CN109377268A - The method of adjustment and device of commodity - Google Patents
The method of adjustment and device of commodity Download PDFInfo
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- CN109377268A CN109377268A CN201811138122.1A CN201811138122A CN109377268A CN 109377268 A CN109377268 A CN 109377268A CN 201811138122 A CN201811138122 A CN 201811138122A CN 109377268 A CN109377268 A CN 109377268A
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Abstract
The embodiment of the present application provides the method for adjustment and device of a kind of commodity, is related to technical field of image processing.Method includes: the commodity direct picture obtained under the practical placement state of cylinder commodity；According to the cylinder unwrapping image of commodity direct picture and cylinder commodity, determined from cylinder unwrapping image and the matched area image of commodity direct picture；According to the standard picture region in area image and cylinder unwrapping image, determine that adjustment column discusses the rotational angle of product face to face, wherein standard picture region is the region shared in cylinder unwrapping image of the commodity direct picture under cylinder commercial standards placement state；According to rotational angle, controls commodity adjustment robot and adjust cylinder commodity to standard placement state.Optimal standard placement state can be adjusted to automatically by realizing each cylinder commodity, and then is solved salesman and adjusted commodity, but each commodity still uniformly will not be located at best placement state technical problem.
Description
Technical field
This application involves technical field of image processing, in particular to the method for adjustment and device of a kind of commodity.
Background technique
It is scrutinized currently, customer during shop is sought and being strolled, can usually pick up commodity.Customer then can be again by quotient after finishing watching
Product are put back on shelf.But due to customer and pay no attention to commodity are how to put, so user is usually arbitrarily to place commodity
It goes back, placing the state put gone back so as to cause commodity is not the optimal placement state of the commodity.
Therefore, for the ease of the distribution of commodity, salesman just need to take time by be not best placement state commodity by
One is adjusted to best placement state.Since salesman also needs to take into account other routine works such as direct customers, distribution or checkout,
So that salesman by these routine works influenced and cannot well commodity adjustment work, although causing to be adjusted
It is whole, but each commodity still uniformly will not be located at best placement state.
Summary of the invention
The application is to provide the method for adjustment and device of a kind of commodity, be asked with the above-mentioned technology of effective solution
Topic.
To achieve the goals above, embodiments herein is accomplished in that
In a first aspect, the embodiment of the present application provides a kind of method of adjustment of commodity, which comprises
Obtain the commodity direct picture under the practical placement state of cylinder commodity；
According to the cylinder unwrapping image of the commodity direct picture and the cylinder commodity, from the cylinder unwrapping image
It determines and the matched area image of commodity direct picture；
According to the standard picture region in the area image and the cylinder unwrapping image, determine to adjust the cylinder
The rotational angle of commodity, wherein the standard picture region is the commodity front elevation under the cylinder commercial standards placement state
As shared region in the cylinder unwrapping image；
According to the rotational angle, control commodity adjustment robot, which adjusts the cylinder commodity to the standard, puts shape
State.
It is described according to the area image and the cylinder unwrapping image in some possible implementations of first aspect
In standard picture region, determine the rotational angle for adjusting the cylinder commodity, comprising:
According to the standard picture region in the area image and the cylinder unwrapping image, the area image is determined
Center line and the standard picture region distance value of the center line in the cylinder unwrapping image；
According to the radius of the distance value and the cylinder commodity, the rotational angle for adjusting the cylinder commodity is determined.
In some possible implementations of first aspect, the commodity obtained under the practical placement state of cylinder commodity are just
Face image, comprising:
Obtain the commodity direct picture that cylinder is indicated under the practical placement state of cylinder commodity；
By the corresponding commodity direct picture for expanding into expression plane of the commodity direct picture for indicating cylinder.
It is described that the commodity direct picture for indicating cylinder is corresponding in some possible implementations of first aspect
Expand into the commodity direct picture for indicating plane, comprising:
According to preset transformation rule, the coordinate of each pixel in the commodity direct picture for indicating cylinder is adjusted,
It obtains by the commodity direct picture for the expression plane of each pixel after Coordinate Adjusting constituted；
The transformation rule are as follows:
Wherein, (i, j) is the coordinate of each pixel in the commodity direct picture for indicating cylinder, and (i, j) is to adjust
The coordinate of each pixel in the whole rear commodity direct picture for indicating plane.
