CN109191044A - Checking method, the apparatus and system in automatic vending warehouse - Google Patents
Checking method, the apparatus and system in automatic vending warehouse Download PDFInfo
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- CN109191044A CN109191044A CN201810997150.2A CN201810997150A CN109191044A CN 109191044 A CN109191044 A CN 109191044A CN 201810997150 A CN201810997150 A CN 201810997150A CN 109191044 A CN109191044 A CN 109191044A
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- inventory
- information
- article
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Abstract
The disclosure is directed to checking method, the apparatus and systems in a kind of automatic vending warehouse, wherein method includes: to send instruction of making an inventory to the manipulator for pick-and-place article, and the manipulator is made to be moved to target position；When the manipulator is moved to target position, shooting instruction is sent to the image collecting device being located on the manipulator, obtains image；Described image is identified, to obtain information of making an inventory.The technical solution carries out Image Acquisition to the article on shelf by the image collecting device on the manipulator for pick-and-place article, known by image recognition and obtains information of making an inventory, to complete making an inventory automatically to automatic vending warehouse item, not only save manpower, the efficiency for work of making an inventory is also improved, the intelligent management in automatic vending warehouse is realized.
Description
Technical field
This disclosure relates to the checking method in field of automation technology more particularly to automatic vending warehouse, apparatus and system.
Background technique
Currently, with the development of Internet of Things and quick payment, automatic vending machine is more widely used.Automatic vending machine
It is a kind of equipment in order to realize the autonomy-oriented of commodity, automated transaction, is mainly distributed on crowded area, such as railway station,
Bus station, hospital, factory, the public place such as market are placed.
In the related technology, existing automatic vending machine can grab article to output port by manipulator, make an inventory article when,
It needs manually to make an inventory.
Summary of the invention
Checking method, the apparatus and system in embodiment of the present disclosure offer automatic vending warehouse.The technical solution is as follows:
According to the first aspect of the embodiments of the present disclosure, a kind of checking method in automatic vending warehouse is provided, comprising:
Instruction of making an inventory is sent to the manipulator for pick-and-place article, the manipulator is made to be moved to target position；
When the manipulator is moved to target position, shooting is sent to the image collecting device being located on the manipulator
Instruction obtains image；
Described image is identified, to obtain information of making an inventory.
The technical solution that the embodiment of the present disclosure provides can include the following benefits: the technical solution is by being located at machinery
Image collecting device automatic collection image on hand obtains information of making an inventory by image recognition, and realization timely carries out inventory
Point, not only saves manpower, also improves working efficiency, realizes the intelligent management in automatic vending warehouse, improves automatic vending
The customer experience degree in warehouse.
In one embodiment, the method also includes:
The information of making an inventory includes article coordinate information；The target position is existing article coordinate；
It is described that described image is identified, to obtain information of making an inventory, comprising:
Identify the image coordinate of article in the picture；
According to the target position and described image coordinate, article coordinate information is determined.
The technical solution that the embodiment of the present disclosure provides can include the following benefits: the technical solution is known by image
Not, making an inventory automatically to article coordinate information is realized；Meanwhile by determining article coordinate information (i.e. current coordinate position),
To realize when selling article, manipulator can accurately grab article.
In one embodiment, the method also includes:
The information of making an inventory includes article identification information；
It is described that described image is identified, to obtain information of making an inventory, comprising:
Described image is matched with existing article sample characteristic；
According to the mark for matching consistent article sample characteristic, article identification information is determined.
The technical solution that the embodiment of the present disclosure provides can include the following benefits: the technical solution passes through image recognition
It determines the identification information of article, further obtains the details of article, it can be perfect during being automatically performed and making an inventory
The content for information of making an inventory, has saved manpower while improving work efficiency.
In one embodiment, the method also includes:
The information of making an inventory includes number of articles information；The target position is preset article adjacent locations；
It is described that described image is identified, to obtain information of making an inventory, comprising:
Texture recognition is carried out to described image, to obtain number of articles information.
