CN109781114A - Market indoor navigation map method for building up, system, equipment and storage medium - Google Patents
Market indoor navigation map method for building up, system, equipment and storage medium Download PDFInfo
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- CN109781114A CN109781114A CN201910116272.0A CN201910116272A CN109781114A CN 109781114 A CN109781114 A CN 109781114A CN 201910116272 A CN201910116272 A CN 201910116272A CN 109781114 A CN109781114 A CN 109781114A
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Abstract
The present invention provides a kind of market indoor navigation map method for building up, system, equipment and storage mediums, for carrying out the building of market indoor map by image automatic collection vehicle, include the following steps: the indoor global map for carrying out automatically moving first construction company in market by image automatic collection vehicle, and determines each shelf location in market in global map indoors；The mobile shelf image acquisition for carrying out each shelf of image automatic collection vehicle is controlled by indoor global map, and multiple shelf images are spliced to generate shelf model in corresponding shelf location；Each commodity region recognition on shelf model is gone out, and then realizes the mark to each commodity region corresponding goods information.The present invention can be realized the foundation of indoor global map, to realize the position that can determine commodity global map indoors when inputting a product name in global map indoors, realize the quick searching of the product locations.
Description
Technical field
The present invention relates to indoor navigations, and in particular, to a kind of market indoor navigation map method for building up, system, equipment
And storage medium.
Background technique
With the fast development of commercial economy, the raising of living standards of the people, City Brands image is established, raw in the people
Accumulation regions living can all have department stores, such as Wal-Mart, Carrefour.
Commodity are marked commonly using price tag in department stores.Bar code and text are labeled in price tag
Word information.It include commodity price and sales promotion information etc. in text information.Bar code is the multiple secret notes and blank for not waiting width,
It is arranged according to certain coding rule, to express the graphical identifier of a group information.Common bar code is by reflectivity phase
The pattern of parallel lines that difference very big secret note and informal voucher are lined up.Bar code can mark the producing country, manufacturing firm, trade name of article
Many information such as title, date of manufacture, book classification number, mail start-stop place, classification, date, thus in commodity circulation, books pipe
Many fields such as reason, postal management, banking system are widely used.
Department stores generally all carry out the displaying of many kinds of commodity and sell.When consumer, which expects, to be looked for, often need
Will constantly be walked about the searching maked an inspection tour and carry out end article, time-consuming and laborious, even more difficult especially when finding small commercial articles.Cause
If this can navigate to the end article in market and need to look for, it will bring great convenience.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of market indoor navigation map method for building up,
System, equipment and storage medium.
The market indoor navigation map method for building up provided according to the present invention, for carrying out quotient by image automatic collection vehicle
The building of field indoor map, includes the following steps:
Step S1: it is automatically moved in the market by image automatic collection vehicle and just builds the indoor complete of the market
Local figure, and each shelf location in the market is determined in global map indoors；
Step S2: the mobile goods for carrying out each shelf of described image automatic collection vehicle is controlled by the indoor global map
Frame Image Acquisition, and by multiple described shelf image splicings to generate shelf model in the corresponding shelf location；
Step S3: each commodity region recognition on the shelf model is gone out, and then is realized to each commodity region pair
Answer the mark of merchandise news.
Preferably, described image automatic collection vehicle includes positioning immediately and map structuring device, car body, bracket and phase
Machine；The bracket is arranged on the car body and extends along the vertical direction；The car body drives the bracket mobile；
The camera removably connects the bracket by installation part；Multiple cameras along the bracket height according to
Secondary arrangement；
The instant positioning is arranged on the car body with map structuring device, for controlling described image automatic collection vehicle
It is run to establish the indoor global map.
Preferably, further include following steps:
Step S4: unit inspection is carried out to the price tag on each shelf image by preset price tag detection model
It surveys, identifies multiple price label areas in described image；
Step S5: reading the bar code of each price label area and identifies the number of each price label area
Word generates pricing information；
Step S6: preset merchandising database is inquired according to the bar code sequence and determines corresponding setting price, is judged
Whether the pricing information and setting price are consistent, and alarm signal is issued when inconsistent.
