaging devices.For example, magazine one or more can be RGB camera.Magazine one Person or more persons can be depth sense camera.
Preferably, in order to collect required image, each image collecting device can be one or more, in certain image When acquisition device is multiple, can dispersedly it be set in multiple positions.For example, some image collecting devices can be located at head On top, such as on the ceiling to acquire the image of corresponding position in access mechanism and/or place.For another example, some images are adopted Acquisition means can be located in inventory locations or internal.For example, can be located on the exterior section of inventory locations and be oriented Acquire the image of the position around access mechanism and/or inventory locations.For another example, some image collecting devices can be set in valence Region is signed, the image information on the shelf of opposite side is acquired towards opposite side shelf.
According to a preferred embodiment, system of the invention further includes computing system 30.Computing system 30 can be Locally, remotely or any combination thereof.Similarly, computing system 30 can be configured to through network and input module, output group Part and/or directly temporary with first, second, third, fourth, the five, the six, the seven, the 8th image collecting devices and cargo The communication of at least one of unit 40.Those skilled in the art are it is envisioned that communication can be by wired and/or wireless Mode.Preferably, computing system 30 is, for example, one or more server.It may include processor and storage in server Device.The system may include or provide image procossing (for example, for user identification, Expression Recognition and/or article identification), inventory Tracking and/or position determine.
Embodiment 3
The present embodiment is the further improvement to embodiment 2, and duplicate content repeats no more.Do not causing conflict or lance In the case where shield, the preferred embodiment of other embodiments can be used as the supplement of the present embodiment.
The invention also discloses a kind of inventory management method, this method can be by system of the invention and other are alternative Realization.For example, realizing method of the invention by using each components in system.
According to a preferred embodiment, this method may include: using at least one the first image collecting device 11, Determine at least one access mechanism in shelf institute based on the first image for acquiring the first image, and by the management system Absolute position and the access mechanism in region are loaded with the opposite position of the shelf of at least one article relative at least one It sets；Using at least one the second image collecting device 12, it is used to detect the second image of the hand of at least one access mechanism, Second image is shot before the hand of the access mechanism enters at least one inventory locations of shelf；Use at least one A third image collecting device 13 is used to detect the third image of the hand of at least one access mechanism, the third image It is to be shot after the hand of the access mechanism is removed from least one inventory locations of the shelf；Wherein, it is based on the second image It determines that corresponding access mechanism holds the state of article compared with third image, the state of article is held in response to access mechanism And identify at least one inventory locations of shelf around the absolute position of the access mechanism, in predetermined relative location Variation, and thus judge the corresponding relationship between the article and the variation of the inventory locations.
According to a preferred embodiment, the method can also include: using at least one the 4th image collecting device 14, it is arranged in cargo temporary storage location 40, the movement of the cargo temporary storage location 40 is entered for detecting article, wherein in response to Article enters the movement of the cargo temporary storage location 40, thereby confirms that the article into the cargo temporary storage location 40 and the library Deposit the corresponding relationship between the variation of position.
Embodiment 4
The present embodiment is repeated no more to embodiment 1,2,3 or its further improvement combined, duplicate content.Not It causes in conflict or contradictory situation, the preferred embodiment of other embodiments can be used as the supplement of the present embodiment.
According to a preferred embodiment, before barcode scanner, one of shield door should be installed, shield door is used with personnel The personal all kinds of two dimensional codes for payment be switch, once only enter for a people, after barcode scanning, door is closed immediately.The personnel Article is voluntarily scanned by barcode scanner with appropriate speed mobile shopping cart, touch display screen shows pending payment Item Information With current purchase total price, after personnel confirmation is errorless, system is settled accounts in the two dimensional code account scanned before automatically.Confirmation Settle accounts it is errorless after, shield door after barcode scanner is opened, meanwhile, the shield door before barcode scanner starts to scan next personnel Two dimensional code.By this way, personnel are avoided to appropriate public property for personal use commodity or settle accounts wrong problem, the amount of loss of supermarket can be reduced.
Embodiment 5
The present embodiment is repeated no more to embodiment 1,2,3,4 or its further improvement combined, duplicate content.? It does not cause in conflict or contradictory situation, the preferred embodiment of other embodiments can be used as the supplement of the present embodiment.
According to a preferred embodiment, shelf are equipped at least one Weight acquisition device, for acquiring corresponding personnel Hand enter shelf at least one inventory locations before and after the hand removes from least one inventory locations of the shelf Weight difference, and the system based on the second image determined compared with third image corresponding personnel's having product state it Afterwards, the state of article is checked by the weight of the article of the determination recorded in system and the weight difference.