Commodity in some possible implementations of first aspect, under the acquisition practical placement state of cylinder commodity
Before direct picture, the method also includes:
Obtain multiple images to be spliced under the cylinder commercial standards placement state；
Institute is spliced into image overlapping region overlapping between two images to be spliced every in multiple described images to be spliced
Multiple images to be spliced are stated, the cylinder unwrapping image after being spliced.
Second aspect, the embodiment of the present application provide a kind of adjustment device of commodity, and described device includes:
Image obtains module, for obtaining the commodity direct picture under the practical placement state of cylinder commodity.
Area determination module, for the cylinder unwrapping image according to the commodity direct picture and the cylinder commodity, from
It is determined in the cylinder unwrapping image and the matched area image of commodity direct picture.
Determining module is adjusted, for according to the standard picture region in the area image and the cylinder unwrapping image,
Determine to adjust the rotational angle of the cylinder commodity, wherein the standard picture region is that the cylinder commercial standards is put
Commodity direct picture under state region shared in the cylinder unwrapping image.
Control module is adjusted, for controlling commodity adjustment robot for the cylinder commodity tune according to the rotational angle
The standard placement state.
In some possible implementations of second aspect, the adjustment determining module is also used to according to the administrative division map
The center line and the standard picture of the area image are determined in standard picture region in picture and the cylinder unwrapping image
Distance value of the center line in region in the cylinder unwrapping image；According to the radius of the distance value and the cylinder commodity,
Determine to adjust the rotational angle of the cylinder commodity.
In some possible implementations of second aspect, described image obtains module, and it is real to be also used to obtain cylinder commodity
The commodity direct picture of cylinder is indicated under the placement state of border；The commodity direct picture for indicating cylinder corresponding is expanded into table
Show the commodity direct picture of plane.
In some possible implementations of second aspect, described image obtains module, is also used to according to preset conversion
Rule adjusts the coordinate of each pixel in the commodity direct picture for indicating cylinder, obtains by each of after Coordinate Adjusting
The commodity direct picture of the expression plane of the composition of pixel；
The transformation rule are as follows:
Wherein, (i, j) is the coordinate of each pixel in the commodity direct picture for indicating cylinder, and (i, j) is to adjust
The coordinate of each pixel in the whole rear commodity direct picture for indicating plane.
In some possible implementations of second aspect, described device further include:
Image to be spliced obtains module, for obtaining multiple figures to be spliced under the cylinder commercial standards placement state
Picture.
Image mosaic module, for the image between two images to be spliced every in multiple described images to be spliced to be overlapped
Region is overlapped and splices multiple described images to be spliced, the cylinder unwrapping image after being spliced.
The third aspect, the embodiment of the present application provide a kind of electronic equipment, and the electronic equipment includes: processor, storage
Device, bus and communication interface；The processor, the communication interface and memory are connected by the bus.
The memory, for storing program.
The processor, for the program by calling storage in the memory, to execute first aspect and first
The method of adjustment of commodity described in any embodiment of aspect.
Fourth aspect, the embodiment of the present application provide a kind of calculating of non-volatile program code that can be performed with computer
The readable storage medium of machine, said program code make any embodiment party of the computer execution first aspect and first aspect
The method of adjustment of commodity described in formula.
The beneficial effect of the embodiment of the present application is:
By by under the practical placement state of cylinder commodity commodity direct picture and preset cylinder unwrapping images match, from
And it is determined from cylinder unwrapping image and the matched area image of commodity direct picture.In this way, utilizing area image and standard
Image-region is assured that out adjust the cylinder commodity needed for rotational angle, thus realize judge automatically cylinder commodity pendulum
Put whether standard.Further according to the rotational angle, cylinder commodity are adjusted to standard placement state by control robot, thus just
Optimal standard placement state can be adjusted to automatically by realizing each cylinder commodity, and then is solved salesman and adjusted quotient
Product, but each commodity still uniformly will not be located at best placement state technical problem.