The technical solution that the embodiment of the present disclosure provides can include the following benefits: the technical solution passes through image recognition
It determines the quantity information of article, realizes making an inventory automatically to number of articles, improve work efficiency.
In one embodiment, the method also includes:
Make an inventory information and the existing history information of making an inventory are matched；
When matching inconsistent, made an inventory information according to the history described in information update of making an inventory.
The technical solution that the embodiment of the present disclosure provides can include the following benefits: the disk that the technical solution passes through acquisition
Point information makes an inventory history information update, to obtain newest information of making an inventory, article coordinate information, article identification information and object
Any one of product quantity information information changes, and is required to update information of making an inventory, therefore accurate convenient for manipulator when selling
Crawl article and staff are managed the stock article in automatic vending warehouse.
According to the second aspect of an embodiment of the present disclosure, a kind of device of making an inventory in automatic vending warehouse is provided, comprising:
Sending module makes the manipulator be moved to mesh for sending instruction of making an inventory to the manipulator for pick-and-place article
Cursor position；
Module is obtained, for being adopted to the image being located on the manipulator when the manipulator is moved to target position
Acquisition means send shooting instruction, obtain image；
Identification module, for being identified to described image, to obtain information of making an inventory.
In one embodiment, described device further include:
The information of making an inventory includes article coordinate information；The target position is existing article coordinate；
The identification module, comprising:
First identifies submodule, for identification the image coordinate of article in the picture；
First determines submodule, for determining article coordinate information according to the target position and described image coordinate.
In one embodiment, described device further include:
The information of making an inventory includes article identification information；
The identification module, comprising:
Matched sub-block, for matching described image with existing article sample characteristic；
Second determines submodule, for determining article identification information according to the mark for matching consistent article sample characteristic.
In one embodiment, described device further include:
The information of making an inventory includes number of articles information；The target position is preset article adjacent locations；
The identification module, comprising:
Second identification submodule, for carrying out texture recognition to described image, to obtain number of articles information.
In one embodiment, described device further include:
Matching module, for matching make an inventory information and the existing history information of making an inventory；
Update module, for being made an inventory information according to the history described in information update of making an inventory when matching inconsistent.
According to the third aspect of an embodiment of the present disclosure, a kind of check system in automatic vending warehouse is provided, comprising: control
Device, manipulator and image collecting device；
The manipulator is connected with the controller, is used for pick-and-place article；
Described image acquisition device is connected with the controller, and is located on the manipulator, for obtaining image；
The controller is moved to the manipulator for sending instruction of making an inventory to the manipulator for pick-and-place article
Target position；When the manipulator is moved to target position, sends and clap to the image collecting device being located on the manipulator
Instruction is taken the photograph, image is obtained；Described image is identified, to obtain information of making an inventory.
According to a fourth aspect of embodiments of the present disclosure, a kind of device of making an inventory in automatic vending warehouse is provided, comprising:
Processor；
Memory for storage processor executable instruction；
Wherein, the processor is configured to:
Instruction of making an inventory is sent to the manipulator for pick-and-place article, the manipulator is made to be moved to target position；
When the manipulator is moved to target position, shooting is sent to the image collecting device being located on the manipulator
Instruction obtains image；
Described image is identified, to obtain information of making an inventory.
According to a fifth aspect of the embodiments of the present disclosure, a kind of computer readable storage medium is provided, calculating is stored thereon with
The step of the checking method in automatic vending warehouse described in any of the above-described scheme is realized in machine instruction, the instruction when being executed by processor
Suddenly.
The technical scheme provided by this disclosed embodiment can include the following benefits:
Above-mentioned technical proposal is moved to target position after manipulator, which receives, makes an inventory instruction, then by manipulator
Image collecting device Image Acquisition is carried out to the article on shelf, know to obtain by image recognition and make an inventory information, to complete
To making an inventory automatically for automatic vending warehouse item.Above-mentioned technical proposal realizes at any time, timely makes an inventory automatically, not only saves people
Power also improves the efficiency for work of making an inventory, and realizes the intelligent management in automatic vending warehouse, improves the Experience Degree of client.