Preferably, the step S2 includes the following steps:
Step S201: control described image automatic collection vehicle is moved in the front side of each shelf by the operation rule of setting
Dynamic, the operation rule is set as keeping preheating setting time static after described image automatic collection vehicle runs presetting distance；
Step S202: the shelf image of each shelf is acquired by the photographic device of described image automatic collection vehicle, and is protected
Card has overlapping region in time sequencing between continuous two shelf images；
Step S203: the shelf image is successively subjected to splicing according to the time sequencing of acquisition and generates the shelf mould
Type.
Preferably, the step S3 includes the following steps:
Step S301: it to unit detection is carried out on each shelf image on the shelf model, identifies described
Multiple commodity image regions on shelf model；
Step S302: price tag detection is carried out to each shelf image, identifies multiple prices in described image
Label area；
Step S303: it identifies that the text of each price label area generates the merchandise news, and then determines every
The corresponding commodity image region of the merchandise news of one price label area；
Step S304: by each commodity region rear deposit commodity information database corresponding with the merchandise news.
Preferably, the step S3 includes the following steps:
Step S3031: on each shelf image, multiple commodity regions successively one commodity of transversely arranged formation
Region ranks, multiple price label areas successively one price tag region ranks of transversely arranged formation, the commodity region
The upside or/and downside of column at least arrange a price tag region ranks；
Step S3032: the central point of each price label area and the center in the adjacent commodity region are calculated
The distance of point determines the smallest commodity region of central point apart from each price label area；
Step S3033: by the price label area and the smallest commodity area of central point apart from the price label area
Domain is corresponding.
Preferably, the application method of the commodity image automatic collection vehicle includes the following steps:
Step M1: installing corresponding number of camera according to the shelf number of plies in the market, and by each camera
Height is adjusted to consistent with the height of respective layer in the shelf；
Step M2: it presses control described image automatic collection vehicle front side of each shelf in the indoor global map
The operation rule of setting is mobile；
Step M3: when the commodity image automatic collection vehicle is moved on front side of a shelf, multiple cameras are towards institute
The commodity in the multilayer of shelf are stated, Image Acquisition is carried out and generates several shelf images.
The market indoor navigation map provided according to the present invention establishes system, which is characterized in that for realizing claim 1
To indoor navigation map method for building up in market described in any one of 7 characterized by comprising
Indoor global map establishes module, is moved automatically in the market for controlling described image automatic collection vehicle
It is dynamic just to build the indoor global map in the market, and each shelf location in the market is determined in global map indoors；
Shelf model building module, for by the indoor global map control described image automatic collection vehicle move into
The shelf image acquisition of each shelf of row, and by multiple described shelf image splicings to generate goods in the corresponding shelf location
Frame model；
Commodity identification module for going out each commodity region recognition on the shelf model, and then is realized to each
The mark of commodity region corresponding goods information.
The market indoor navigation map provided according to the present invention establishes equipment, comprising:
Processor；
Memory, wherein being stored with the executable instruction of the processor；
Wherein, the processor is configured to execute the market indoor navigation map via the executable instruction is executed
The step of method for building up.
The computer readable storage medium provided according to the present invention, for storing program, described program is performed realization
The step of market indoor navigation map method for building up.
Compared with prior art, the present invention have it is following the utility model has the advantages that
By real equipped with positioning immediately and the image automatic collection vehicle progress automatic cruising of map structuring device in the present invention
The first of indoor global map at scene is built, and then is passed through indoor global map control described image automatic collection vehicle movement and carried out often
The shelf image of one shelf acquires, and generates shelf model in the indoor global map and marks out each quotient in shelf model
Product realize that the foundation of indoor global map is completed, thus when realization inputs a product name in the indoor global map i.e.
It can determine that the described commodity in the position of the indoor global map, realize the quick searching of the product locations.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the step flow chart of market indoor navigation map method for building up in the present invention；
Fig. 2 is the structural schematic diagram of commodity image automatic collection vehicle in the present invention；
Fig. 3 is the step flow chart for carrying out price verification in variation of the present invention by commodity image automatic collection vehicle；
Fig. 4 is the step flow chart that acquisition shelf image generates the shelf model in the present invention；
Fig. 5 is the step flow chart being updated in the present invention to commodity information database；
Fig. 6 is in the present invention by the corresponding flow chart of steps of price label area commodity Region Matching；
Fig. 7 is the step flow chart of the application method of commodity image automatic collection vehicle in the present invention；
Fig. 8 is the step flow chart that market indoor navigation map establishes system in the present invention；
Fig. 9 is the structural schematic diagram that market indoor navigation map establishes equipment in the present invention；And
Figure 10 is the structural schematic diagram of computer readable storage medium in the present invention.