To enable the above objects, features, and advantages of the application to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows a kind of structural block diagram of the adjustment system of commodity of the application first embodiment offer；
Fig. 2 shows the structural frames of electronic equipment in a kind of adjustment system of commodity of the application first embodiment offer
Figure；
Fig. 3 shows a kind of flow chart of the method for adjustment of commodity of the application second embodiment offer；
Fig. 4 shows a kind of structural block diagram of the adjustment device of commodity of the application 3rd embodiment offer.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Ground description, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.Usually exist
The component of the embodiment of the present application described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, is not intended to limit claimed the application's to the detailed description of the embodiments herein provided in the accompanying drawings below
Range, but it is merely representative of the selected embodiment of the application.Based on embodiments herein, those skilled in the art not into
Row goes out every other embodiment obtained under the premise of creative work, shall fall in the protection scope of this application.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.Term " first ", " the
Two " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
First embodiment
Referring to Fig. 1, the embodiment of the present application provides a kind of adjustment system 10 of commodity, the adjustment system 10 of the commodity is wrapped
It includes: server 11, commodity adjustment robot 12 and user terminal 13.Wherein, commodity adjustment robot 12 respectively with server 11
It can also be communicated to connect with server 11 with the communication connection of user terminal 13 and user terminal 13.
Server 11 can be network server, database server, Cloud Server or be made of multiple child servers
Server set at etc..
Commodity, which adjust robot 12, to be wheeled crusing robot, unmanned plane etc..Wherein, wheeled crusing robot
Can be the robot of the mechanical wall of band with unmanned plane etc., or or without mechanical arm robot.
User terminal 13 can be PC (personal computer, PC), tablet computer, smart phone, individual
Digital assistants (personal digital assistant, PDA) etc..
Wherein, server 11 and user terminal 13 adjust robot 12 with commodity by network and are communicated, and may be implemented
Cooperation commodity adjustment robot 12 is adjusted columnar goods.
Referring to Fig. 2, the embodiment of the present application provides electronic equipment 20, the electronic equipment 20 may include: memory 21,
Communication module 22, bus 23 and processor 24.Wherein, processor 24, communication module 22 and memory 21 are connected by bus 23.
Processor 24 is for executing the executable module stored in memory 21, such as computer program.Electricity shown in Fig. 2
The component and structure of sub- equipment 20 be it is illustrative, and not restrictive, as needed, electronic equipment 20 also can have it
His component and structure.
Wherein, memory 21 may include high-speed random access memory (Random Access Memory RAM),
It may further include non-labile memory (non-volatile memory), for example, at least a magnetic disk storage.This implementation
In example, memory 21 stores program required for the method for adjustment for executing commodity.
Bus 23 can be isa bus, pci bus or eisa bus etc..It is total that bus can be divided into address bus, data
Line, control bus etc..Only to be indicated with a four-headed arrow in Fig. 2, it is not intended that an only bus or one convenient for indicating
The other bus of type.
Processor 24 may be a kind of processing capacity IC chip with signal.During realization, above-mentioned side
Each step of method can be completed by the integrated logic circuit of the hardware in processor 24 or the instruction of software form.Above-mentioned
Processor 24 can be general processor, including central processing unit (Central Processing Unit, abbreviation CPU), network
Processor (Network Processor, abbreviation NP) etc.；It can also be digital signal processor (DSP), specific integrated circuit
(ASIC), ready-made programmable gate array (FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components.General processor can be microprocessor or the processor is also possible to any conventional processor etc..
The step of method in conjunction with disclosed in the embodiment of the present application, can be embodied directly in hardware decoding processor and execute completion, Huo Zheyong
Hardware and software module combination in decoding processor execute completion.Software module can be located at random access memory, flash memory, read-only
The storage medium of this fields such as memory, programmable read only memory or electrically erasable programmable memory, register maturation
In.
Method performed by the device of stream process or definition that the embodiment of the present application any embodiment discloses can be applied to
In processor 24, or realized by processor 24.Processor 24 is stored in after receiving and executing instruction by the calling of bus 23
After program in memory 21, processor 24, which controls communication module 22 by bus 23, can then execute the method for adjustment of commodity
Process.
In the embodiment of the present application, first way can be with are as follows: and electronic equipment 20 can be server 11 above-mentioned, in this way,
Server 11 can control commodity adjustment robot 12 to realize the execution to the method for adjustment of commodity.The second way can be with
Are as follows: electronic equipment 20 can adjust robot 12 for control commodity above-mentioned, in this way, control commodity adjust robot 12 can be
The execution to the method for adjustment of commodity is completed under the cooperation of server 11 and user terminal 13.The third mode can be with are as follows: electronics
Equipment 20 can be user terminal 13 above-mentioned, in this way, user terminal 13 can control commodity adjustment robot 12 to realize
Execution to the method for adjustment of commodity.