Meanwhile image collecting device is arranged on the manipulator of pick-and-place article, integration degree is high, saves space, reduces cost.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The disclosure can be limited.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and together with specification for explaining the principles of this disclosure.
Fig. 1 is a kind of flow chart of the checking method in automatic vending warehouse shown according to an exemplary embodiment.
Fig. 2 is a kind of checking method flow chart in automatic vending warehouse shown according to an exemplary embodiment.
Fig. 3 is a kind of checking method flow chart in automatic vending warehouse shown according to an exemplary embodiment.
Fig. 4 is a kind of checking method flow chart in automatic vending warehouse shown according to an exemplary embodiment.
Fig. 5 is a kind of flow chart of the checking method in automatic vending warehouse shown according to an exemplary embodiment.
Fig. 6 is a kind of flow chart of the checking method in automatic vending warehouse shown according to an exemplary embodiment.
Fig. 7 is a kind of block diagram of the device of making an inventory in automatic vending warehouse shown according to an exemplary embodiment.
Fig. 8 is the frame of identification module in a kind of device of making an inventory in automatic vending warehouse shown according to an exemplary embodiment
Figure.
Fig. 9 is identification module in the device of making an inventory in another automatic vending warehouse shown according to an exemplary embodiment
Block diagram.
Figure 10 is identification module in the device of making an inventory in another automatic vending warehouse shown according to an exemplary embodiment
Block diagram.
Figure 11 is the block diagram of the device of making an inventory in another automatic vending warehouse shown according to an exemplary embodiment.
Figure 12 is a kind of block diagram of check system for automatic vending warehouse shown according to an exemplary embodiment.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all implementations consistent with this disclosure.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the disclosure.
In the related technology, automatic vending warehouse includes host, cabinet body, shelf and manipulator；Host is installed on the cabinet body
Interior, manipulator is installed on the intracorporal side of the cabinet, and manipulator is mounted side by side for commodity selected by pick-and-place, shelf front and back in described
The side of non-installation manipulator in cabinet body.It is taken the article on counter by mobile manipulator and counter, and from output port by object
Product pass out automatic vending warehouse, realize the purpose to user's automatic vending article.And since shelf can be in automatic vending storehouse
It is moved in library, then multiple shelf can be set, the type of the article of placement is increased in multiple rows of shelf, met user and select institute
Need the demand of article.
But since the article on shelf is numerous, when in order to meet user's article required for selecting at any time, can obtain
The demand for obtaining the article, needs to make an inventory to the article on shelf in time, to prevent from not selling caused by article is out of stock, or
Since manipulator cannot be grabbed accurately rear user is sold caused by article can not obtain article.In the related technology, to article into
When row is made an inventory, what is taken is manually to make an inventory, and is manually corrected to the placement position of article, determines whether specific article is put
Correctly and manually carry out checking for number of articles.When manually being made an inventory, to prevent, article is out of stock or manipulator cannot
The problems such as accurate crawl, then need to consume more manpowers and carry out work of making an inventory, even in this case, can not at any time and
When carry out work of making an inventory, cause working efficiency still low, customer experience degree reduce.
To solve the above problems, the present embodiment provides checking method, the apparatus and systems in a kind of automatic vending warehouse, to machine
The transmission of tool hand is made an inventory after instruction, is carried out Image Acquisition to the article on shelf by the image collecting device on manipulator, is passed through
Image recognition, which is known, obtains information of making an inventory, to complete making an inventory automatically to automatic vending warehouse item, realizes at any time, timely
Automatic inventory procedure, not only saves manpower, also improves the efficiency for work of making an inventory, and realizes the intelligent pipe in automatic vending warehouse
Reason, improves the Experience Degree of client.
Fig. 1 is a kind of flow chart of the checking method in automatic vending warehouse shown according to an exemplary embodiment, such as Fig. 1
Shown, this method can be used in server or automatic vending warehouse terminal, include the following steps S101-S103:
In step s101, instruction of making an inventory is sent to the manipulator for pick-and-place article, the manipulator is made to be moved to mesh
Cursor position.