It is also possible to be collected by being mounted directly Weight acquisition device on shelf by acquisition device Weight difference tentatively to judge the state of article.Those skilled in the art are it is envisioned that in this case, on a shelf The weight of multiple articles should have certain difference, so as to realize identification article state purpose.
Embodiment 6
The present embodiment can be to embodiment 1,2,3,4,5 or its further improvement and/or supplement for combining, duplicate Content repeats no more.Do not cause conflict or contradictory situation under, the entirety of the preferred embodiment of other embodiments and/or Partial content can be used as the supplement of the present embodiment.
The present embodiment also discloses a kind of unmanned supermarket system, and the technical characteristic of the system and a kind of inventory management system are complete Portion or part are identical, to reach corresponding technical effect.
The present embodiment also discloses a kind of inventory management system of unmanned supermarket, the technical characteristic of the system and a kind of inventory Management system is identical in whole or in part, to reach corresponding technical effect.
The present embodiment also discloses a kind of inventory management method of unmanned supermarket, the technical characteristic of this method and a kind of inventory Management method is identical in whole or in part, to reach corresponding technical effect.
Although the present invention is described in detail, modification within the spirit and scope of the present invention is for this field skill Art personnel will be apparent.Such modification is also considered as a part of this disclosure.Discussion, this field in view of front Relevant knowledge and reference or information (being both incorporated herein by reference) above in conjunction with Background Discussion, further description quilt It is considered unnecessary.Moreover, it should be understood that each section of various aspects of the invention and each embodiment can it is whole or Partially combined or exchange.Moreover, it will be understood by those skilled in the art that the description of front and its attached drawing are only to make For example, it is not intended to the limitation present invention.
The purpose for example and description gives the discussed above of the disclosure.This is not intended to limit the disclosure In form disclosed here.In specific embodiment above-mentioned, for example, in order to simplify the purpose of the disclosure, the disclosure it is each Kind feature is grouped together in one or more embodiments, configuration or aspect.The feature of embodiment, configuration or aspect can be with With alternate embodiment, configuration or the aspect combination in addition to discussed above.This method of the disclosure is not necessarily to be construed as The reflection disclosure needs the intention of the more features than being expressly recited in each claim.On the contrary, such as following following claims institute Reflection, creative aspect is all features less than single aforementioned disclosed embodiment, configuration or aspect.Therefore, below Claim is hereby incorporated into present embodiment, wherein independent implementation of each claim own as the disclosure Example.

Claims (10)

1. a kind of inventory analysis system based on relative position, comprising:
Station acquisition device (50), for acquiring the absolute position of warehouse area fixed point and/or access mechanism,
Image collecting device (60), for acquiring the image information of warehouse area fixed point and/or the access mechanism,
It is characterized in that,
A moment that the station acquisition device (50) can move in the access mechanism collects the access mechanism movement First absolute position,
Described image acquisition device (60) can continuously track the access mechanism and acquire institute from access mechanism movement The image information for stating access mechanism, when described image acquisition device (60) collects article variation occurs for the access mechanism one It carves, the station acquisition device (50) collects the second absolute position of the access mechanism, and computing system (30) is based on described The first relative position of the access mechanism is analyzed in first absolute position and second absolute position, and is based on first phase The corresponding relationship of the article Yu the shelf is judged position and described image information；
Wherein, the computing system (30) takes first relative position and the absolute position to inventory locations variation and institute It states access mechanism and carries out classification analysis, the region that will store in a warehouse makes with currently and its described access mechanism for interacting is associated with each other Can carry out dynamic according to the variations of the article and the inventory locations whenever and wherever possible and divide to be analyzed and calculated Region.
2. the system as claimed in claim 1, which is characterized in that described image acquisition device (60), which includes at least, can acquire zoom The zoom image acquisition device (60a) of image, for shooting the zoom of at least one described fixed point and/or the access mechanism Image,
The computing system (30) is primarily based on the zoom image and calculates the access mechanism relative to the fixed point Second relative position, is then based on first relative position and second relative position amendment relative position information error is raw At revised third relative position, the article and institute are finally judged based on the third relative position and described image information State the corresponding relationship of shelf.