Second embodiment
Present embodiments provide a kind of method of adjustment of commodity, it should be noted that step shown in the flowchart of the accompanying drawings
Suddenly it can execute in a computer system such as a set of computer executable instructions, although also, showing in flow charts
Logical order, but in some cases, it can be with the steps shown or described are performed in an order that is different from the one herein.It is right below
The present embodiment describes in detail.
Referring to Fig. 3, the method for adjustment of the commodity includes: step in the method for adjustment of commodity provided in this embodiment
S100, step S200, step S300 and step S400.
Step S100: the commodity direct picture under the practical placement state of cylinder commodity is obtained.
Step S200: according to the cylinder unwrapping image of the commodity direct picture and the cylinder commodity, from the cylinder
It is determined in unfolded image and the matched area image of commodity direct picture.
Step S300: it according to the standard picture region in the area image and the cylinder unwrapping image, determines to adjust
The rotational angle of the whole cylinder commodity, wherein the standard picture region is under the cylinder commercial standards placement state
Commodity direct picture region shared in the cylinder unwrapping image.
Step S400: it according to the rotational angle, controls commodity adjustment robot and adjusts the cylinder commodity to described
Standard placement state.
Each step of the application will be described in detail below.
Method flow in the embodiment of the present application can for individually by server, commodity adjust robot or user terminal Lai
It executes.Alternatively, cooperating to be executed by server, commodity adjustment robot and/or user terminal.
Before executing step S100, the cylinder unwrapping image of cylinder commodity can be first obtained.
As the first way for obtaining cylinder unwrapping image in the present embodiment
It can take pictures to cylinder commodity, be waited for obtain multiple of cylinder commodity under different angle from different perspectives
Stitching image.It is understood that in order to obtain the cylinder unwrapping image comprising one week exterior design of cylinder commodity, multiple wait spelling
The whole exterior designs for including in map interlinking picture can cover one week exterior design of cylinder commodity.For example, can use and be with 90 °
Angle interval respectively shoots cylinder commodity from 0 °, 90 °, 180 ° and 270 °, thus 4 images to be spliced, this 4 wait spell
Map interlinking picture can cover one week exterior design of commodity containing cylinder.
It is understood that in every two images to be spliced of two camera sites shooting adjacent in multiple images to be spliced
It can have repeat patterns, then when forming cylinder unwrapping image based on multiple image mosaics to be spliced, in order to avoid repeating
The influence of pattern can override repeat patterns, so that the pattern for including in the cylinder unwrapping image obtained is not repeat
And complete pattern.
Optionally, the mode for forming cylinder unwrapping images based on multiple image mosaics to be spliced can be with are as follows:
Multiple images to be spliced of acquisition can be subjected to gray processing processing, so that obtaining in multiple images to be spliced every
Image to be spliced turns to gray level image.Based on preset Based on Multiscale Matching algorithm, ash discharge is determined from multiple images to be spliced
Angle value changes greatly and not because the point of the factors such as illumination, affine transformation and noise variation is as characteristic point, every two bands spliced map
There is identical characteristic point in the region in the region for having image to be overlapped as between, image overlapping, extracts every two images to be spliced
Then characteristic point completes the matching of image according to the matching of correlated characteristic point.Further image is passed through to the image after matching
Fusion and boundary smooth treatment realize the splicing between every two images to be spliced, carry out identical operation to remaining image, from
And just obtain the cylinder unwrapping image that the pattern for including is not repeated and completed.
As the second way for obtaining cylinder unwrapping image in the present embodiment
A wide-angle can be shot around the cylinder commodity on a horizontal plane by the pan-shot function of picture pick-up device
The panoramic picture that degree is 360 °, and the panoramic picture is passed through into gray proces, the panorama sketch after the gray proces being achieved in that
Picture can be with the cylinder unwrapping image for the cylinder commodity.
As the third mode for obtaining cylinder unwrapping image in the present embodiment
If the circular attaching upper prop of the trade mark of cylinder commodity discusses product face to face, therefore can use and remove attaching from cylinder commodity
Trade mark, and the expansion that trade mark is smooth.So, cylinder quotient is obtained with by scanning the trade mark under the smooth unfolded state
The cylinder unwrapping image of product.