In figure:
1 is car body；
2 be bracket；
3 be camera.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
With the development of mobile internet, when user wants trip, all it can belong to destination on the map of mobile terminal,
Carry out the lookup and navigation of route.But present map can be only applied to outdoor, can not carry out indoor navigation, such as market
Navigation, and also can not possess the map of indoor navigation.Indoor navigation map method for building up in market provided by the invention, energy
The enough foundation for carrying out indoor global map, and then realize the navigation in market, convenient for the searching of commodity in market.
Fig. 1 is the step flow chart of market indoor navigation map method for building up in the present invention, as shown in Figure 1, the present invention mentions
The market indoor navigation map method for building up of confession, for carrying out the building of market indoor map by image automatic collection vehicle,
It is characterized in that, includes the following steps:
Step S1: it is automatically moved in the market by image automatic collection vehicle and just builds the indoor complete of the market
Local figure, and each shelf location in the market is determined in global map indoors；
Step S2: the mobile goods for carrying out each shelf of described image automatic collection vehicle is controlled by the indoor global map
Frame Image Acquisition, and by multiple described shelf image splicings to generate shelf model in the corresponding shelf location；
Step S3: each commodity region recognition on the shelf model is gone out, and then is realized to each commodity region pair
Answer the mark of merchandise news.
In the present embodiment, in the present invention by equipped with positioning immediately and the image automatic collection vehicle of map structuring device into
Row automatic cruising realizes that the first of indoor global map of field is built, and then controls described image automatic collection by indoor global map
The mobile shelf image for carrying out each shelf of vehicle acquires, and generates shelf model in the indoor global map and in shelf model
Each commodity are marked out, realize that the foundation of indoor global map is completed, input one in the indoor global map to realize
It can determine that the described commodity in the position of the indoor global map, realize the quick of the product locations when product name
It finds.
Fig. 2 is the structural schematic diagram of commodity image automatic collection vehicle in the present invention, as shown in Fig. 2, described image is adopted automatically
Collecting vehicle includes positioning immediately and map structuring device, car body, bracket and camera；The bracket is arranged on the car body and edge
Vertical direction extends；The car body drives the bracket mobile；
The camera removably connects the bracket by installation part；Multiple cameras along the bracket height according to
Secondary arrangement；
The instant positioning is arranged on the car body with map structuring device, for controlling described image automatic collection vehicle
It is run to establish the indoor global map.
In the present embodiment, the instant positioning uses SLAM device with map structuring device, is specially based on commodity figure
As the actual demand of automatic collection vehicle independent navigation, using single RGB-D video camera, solves the positioning in SLAM and build figure
Problem successfully constructs 2D navigation map.
In the present embodiment, the installation part can be matched using fixed plate and bolt and is combined into.
Fig. 3 is the step flow chart for carrying out price verification in variation of the present invention by commodity image automatic collection vehicle, such as
Shown in Fig. 3, indoor navigation map method for building up in market provided by the invention, further includes following steps:
Step S4: unit inspection is carried out to the price tag on each shelf image by preset price tag detection model
It surveys, identifies multiple price label areas in described image；
Step S5: reading the bar code of each price label area and identifies the number of each price label area
Word generates pricing information；
Step S6: preset merchandising database is inquired according to the bar code sequence and determines corresponding setting price, is judged
Whether the pricing information and setting price are consistent, and alarm signal is issued when inconsistent.
In the present embodiment, the present invention can be used for commodity sales promotion price verify because when need to part commodity into
When row promotion, sales promotion information first generally is increased to the commodity for needing to promote in merchandising database, then the sales promotion information is printed
Sales promotion information card, by being manually pasted onto price tag, thus often occur sales promotion information card paste mistake problem,
Great inconvenience is brought to the promotion in market, there is largely overstocked situation in the commodity for causing sales promotion information card to paste mistake,
Therefore the present invention can inquire preset merchandising database by bar code sequence and determine corresponding setting price, and by the price
Compared in the pricing information that price label area is identified by OCR technique, the pricing information and setting are judged
Whether price is consistent, and alarm signal is issued when inconsistent, to embody the replacement that staff carries out price tag.