3. system as claimed in claim 1 or 2, which is characterized in that described image acquisition device (60) is receiving shooting instruction Shi Qi shoots at least one first shooting image to the access mechanism,
Described image acquisition device (60) can be based on focal length, brightness, clarity, the access machine of the first shooting image Structure is at a distance from described image acquisition device (60), adjustment focal length, brightness and/or clarity and then a shooting at least second count Image is taken the photograph,
The computing system (30) is based on the second shooting image, first relative position, the second relative position and/or the Three relative positions judge the corresponding relationship of the article Yu the shelf.
4. system described in one of claim 1-3, which is characterized in that described image acquisition device (60) includes at least one use The first image is based in the first image collecting device (11) for acquiring the first image, and by the computing system (30) come true Fixed absolute position and the access mechanism of at least one described access mechanism in shelf region is relative at least one The relative position of a shelf for being loaded at least one article；
Described image acquisition device (60) includes at least one of the second image for detecting the hand of at least one access mechanism A second image collecting device (12), second image be the access mechanism hand enter the shelf at least one It is shot before inventory locations；
Described image acquisition device (60) includes at least one of the third image for detecting the hand of at least one access mechanism A third image collecting device (13), the third image are the hands in the access mechanism from least one library of the shelf Deposit shooting after position removes；
Wherein, the computing system (30) determines corresponding access machine based on second image compared with the third image Structure holds the state of article, holds the state of article in response to access mechanism and identifies in the absolute position of access mechanism week The variation of at least one inventory locations of shelf enclosing, in predetermined relative location, and thus judge the article with it is described Corresponding relationship between the variation of inventory locations.
5. the system as described in one of claim 1-4, which is characterized in that the system also includes be arranged in cargo temporary storage location (40) the detecting article that is used for enters at least one the 4th image collecting device (14) of the movement of the cargo temporary storage location (40),
Wherein, the computing system (30) in response to article enter the cargo temporary storage location (40) movement, thereby confirm that into Enter the corresponding relationship between the article of the cargo temporary storage location (40) and the variation of the inventory locations.
6. the system as described in one of claim 1-5, which is characterized in that the 4th image collecting device (14) is also configured For: in response to access mechanism hand enter the cargo temporary storage location (40) movement and shoot hand the 4th image and 5th image, wherein the 4th image is clapped before the hand of the access mechanism enters the cargo temporary storage location (40) It takes the photograph, the 5th image is shot after the hand of the access mechanism is removed from the cargo temporary storage location (40),
Wherein, the computing system (30) determines that corresponding access mechanism removes object based on the 4th image compared with the 5th image The state of product holds the state of article in response to access mechanism and identifies around the absolute position of the access mechanism, place In the variation of at least one inventory locations of the shelf of predetermined relative location, and thus judge the article removal and the library Deposit the corresponding relationship between the variation of position.
7. the system as described in one of claim 1-6, which is characterized in that second image collecting device (12) is being detected When second image of the hand of one access mechanism, the computing system (30) is based on second image and the third figure The case where comparison of picture and the access mechanism of determination hold article,
When analyzing result is that the access mechanism does not hold article or only holds an article, the inventory analysis system is Grant the access mechanism access and is located at the spy near the absolute position of the access mechanism, in predetermined relative location Determine the article at least one inventory locations of warehouse district.
8. the system as described in one of claim 1-7, which is characterized in that the system also includes be arranged in access mechanism disengaging At least one the 5th image collecting device (15) of channel to acquire the identification marking for paying and/or registering,
5th image collecting device (15) provides the event of image in response to the 4th image collecting device (14) and starts.
9. system as described in one of claim 1-8, which is characterized in that provide figure in response to the 4th image collecting device (14) The event of picture and according to being equipped with the cargo temporary storage location (40) of the 4th image collecting device (14) relative to access way Position, the 5th image collecting device (15) adjust its optically detecting direction and focal length.
10. system as claimed in one of claims 1 to 9, which is characterized in that the first image is adopted in second image The second image that acquisition means (12) take the hand of the access mechanism is clapped by the first image acquisition device (11) later It takes the photograph, wherein second image is shot before the hand of the access mechanism enters at least one inventory locations of shelf 's.
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CN201810967161.6A Active CN109214751B (en) 2018-02-01 2018-08-23 Intelligent inventory management system based on inventory position change
CN202010492368.XA Active CN111626681B (en) 2018-02-01 2018-08-23 Image recognition system for inventory management
CN202011056497.0A Withdrawn CN111950967A (en) 2018-02-01 2018-08-23 Inventory management system based on thermal characteristic image
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