After obtaining cylinder unwrapping image, operator needs to determine that the cylinder commodity most need on the cylinder unwrapping image
Standard picture region of the pattern to be shown where in cylinder unwrapping image.Wherein, which is cylinder commodity
Commodity direct picture under standard placement state region shared in cylinder unwrapping image, and, cylinder commodity are in standard pendulum
The state lower prop of putting discuss face to face the pattern of displaying is needed most on product just can be towards passageway, so that customer, which is readily seen that, needs most displaying
Pattern and be attracted.
In the present embodiment, operator executes determining for standard picture region and operates, then equipment (server, commodity tune
Whole robot or user terminal) respond the determination operation standard picture region just can be determined on cylinder unwrapping image.
And for that the center line in standard picture region can also be determined from standard picture region convenient for subsequent calculating.Also,
Plane coordinate system can also be established as coordinate origin using the interface point of center line and standard picture region, can be based on so as to subsequent
The plane coordinates ties up under same scale and accurately calculates rotational angle.
By storing the cylinder unwrapping image of the acquisition, so that the cylinder unwrapping image can be used for subsequent image
Match.Therefore, after having preset cylinder unwrapping image, step S100 can be continued to execute.
Step S100: the commodity direct picture under the practical placement state of cylinder commodity is obtained.
When cylinder commodity are put on upper shelf, commodity adjust robot by clapping on preset inspection line-of-road movement to route
When taking the photograph the camera site of the cylinder commodity, commodity adjustment robot can shoot and indicate under the practical placement state of cylinder commodity
The initial direct picture of the commodity of cylinder.It is understood that indicating that the initial direct picture of commodity of cylinder can be understood as the commodity
Reaction is the columnar imaging of the cylinder commodity on two-dimensional surface on initial direct picture.
After shooting and obtaining the initial direct picture of the commodity, area-of-interest can be carried out to the initial direct picture of the commodity
Detection processing, and gray processing processing is carried out, the region in the initial direct picture of the commodity in addition to the cylinder commodity is gone
It removes and image is subjected to gray processing, to obtain the commodity of the expression cylinder of the only image comprising the cylinder commodity and gray processing just
Face image.
It should be noted that in the commodity direct picture of the actual photographed expression cylinder, due to closer to cylinder commodity
The angle that the position of front edge, the tangent line of these positions and the focal plane of shooting are formed is bigger, so as to cause column is being indicated
Pattern in the commodity direct picture in face positioned at cylinder commodity edge will form extruding sense (can also be referred to as three-dimensional sense).And by
Pattern in cylinder unwrapping image is the pattern of tiling expansion, therefore for convenient for commodity direct picture and cylinder unwrapping image
Match, so that it may which these are formed into the pattern that the pattern for squeezing and feeling is reduced into tiling expansion.
Based on this, so that it may which corresponding expand into of the commodity direct picture of the expression cylinder is indicated that the commodity of plane are positive
Image.
Optionally, expanding into indicates that the mode of the commodity direct picture of plane can be with are as follows:
A blank template is established, so that the commodity direct picture based on expression cylinder in the blank template generates the table
Show the commodity direct picture of plane.It is understood that the size for the blank template established can be with are as follows:
Size r × c based on the commodity direct picture for indicating cylinder, wherein indicate the commodity direct picture of cylinder
Size be based on indicate cylinder commodity direct picture in pixel quantity and obtain.Further according to preset Pattern plate ruler
Very little determining formula can determine the size of blank template based on the size for the commodity direct picture for indicating cylinder,
To generate the blank template of the size.
In the present embodiment, template size determines that formula can be for shown in following formula (1):
Wherein, r is to indicate that the length of the commodity direct picture of cylinder, m are the length of blank template, c is to indicate column in formula (1)
The width of the commodity direct picture in face, the width that k is blank template.
In the present embodiment, transformation rule is also pre-set, according to the adjustable commodity for indicating cylinder of the transformation rule
The coordinate of each pixel in direct picture, and each pixel after Coordinate Adjusting is mapped in blank template, Yi Jizai
To the interpolation for being not mapped into rounded coordinate progress pixel in blank template, to can obtain by each of after coordinate transform
The commodity direct picture of the expression plane of the composition of pixel.