In step s 102, it when the manipulator is moved to target position, is adopted to the image being located on the manipulator
Acquisition means send shooting instruction, obtain image.
In step s 103, described image is identified, to obtain information of making an inventory.
In this embodiment, after making an inventory instruction to manipulator transmission, manipulator is moved to target position, and target position is
Some article coordinates or preset article adjacent locations, then by the image collecting device on manipulator to the article on shelf
Image Acquisition is carried out, information of making an inventory is obtained by image recognition, to complete automatic vending warehouse making an inventory automatically to article, no
Manpower is only saved, the efficiency for work of making an inventory is also improved, realizes the intelligent management of article in automatic vending warehouse.Meanwhile
Image collecting device is arranged on the manipulator of pick-and-place article, and integration degree is high, saves space, reduces cost.
In this embodiment, image collecting device can carry out the shelf in automatic vending warehouse under the drive of manipulator
Continuous scanning formula obtains great amount of images, then carries out automatic identification by image recognition, finally obtains the information of making an inventory of article, real
It now makes an inventory automatically, improves the efficiency for work of making an inventory.
The present embodiment can make an inventory to special article.Then, instruction of making an inventory includes the coordinate of special article, i.e. target position
It sets, then executes process described in Fig. 1.
The present embodiment can also make an inventory to all items in automatic vending warehouse.Then, instruction of making an inventory includes first
The coordinate of a article executes the above process.Then it makes an inventory instruction to manipulator transmission again, the coordinate including the second article, again
The above process is executed, and so on, until all existing articles of record are made an inventory.Alternatively, instruction of making an inventory does not include target
Position.Manipulator receives make an inventory instruction after, since 0 coordinate, gradually moved according to preset step-length, every shifting moves a step, and holds
Time above process of row completes making an inventory for all items until being moved to rearmost position.
Fig. 2 is the checking method flow chart in another automatic vending warehouse shown according to an exemplary embodiment.
As shown in Fig. 2, above-mentioned steps S103 includes step S201-S202:
The information of making an inventory includes article coordinate information；The target position is existing article coordinate.
In step s 201, the image coordinate of identification article in the picture.
In step S202, according to the target position and described image coordinate, article coordinate information is determined.
In this embodiment, instruction of making an inventory is sent to the manipulator for pick-and-place article, is moved to the manipulator
Some article coordinate positions；When the manipulator is moved to existing article coordinate position, on the manipulator
Image collecting device sends shooting instruction, obtains image；Identify the image coordinate of article in the picture；According to the existing object
Product coordinate and described image coordinate, determine article coordinate information.Wherein, existing article coordinate position can be preset article
Coordinate position is put to need to be moved to preset laying for goods coordinate position when manipulator grabs article and grabbed.Only when
When article is placed on existing article coordinate position, or the current coordinate bit of article redefined according to article coordinate information
When setting, can just manipulator be made accurately to grab article.It is made an inventory automatically by image recognition realization the coordinate information of article, is improved
Working efficiency, has saved manpower.
Wherein, image coordinate refers to that article (is not necessarily the center of image relative to preset central area in the picture
Between, this and manipulator and the installation site of image collecting device in relation to) coordinate, if article falls completely within preset center
Domain, then image coordinate is 0, illustrates not deviate.If article does not fall completely within central area, it is determined that article is relative in
The coordinate in heart district domain, the coordinate are exactly offset.According to target position (i.e. existing article coordinate position) and the offset, just
It can determine article current coordinate position and real coordinate position, i.e., the described article coordinate information.
Fig. 3 is the checking method flow chart in another automatic vending warehouse shown according to an exemplary embodiment.
As shown in figure 3, above-mentioned steps S103 includes step S301-S302:
The information of making an inventory includes article identification information.
In step S301, described image is matched with existing article sample characteristic.
In step s 302, according to the mark for matching consistent article sample characteristic, article identification information is determined.