In the present embodiment, when being digitally generated pricing information of each price label area is being identified, due to valence
The font size of lattice information is generally bigger, the number in the regions such as bar code can be excluded, i.e. the occupancy according to number on the image
Area filters out the pricing information of price label area.
Fig. 4 is the step flow chart that acquisition shelf image generates the shelf model in the present invention, and the step S2 includes
Following steps:
Step S201: control described image automatic collection vehicle is moved in the front side of each shelf by the operation rule of setting
Dynamic, the operation rule is set as keeping preheating setting time static after described image automatic collection vehicle runs presetting distance；
Step S202: the shelf image of each shelf is acquired by the photographic device of described image automatic collection vehicle, and is protected
Card has overlapping region in time sequencing between continuous two shelf images；
Step S203: the shelf image is successively subjected to splicing according to the time sequencing of acquisition and generates the shelf mould
Type.
In the present embodiment, two shelf images continuous in time sequencing are carried out using the method for Feature Points Matching
Splicing；
The operation rule can be set as keeping after described image automatic collection vehicle runs 50 centimetres 3 seconds to 5 seconds
It is static, to guarantee that photographic device having time carries out the acquisition of image.
Fig. 5 is the step flow chart being updated in the present invention to commodity information database, as shown in figure 5, the step
S3 includes the following steps:
Step S301: it to unit detection is carried out on each shelf image on the shelf model, identifies described
Multiple commodity image regions on shelf model；
Step S302: price tag detection is carried out to each shelf image, identifies multiple prices in described image
Label area；
Step S303: it identifies that the text of each price label area generates the merchandise news, and then determines every
The corresponding commodity image region of the merchandise news of one price label area；
Step S304: by each commodity region rear deposit commodity information database corresponding with the merchandise news.
In the present embodiment, there are multiple commodity being arranged successively on shelf on each shelf image and be attached to
On the downside of the commodity and it is attached to the bar coded sticker on shelf.At least there is a bar code and price, production on the bar coded sticker
The text informations such as the name of an article claims, product type.The price label area is the region of the bar coded sticker on the image,
The commodity region is the region of commodity on the image.
Fig. 6 is in the present invention by the corresponding flow chart of steps of price label area commodity Region Matching, as shown in fig. 6, institute
Step S3 is stated to include the following steps:
Step S3031: on each shelf image, multiple commodity regions successively one commodity of transversely arranged formation
Region ranks, multiple price label areas successively one price tag region ranks of transversely arranged formation, the commodity region
The upside or/and downside of column at least arrange a price tag region ranks；
Step S3032: the central point of each price label area and the center in the adjacent commodity region are calculated
The distance of point determines the smallest commodity region of central point apart from each price label area；
Step S3033: by the price label area and the smallest commodity area of central point apart from the price label area
Domain is corresponding.
In the present embodiment, price general charged label area and corresponding commodity region are mutually close, therefore can pass through calculating
The price label area is at a distance from several commodity regions, the commodity region nearest apart from the price label area, generally
The corresponding commodity region in the price label area, the i.e. price tag are corresponding with commodity.It can additionally identify commodity region
On text information, such as product name, compared with the text information in price tag pair, further confirm that price list collar region with
The corresponding relationship in commodity region.In the present embodiment, the text of price label area and commodity region is identified by ORC recognizer
Word information.In the present embodiment, the bar code of each price label area is identified, it specifically can be using image recognition
Technology is identified, can also pass through the bar code by the training object of a variety of bar codes training bar code recognition module
Identification module identifies the bar code.
Fig. 7 is the step flow chart of the application method of commodity image automatic collection vehicle in the present invention, as shown in fig. 7, described
The application method of commodity image automatic collection vehicle includes the following steps:
Step M1: installing corresponding number of camera according to the shelf number of plies in the market, and by each camera
Height is adjusted to consistent with the height of respective layer in the shelf；
Step M2: it presses control described image automatic collection vehicle front side of each shelf in the indoor global map
The operation rule of setting is mobile；
Step M3: when the commodity image automatic collection vehicle is moved on front side of a shelf, multiple cameras are towards institute
The commodity in the multilayer of shelf are stated, Image Acquisition is carried out and generates several shelf images.