In the present embodiment, transformation rule can be for shown in following formula (2):
Wherein, in formula (2), (i, j) be indicate cylinder commodity direct picture in each pixel coordinate, (i ',
J ') be transformation after indicate plane commodity direct picture in each pixel coordinate.
After the commodity direct picture for obtaining the expression plane, step S200 can be continued to execute.
Step S200: according to the cylinder unwrapping image of the commodity direct picture and the cylinder commodity, from the cylinder
It is determined in unfolded image and the matched area image of commodity direct picture.
Also by the preset Based on Multiscale Matching algorithm, gray scale can be extracted from the commodity direct picture for indicating plane
Value changes greatly and not because the pixel of the factors such as illumination, affine transformation and noise variation is as characteristic point, and can also be from
Extracted in cylinder unwrapping image gray-value variation it is larger and not because the factors such as illumination, affine transformation and noise become pixel make
It is characterized a little.In this manner it is possible to determine to indicate in characteristic point and the cylinder unwrapping image in the commodity direct picture of plane
Those characteristic points are identical, and obtain the set of characteristic points that the identical characteristic point of these in cylinder unwrapping image is constituted.And then it can be with
Based on set of characteristic points, determine in the cylinder unwrapping image comprising these set of characteristic points region be cylinder unwrapping image in
The matched area image of commodity direct picture of the expression plane.
Step S300: it according to the standard picture region in the area image and the cylinder unwrapping image, determines to adjust
The rotational angle of the whole cylinder commodity, wherein the standard picture region is under the cylinder commercial standards placement state
Commodity direct picture region shared in the cylinder unwrapping image.
After obtaining area image, the center line of the area image can be determined again.Based in plane coordinate system, so that it may
It determines in the distance value in the plane coordinate system between the center line of the area image and the center line in standard picture region.That
, it is worth and the preset radius of the cylinder commodity under the scale of plane coordinate system according to this distance, so that it may which determining should
The center line of area image, which is turned to, is overlapped required rotational angle with the center line in standard picture region, and the rotational angle is then
The rotational angle of product can be discussed face to face for adjustment column.
In the present embodiment, determine that the formula of rotational angle can be for shown in following formula (3):
Wherein, in formula (3), R is radius of the cylinder commodity under the scale of plane coordinate system, and l is distance value, and α is to turn
Dynamic angle.
Step S400: it according to the rotational angle, controls commodity adjustment robot and adjusts the cylinder commodity to described
Standard placement state.
After obtaining rotational angle, which is being grabbed by the mechanical arm that control commodity adjust robot, then
The columnar goods grabbed can be rotated the rotational angle table by rotational angle by the mechanical arm of control commodity adjustment robot
After the angle value shown, so that it may adjust cylinder commodity to standard placement state from practical placement state.
3rd embodiment
Referring to Fig. 4, the embodiment of the present application provides a kind of adjustment device 100 of commodity, the adjustment device 100 of the commodity
It can be applied to electronic equipment, the adjustment device 100 of the commodity includes:
Image obtains module 110, for obtaining the commodity direct picture under the practical placement state of cylinder commodity.
Area determination module 120, for the cylinder unwrapping image according to the commodity direct picture and the cylinder commodity,
It is determined from the cylinder unwrapping image and the matched area image of commodity direct picture.
Determining module 130 is adjusted, for according to the standard picture area in the area image and the cylinder unwrapping image
Determine the rotational angle for adjusting the cylinder commodity in domain, wherein the standard picture region is cylinder commercial standards pendulum
Put the region shared in the cylinder unwrapping image of the commodity direct picture under state.
Control module 140 is adjusted, for controlling commodity adjustment robot for the cylinder commodity according to the rotational angle
It adjusts to the standard placement state.
Image to be spliced obtains module 150, for obtain under the cylinder commercial standards placement state multiple are to be spliced
Image.
Image mosaic module 160, for by the image between two images to be spliced every in multiple described images to be spliced
Overlapping region is overlapped and splices multiple described images to be spliced, the cylinder unwrapping image after being spliced.
Optionally, the adjustment determining module 130, is also used to according in the area image and the cylinder unwrapping image
Standard picture region, the center line in the center line for determining the area image and the standard picture region is in the cylinder
Distance value in unfolded image；According to the radius of the distance value and the cylinder commodity, determine to adjust the cylinder commodity
Rotational angle.