In this embodiment, image is identified, to obtain article identification information.By described image and existing article
Sample characteristic is matched；According to the mark for matching consistent article sample characteristic, article identification information is determined.Article mark letter
Breath for determining specific article, for example, article identification information can refer to the mineral water of ×× board or the orange juice of ×× board or
The potato chips etc. of ×× board ×× taste, are directed toward specific article.The identification information of article is determined by image recognition, further
The specifying information for obtaining article can improve information of making an inventory during being automatically performed and making an inventory, improve work efficiency, section
About manpower.
The textural characteristics and corresponding article identification information of article sample can be stored in advance in the present embodiment, to the figure
Extraction as carrying out textural characteristics, is then matched with the textural characteristics that article sample is stored in advance, true when matching consistent
Fixed corresponding article identification information.Alternatively, article sample characteristic is character feature, character feature is carried out to described image and is mentioned
It takes, and is matched with article sample characteristic, to realize character recognition, obtain article identification information.
Fig. 4 is the checking method flow chart in another automatic vending warehouse shown according to an exemplary embodiment.
As shown in figure 4, above-mentioned steps S103 includes step S401:
The information of making an inventory includes number of articles information；The target position is preset article adjacent locations；
In step S401, texture recognition is carried out to described image, to obtain number of articles information.
In this embodiment, instruction of making an inventory is sent to the manipulator for pick-and-place article, is moved to the manipulator pre-
If article adjacent locations；When the manipulator is moved to preset article adjacent locations, on the manipulator
Image collecting device sends shooting instruction, obtains image；Texture recognition is carried out to described image, to obtain number of articles information.
Wherein, preset article adjacent locations can refer to the clearance position between article and shelf, when manipulator is moved to the position, figure
It is placed in the image of the subsequent article of shelf front article as acquisition device can collect, by carrying out texture knowledge to image
Not, number of articles information is obtained, to realize making an inventory automatically to number of articles, improves work efficiency, has saved manpower.
In this embodiment, preset article adjacent locations can refer to article upper and lower, left and right all directions and shelf it
Between clearance position, when manipulator is moved to the position, image collecting device is from the gap acquired image beside article
The local feature of the subsequent article of article is contained, then by carrying out texture recognition to image, identifies the office of article below
Portion's feature, to obtain number of articles information.
Fig. 5 is the flow chart of the checking method in another automatic vending warehouse shown according to an exemplary embodiment.
As shown in figure 5, the checking method in above-mentioned steps automatic vending warehouse further includes step S501-S502:
In step S501, make an inventory information and the existing history information of making an inventory are matched.
In step S502, when matching inconsistent, made an inventory information according to the history described in information update of making an inventory.
In this embodiment, information of making an inventory includes article coordinate information, article identification information and number of articles information etc..
History can be made an inventory information update by the information of making an inventory of acquisition, to obtain newest information of making an inventory, article is sat
Any one of mark information, article identification information and number of articles information information changes, and is required to update information of making an inventory,
Therefore article and staff are accurately grabbed convenient for manipulator when selling and pipe is carried out to the stock article in automatic vending warehouse
Reason, such as replenished etc. according to number of articles information to article.
Updated information of making an inventory can store in automatic vending warehouse, or storage stock control clothes at the far end
It is engaged in device.
Above embodiments can be freely combined according to actual needs.
A kind of checking method in automatic vending warehouse of disclosure offer is described below by specific embodiment.
As shown in fig. 6, the present embodiment provides a kind of checking methods in automatic vending warehouse, comprising:
Step S601 sends instruction of making an inventory to the manipulator for pick-and-place article, the manipulator is made to be moved to target position
It sets；The target position is existing article coordinate and preset article adjacent locations.
Step S602, when the manipulator is moved to target position, to the image collector being located on the manipulator
Transmission shooting instruction is set, image is obtained.
Step S603, the image coordinate of identification article in the picture.
Step S604 determines article coordinate information according to the target position and described image coordinate.
Step S605 matches described image with existing article sample characteristic.
Step S606 determines article identification information according to the mark for matching consistent article sample characteristic.