I.e. when using the commodity image automatic collection vehicle in the present invention, commodity image automatic collection vehicle is pressed in a store
It walks one time according to indoor global map along the front side of each shelf, the acquisition to the commodity image on all shelf can be realized.
Fig. 8 is the step flow chart that market indoor navigation map establishes system in the present invention, as shown in figure 8, the present invention mentions
The market indoor navigation map of confession establishes system, for realizing the market indoor navigation map method for building up, comprising:
Indoor global map establishes module, is moved automatically in the market for controlling described image automatic collection vehicle
It is dynamic just to build the indoor global map in the market, and each shelf location in the market is determined in global map indoors；
Shelf model building module, for by the indoor global map control described image automatic collection vehicle move into
The shelf image acquisition of each shelf of row, and by multiple described shelf image splicings to generate goods in the corresponding shelf location
Frame model；
Commodity identification module for going out each commodity region recognition on the shelf model, and then is realized to each
The mark of commodity region corresponding goods information.
A kind of market indoor navigation map is also provided in the embodiment of the present invention and establishes equipment, including processor.Memory,
In be stored with the executable instruction of processor.Wherein, processor is configured to execute in the room of market via executable instruction is executed
The step of navigation map is established.
As above, it is carried out in the embodiment by the image automatic collection vehicle equipped with positioning immediately and map structuring device automatic
Cruise realizes that the first of indoor global map of field is built, and then mobile by indoor global map control described image automatic collection vehicle
The shelf image acquisition for carrying out each shelf generates shelf model in the indoor global map and marks out in shelf model
Each commodity realize that the foundation of indoor global map is completed, and input a trade name in the indoor global map to realize
It can determine that the described commodity in the position of the indoor global map, realize the quick searching of the product locations when title.
Person of ordinary skill in the field it is understood that various aspects of the invention can be implemented as system, method or
Program product.Therefore, various aspects of the invention can be embodied in the following forms, it may be assumed that complete hardware embodiment, complete
The embodiment combined in terms of full Software Implementation (including firmware, microcode etc.) or hardware and software, can unite here
Referred to as " circuit ", " module " or " platform ".
Fig. 9 is the structural schematic diagram for establishing equipment in the present invention without market indoor navigation map.It is described referring to Fig. 9
The electronic equipment 600 of this embodiment according to the present invention.The electronic equipment 600 that Fig. 9 is shown is only an example, is not answered
Any restrictions are brought to the function and use scope of the embodiment of the present invention.
As shown in figure 9, electronic equipment 600 is showed in the form of universal computing device.The component of electronic equipment 600 can wrap
Include but be not limited to: at least one processing unit 610, at least one storage unit 620, connection different platform component (including storage
Unit 620 and processing unit 610) bus 630, display unit 640 etc..
Wherein, storage unit is stored with program code, and program code can be executed with unit 610 processed, so that processing is single
Member 610 executes various exemplary implementations according to the present invention described in this specification above-mentioned electronic prescription circulation processing method part
The step of mode.For example, processing unit 610 can execute step as shown in fig. 1.
Storage unit 620 may include the readable medium of volatile memory cell form, such as Random Access Storage Unit
(RAM) 6201 and/or cache memory unit 6202, it can further include read-only memory unit (ROM) 6203.
Storage unit 620 can also include program/utility with one group of (at least one) program module 6205
6204, such program module 6205 includes but is not limited to: operating system, one or more application program, other program moulds
It may include the realization of network environment in block and program data, each of these examples or certain combination.
Bus 630 can be to indicate one of a few class bus structures or a variety of, including storage unit bus or storage
Cell controller, peripheral bus, graphics acceleration port, processing unit use any bus structures in a variety of bus structures
Local bus.
Electronic equipment 600 can also be with one or more external equipments 700 (such as keyboard, sensing equipment, bluetooth equipment
Deng) communication, can also be enabled a user to one or more equipment interact with the electronic equipment 600 communicate, and/or with make
Any equipment (such as the router, modulation /demodulation that the electronic equipment 600 can be communicated with one or more of the other calculating equipment
Device etc.) communication.This communication can be carried out by input/output (I/O) interface 650.Also, electronic equipment 600 can be with
By network adapter 660 and one or more network (such as local area network (LAN), wide area network (WAN) and/or public network,
Such as internet) communication.Network adapter 660 can be communicated by bus 630 with other modules of electronic equipment 600.It should
Understand, although being not shown in Fig. 9, other hardware and/or software module can be used in conjunction with electronic equipment 600, including unlimited
In: microcode, device driver, redundant processing unit, external disk drive array, RAID system, tape drive and number
According to backup storage platform etc..