Optionally, described image obtains module 110, and being also used to obtain indicates cylinder under the practical placement state of cylinder commodity
Commodity direct picture；By the corresponding commodity direct picture for expanding into expression plane of the commodity direct picture for indicating cylinder.
Optionally, described image obtains module 110, is also used to adjust the expression cylinder according to preset transformation rule
Commodity direct picture in each pixel coordinate, obtain by the expression plane of each pixel after Coordinate Adjusting constituted
Commodity direct picture；
The transformation rule are as follows:
Wherein, (i, j) is the coordinate of each pixel in the commodity direct picture for indicating cylinder, and (i, j) is to adjust
The coordinate of each pixel in the whole rear commodity direct picture for indicating plane.
It should be noted that due to it is apparent to those skilled in the art that, for the convenience and letter of description
Clean, system, the specific work process of device and unit of foregoing description can be with reference to corresponding in preceding method embodiment
Journey, details are not described herein.
It should be understood by those skilled in the art that, the embodiment of the present application can provide as the production of method, system or computer program
Product.Therefore, in terms of the embodiment of the present application can be used complete hardware embodiment, complete software embodiment or combine software and hardware
Embodiment form.Moreover, it wherein includes computer available programs generation that the embodiment of the present application, which can be used in one or more,
The meter implemented in the computer-usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) of code
The form of calculation machine program product.
In conclusion the embodiment of the present application provides the method for adjustment and device of a kind of commodity, method includes: acquisition cylinder
Commodity direct picture under the practical placement state of commodity；According to the cylinder unwrapping image of commodity direct picture and cylinder commodity, from
It is determined in cylinder unwrapping image and the matched area image of commodity direct picture；According in area image and cylinder unwrapping image
Standard picture region, determine that adjustment column discusses the rotational angle of product face to face, wherein standard picture region be cylinder commercial standards pendulum
Put the region shared in cylinder unwrapping image of the commodity direct picture under state；According to rotational angle, controls commodity and adjust machine
Device people adjusts cylinder commodity to standard placement state.
By by under the practical placement state of cylinder commodity commodity direct picture and preset cylinder unwrapping images match, from
And it is determined from cylinder unwrapping image and the matched area image of commodity direct picture.In this way, utilizing area image and standard
Image-region is assured that out adjust the cylinder commodity needed for rotational angle, thus realize judge automatically cylinder commodity pendulum
Put whether standard.Further according to the rotational angle, cylinder commodity are adjusted to standard placement state by control robot, thus just
Optimal standard placement state can be adjusted to automatically by realizing each cylinder commodity, and then is solved salesman and adjusted quotient
Product, but each commodity still uniformly will not be located at best placement state technical problem.
The above is only preferred embodiment of the present application, are not intended to limit this application, for those skilled in the art
For member, various changes and changes are possible in this application.Within the spirit and principles of this application, it is made it is any modification,
Equivalent replacement, improvement etc., should be included within the scope of protection of this application.It should also be noted that similar label and letter are under
Similar terms are indicated in the attached drawing in face, therefore, once being defined in a certain Xiang Yi attached drawing, are not then needed in subsequent attached drawing
It is further defined and explained.
More than, the only specific embodiment of the application, but the protection scope of the application is not limited thereto, and it is any to be familiar with
Those skilled in the art within the technical scope of the present application, can easily think of the change or the replacement, and should all cover
Within the protection scope of the application.Therefore, the protection scope of the application should be subject to the protection scope in claims.
Claims (10)
1. a kind of method of adjustment of commodity, which is characterized in that the described method includes:
Obtain the commodity direct picture under the practical placement state of cylinder commodity；
According to the cylinder unwrapping image of the commodity direct picture and the cylinder commodity, determined from the cylinder unwrapping image
Out with the matched area image of commodity direct picture；
According to the standard picture region in the area image and the cylinder unwrapping image, determine to adjust the cylinder commodity
Rotational angle, wherein the standard picture region be the cylinder commercial standards placement state under commodity direct picture exist
Shared region in the cylinder unwrapping image；
According to the rotational angle, controls commodity adjustment robot and adjust the cylinder commodity to the standard placement state.