Step S607 carries out texture recognition to described image, to obtain number of articles information.
Step S608 matches make an inventory information and the existing history information of making an inventory；The information of making an inventory includes
Article coordinate information, article identification information and number of articles information.
Step S609 makes an inventory information when matching inconsistent according to the history described in information update of making an inventory.
Updated information of making an inventory is stored in automatic vending warehouse, or storage library at the far end by step S610
It deposits in management server.
Wherein, step S603 and step S604, step S605 and step S606 and step S607 are three relatively only
Vertical process, execution sequence can change.
Following is embodiment of the present disclosure, can be used for executing embodiments of the present disclosure.
Fig. 7 is a kind of block diagram of the device of making an inventory in automatic vending warehouse shown according to an exemplary embodiment, the device
It being implemented in combination with as some or all of of server by software, hardware or both.As shown in fig. 7, this is automatic
The device of making an inventory for selling warehouse includes: sending module 701, obtains module 702 and identification module 703.
Sending module 701 is moved to the manipulator for sending instruction of making an inventory to the manipulator for pick-and-place article
Target position.
Module 702 is obtained, for when the manipulator is moved to target position, to the image being located on the manipulator
Acquisition device sends shooting instruction, obtains image.
Identification module 703, for being identified to described image, to obtain information of making an inventory.
Fig. 8 is the frame of identification module in a kind of device of making an inventory in automatic vending warehouse shown according to an exemplary embodiment
Figure.
As shown in figure 8, the target position is existing article coordinate.
The identification module 703, comprising: the first identification submodule 801 and first determines submodule 802.
First identifies submodule 801, for identification the image coordinate of article in the picture.
First determines submodule 802, for determining that article coordinate is believed according to the target position and described image coordinate
Breath.
Fig. 9 is identification module in the device of making an inventory in another automatic vending warehouse shown according to an exemplary embodiment
Block diagram.
As shown in figure 9, the identification module 703, comprising: matched sub-block 901 and second determines submodule 902.
Matched sub-block 901, for matching described image with existing article sample characteristic.
Second determines submodule 902, for determining that article mark is believed according to the mark for matching consistent article sample characteristic
Breath.
Figure 10 is identification module in the device of making an inventory in another automatic vending warehouse shown according to an exemplary embodiment
Block diagram.
As shown in Figure 10, the target position is preset article adjacent locations.
The identification module 703, comprising: the second identification submodule 1001.
Second identification submodule 1001, for carrying out texture recognition to described image, to obtain number of articles information.
Figure 11 is the block diagram of the device of making an inventory in another automatic vending warehouse shown according to an exemplary embodiment.
As shown in figure 11, the device of making an inventory in the automatic vending warehouse further include: matching module 1101 and update module
1102。
Matching module 1101, for matching make an inventory information and the existing history information of making an inventory.
Update module 1102, for being made an inventory information according to the history described in information update of making an inventory when matching inconsistent.
Figure 12 is a kind of block diagram of the check system in automatic vending warehouse shown according to an exemplary embodiment.
As shown in figure 12, a kind of check system in automatic vending warehouse, comprising: controller 1201, manipulator 1202 and figure
As acquisition device 1203.
The manipulator 1202, is connected with the controller, is used for pick-and-place article.
Described image acquisition device 1203 is connected with the controller, and is located on the manipulator, for obtaining figure
Picture.
The controller 1201, for executing the checking method in above-mentioned automatic vending warehouse, which comprises
Instruction of making an inventory is sent to the manipulator for pick-and-place article, the manipulator is made to be moved to target position.
When the manipulator is moved to target position, shooting is sent to the image collecting device being located on the manipulator
Instruction obtains image.
Described image is identified, to obtain information of making an inventory.
In one embodiment, the controller 1201 can also be used to execute the process as described in Fig. 2-Fig. 5.
In this embodiment, the check system in automatic vending warehouse further includes manipulator and image collecting device, manipulator
It can be used for grabbing article when selling, for image collector setting on manipulator, image collecting device can be camera, be used for
Shoot photo.
According to a fourth aspect of embodiments of the present disclosure, a kind of device of making an inventory in automatic vending warehouse is provided, comprising:
Processor；
Memory for storage processor executable instruction；
Wherein, the processor is configured to:
Instruction of making an inventory is sent to the manipulator for pick-and-place article, the manipulator is made to be moved to target position；
When the manipulator is moved to target position, shooting is sent to the image collecting device being located on the manipulator
Instruction obtains image；
Described image is identified, to obtain information of making an inventory.
Wherein, above-mentioned processor is also configured to
The information of making an inventory includes article coordinate information；The target position is existing article coordinate；
It is described that described image is identified, to obtain information of making an inventory, comprising:
Identify the image coordinate of article in the picture；
According to the target position and described image coordinate, article coordinate information is determined.
Above-mentioned processor is also configured to
The information of making an inventory includes article identification information；
It is described that described image is identified, to obtain information of making an inventory, comprising:
Described image is matched with existing article sample characteristic；
According to the mark for matching consistent article sample characteristic, article identification information is determined.
Above-mentioned processor is also configured to
The information of making an inventory includes number of articles information；The target position is preset article adjacent locations；
It is described that described image is identified, to obtain information of making an inventory, comprising:
Texture recognition is carried out to described image, to obtain number of articles information.
Above-mentioned processor is also configured to
Make an inventory information and the existing history information of making an inventory are matched；
When matching inconsistent, made an inventory information according to the history described in information update of making an inventory.
According to a fifth aspect of the embodiments of the present disclosure, a kind of computer readable storage medium is provided, calculating is stored thereon with
The step of the checking method in automatic vending warehouse described in any of the above-described scheme is realized in machine instruction, the instruction when being executed by processor
Suddenly.
About the device in above-described embodiment, wherein modules execute the concrete mode of operation in related this method
Embodiment in be described in detail, no detailed explanation will be given here.
A kind of computer readable storage medium makes when the instruction in the storage medium is executed by the processor of device
Obtain the checking method that device is able to carry out above-mentioned automatic vending warehouse, which comprises
Instruction of making an inventory is sent to the manipulator for pick-and-place article, the manipulator is made to be moved to target position；
When the manipulator is moved to target position, shooting is sent to the image collecting device being located on the manipulator
Instruction obtains image；
Described image is identified, to obtain information of making an inventory.
In one embodiment, the method also includes:
The information of making an inventory includes article coordinate information；The target position is existing article coordinate；
It is described that described image is identified, to obtain information of making an inventory, comprising:
Identify the image coordinate of article in the picture；
According to the target position and described image coordinate, article coordinate information is determined.
In one embodiment, the method also includes:
The information of making an inventory includes article identification information；
It is described that described image is identified, to obtain information of making an inventory, comprising:
Described image is matched with existing article sample characteristic；
According to the mark for matching consistent article sample characteristic, article identification information is determined.
In one embodiment, the method also includes:
The information of making an inventory includes number of articles information；The target position is preset article adjacent locations；
It is described that described image is identified, to obtain information of making an inventory, comprising:
Texture recognition is carried out to described image, to obtain number of articles information.
In one embodiment, the method also includes:
Make an inventory information and the existing history information of making an inventory are matched；
When matching inconsistent, made an inventory information according to the history described in information update of making an inventory.
Those skilled in the art will readily occur to its of the disclosure after considering specification and practicing disclosure disclosed herein
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by following
Claim is pointed out.
It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by the accompanying claims.
Claims (13)
1. a kind of checking method in automatic vending warehouse characterized by comprising
Instruction of making an inventory is sent to the manipulator for pick-and-place article, the manipulator is made to be moved to target position；
When the manipulator is moved to target position, shooting is sent to the image collecting device being located on the manipulator and is referred to
It enables, obtains image；
Described image is identified, to obtain information of making an inventory.