2. the method for adjustment of commodity according to claim 1, which is characterized in that described according to the area image and described
Determine the rotational angle for adjusting the cylinder commodity in standard picture region in cylinder unwrapping image, comprising:
According to the standard picture region in the area image and the cylinder unwrapping image, determine in the area image
The distance value of heart line and the center line in the standard picture region in the cylinder unwrapping image；
According to the radius of the distance value and the cylinder commodity, the rotational angle for adjusting the cylinder commodity is determined.
3. the method for adjustment of commodity according to claim 1, which is characterized in that the acquisition cylinder commodity are practical to put shape
Commodity direct picture under state, comprising:
Obtain the commodity direct picture that cylinder is indicated under the practical placement state of cylinder commodity；
By the corresponding commodity direct picture for expanding into expression plane of the commodity direct picture for indicating cylinder.
4. the method for adjustment of commodity according to claim 3, which is characterized in that the commodity by the expression cylinder are just
Face image is corresponding to expand into the commodity direct picture for indicating plane, comprising:
According to preset transformation rule, the coordinate of each pixel in the commodity direct picture for indicating cylinder is adjusted, is obtained
By the commodity direct picture for the expression plane of each pixel after Coordinate Adjusting constituted；
The transformation rule are as follows:
Wherein, (i, j) is the coordinate of each pixel in the commodity direct picture for indicating cylinder, after (i ', j ') is adjustment
The coordinate of each pixel in the commodity direct picture for indicating plane.
5. the method for adjustment of commodity described in -4 any claims according to claim 1, which is characterized in that in the acquisition cylinder quotient
Before commodity direct picture under the practical placement state of product, the method also includes:
Obtain multiple images to be spliced under the cylinder commercial standards placement state；
Image overlapping region overlapping between two images to be spliced every in multiple described images to be spliced is spliced described more
Open image to be spliced, the cylinder unwrapping image after being spliced.
6. a kind of adjustment device of commodity, which is characterized in that described device includes:
Image obtains module, for obtaining the commodity direct picture under the practical placement state of cylinder commodity；
Area determination module, for the cylinder unwrapping image according to the commodity direct picture and the cylinder commodity, from described
It is determined in cylinder unwrapping image and the matched area image of commodity direct picture；
Determining module is adjusted, for determining according to the standard picture region in the area image and the cylinder unwrapping image
The rotational angle of the cylinder commodity is adjusted out, wherein the standard picture region is the cylinder commercial standards placement state
Under commodity direct picture region shared in the cylinder unwrapping image；
Adjust control module, for according to the rotational angle, control commodity adjustment robot by the cylinder commodity adjust to
The standard placement state.
7. the adjustment device of commodity according to claim 6, which is characterized in that
The adjustment determining module is also used to according to the standard picture area in the area image and the cylinder unwrapping image
The center line in domain, the center line for determining the area image and the standard picture region is in the cylinder unwrapping image
Distance value；According to the radius of the distance value and the cylinder commodity, the rotational angle for adjusting the cylinder commodity is determined.
8. the adjustment device of commodity according to claim 6, which is characterized in that
Described image obtains module, and being also used to obtain under the practical placement state of cylinder commodity indicates the commodity direct picture of cylinder；
By the corresponding commodity direct picture for expanding into expression plane of the commodity direct picture for indicating cylinder.
9. the adjustment device of commodity according to claim 8, which is characterized in that
Described image obtains module, is also used to adjust the commodity direct picture for indicating cylinder according to preset transformation rule
In each pixel coordinate, obtain by the commodity front elevation for the expression plane of each pixel after Coordinate Adjusting constituted
Picture；
The transformation rule are as follows:
Wherein, (i, j) is the coordinate of each pixel in the commodity direct picture for indicating cylinder, after (i ', j ') is adjustment
The coordinate of each pixel in the commodity direct picture for indicating plane.
10. according to the adjustment device of commodity described in any claim of claim 6-9, which is characterized in that described device further include:
Image to be spliced obtains module, for obtaining multiple images to be spliced under the cylinder commercial standards placement state；
Image mosaic module, for by the image overlapping region between two images to be spliced every in multiple described images to be spliced
It is overlapped and splices multiple described images to be spliced, the cylinder unwrapping image after being spliced.
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| CN201811138122.1A CN109377268A (en) | 2018-09-27 | 2018-09-27 | The method of adjustment and device of commodity |
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| CN201811138122.1A CN109377268A (en) | 2018-09-27 | 2018-09-27 | The method of adjustment and device of commodity |
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