2. the method as described in claim 1, which is characterized in that the information of making an inventory includes article coordinate information；The target
Position is existing article coordinate；
It is described that described image is identified, to obtain information of making an inventory, comprising:
Identify the image coordinate of article in the picture；
According to the target position and described image coordinate, article coordinate information is determined.
3. the method as described in claim 1, which is characterized in that the information of making an inventory includes article identification information；
It is described that described image is identified, to obtain information of making an inventory, comprising:
Described image is matched with existing article sample characteristic；
According to the mark for matching consistent article sample characteristic, article identification information is determined.
4. the method as described in claim 1, which is characterized in that the information of making an inventory includes number of articles information；The target
Position is preset article adjacent locations；
It is described that described image is identified, to obtain information of making an inventory, comprising:
Texture recognition is carried out to described image, to obtain number of articles information.
5. such as method of any of claims 1-4, which is characterized in that the method also includes:
Make an inventory information and the existing history information of making an inventory are matched；
When matching inconsistent, made an inventory information according to the history described in information update of making an inventory.
6. a kind of device of making an inventory in automatic vending warehouse characterized by comprising
Sending module makes the manipulator be moved to target position for sending instruction of making an inventory to the manipulator for pick-and-place article
It sets；
Module is obtained, for when the manipulator is moved to target position, to the image collector being located on the manipulator
Transmission shooting instruction is set, image is obtained；
Identification module, for being identified to described image, to obtain information of making an inventory.
7. device as claimed in claim 6, which is characterized in that the information of making an inventory includes article coordinate information；The target
Position is existing article coordinate；
The identification module, comprising:
First identifies submodule, for identification the image coordinate of article in the picture；
First determines submodule, for determining article coordinate information according to the target position and described image coordinate.
8. device as claimed in claim 6, which is characterized in that the information of making an inventory includes article identification information；
The identification module, comprising:
Matched sub-block, for matching described image with existing article sample characteristic；
Second determines submodule, for determining article identification information according to the mark for matching consistent article sample characteristic.
9. device as claimed in claim 6, which is characterized in that the information of making an inventory includes number of articles information；The target
Position is preset article adjacent locations；
The identification module, comprising:
Second identification submodule, for carrying out texture recognition to described image, to obtain number of articles information.
10. device as claimed in claim 6, which is characterized in that further include:
Matching module, for matching make an inventory information and the existing history information of making an inventory；
Update module, for being made an inventory information according to the history described in information update of making an inventory when matching inconsistent.
11. a kind of check system in automatic vending warehouse characterized by comprising controller, manipulator and image collector
It sets；
The manipulator is connected with the controller, is used for pick-and-place article；
Described image acquisition device is connected with the controller, and is located on the manipulator, for obtaining image；
The controller makes the manipulator be moved to target for sending instruction of making an inventory to the manipulator for pick-and-place article
Position；When the manipulator is moved to target position, shooting is sent to the image collecting device being located on the manipulator and is referred to
It enables, obtains image；Described image is identified, to obtain information of making an inventory.
12. a kind of device of making an inventory in automatic vending warehouse characterized by comprising
Processor；
Memory for storage processor executable instruction；
Wherein, the processor is configured to:
Instruction of making an inventory is sent to the manipulator for pick-and-place article, the manipulator is made to be moved to target position；
When the manipulator is moved to target position, shooting is sent to the image collecting device being located on the manipulator and is referred to
It enables, obtains image；
Described image is identified, to obtain information of making an inventory.
13. a kind of computer readable storage medium, is stored thereon with computer instruction, which is characterized in that the instruction is by processor
The step of checking method in automatic vending warehouse described in any one of claims 1 to 5 is realized when execution.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810997150.2A CN109191044A (en) | 2018-08-29 | 2018-08-29 | Checking method, the apparatus and system in automatic vending warehouse |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810997150.2A CN109191044A (en) | 2018-08-29 | 2018-08-29 | Checking method, the apparatus and system in automatic vending warehouse |
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| CN201810997150.2A Pending CN109191044A (en) | 2018-08-29 | 2018-08-29 | Checking method, the apparatus and system in automatic vending warehouse |
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Application publication date: 20190111 |