A kind of computer readable storage medium is also provided in the embodiment of the present invention, for storing program, program is performed
The step of image split-joint method of realization.In some possible embodiments, various aspects of the invention are also implemented as
A kind of form of program product comprising program code, when program product is run on the terminal device, program code is for making
Terminal device executes various exemplary according to the present invention described in this specification above-mentioned electronic prescription circulation processing method part
The step of embodiment.
As it appears from the above, the program of the computer readable storage medium of the embodiment is when being executed, by equipped with positioning immediately
Automatic cruising is carried out with the image automatic collection vehicle of map structuring device and realizes that the first of indoor global map of field is built, and then is passed through
The mobile shelf image acquisition for carrying out each shelf of indoor global map control described image automatic collection vehicle, described indoor complete
Shelf model is generated in local figure and marks out each commodity in shelf model, realizes that the foundation of indoor global map is completed, from
And realizing can determine the described commodity described indoor full when inputting a product name in the indoor global map
The quick searching of the product locations is realized in the position of local figure.
Figure 10 is the structural schematic diagram of computer readable storage medium of the invention.Refering to what is shown in Fig. 10, describing basis
The program product 800 for realizing the above method of embodiments of the present invention can be deposited using portable compact disc is read-only
Reservoir (CD-ROM) and including program code, and can be run on terminal device, such as PC.However, of the invention
Program product is without being limited thereto, and in this document, readable storage medium storing program for executing can be any tangible medium for including or store program, should
Program can be commanded execution system, device or device use or in connection.
Program product can be using any combination of one or more readable mediums.Readable medium can be readable signal Jie
Matter or readable storage medium storing program for executing.Readable storage medium storing program for executing for example can be but be not limited to electricity, magnetic, optical, electromagnetic, infrared ray or partly lead
System, device or the device of body, or any above combination.More specific example (the non exhaustive column of readable storage medium storing program for executing
Table) it include: the electrical connection with one or more conducting wires, portable disc, hard disk, random access memory (RAM), read-only storage
Device (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read only memory (CD-
ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.
Computer readable storage medium may include in a base band or as carrier wave a part propagate data-signal,
In carry readable program code.The data-signal of this propagation can take various forms, including but not limited to electromagnetic signal,
Optical signal or above-mentioned any appropriate combination.Readable storage medium storing program for executing can also be any readable Jie other than readable storage medium storing program for executing
Matter, the readable medium can send, propagate or transmit for by instruction execution system, device or device use or and its
The program of combined use.The program code for including on readable storage medium storing program for executing can transmit with any suitable medium, including but not
It is limited to wireless, wired, optical cable, RF etc. or above-mentioned any appropriate combination.
The program for executing operation of the present invention can be write with any combination of one or more programming languages
Code, programming language include object oriented program language-Java, C++ etc., further include conventional process
Formula programming language-such as " C " language or similar programming language.Program code can be calculated fully in user
It executes in equipment, partly execute on a user device, executing, as an independent software package partially in user calculating equipment
Upper part executes on a remote computing or executes in remote computing device or server completely.It is being related to remotely counting
In the situation for calculating equipment, remote computing device can pass through the network of any kind, including local area network (LAN) or wide area network
(WAN), it is connected to user calculating equipment, or, it may be connected to external computing device (such as utilize ISP
To be connected by internet).
In the present embodiment, in the present invention by equipped with positioning immediately and the image automatic collection vehicle of map structuring device into
Row automatic cruising realizes that the first of indoor global map of field is built, and then controls described image automatic collection by indoor global map
The mobile shelf image for carrying out each shelf of vehicle acquires, and generates shelf model in the indoor global map and in shelf model
Each commodity are marked out, realize that the foundation of indoor global map is completed, input one in the indoor global map to realize
It can determine that the described commodity in the position of the indoor global map, realize the quick of the product locations when product name
It finds.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.
Claims (10)
1. a kind of market indoor navigation map method for building up, for carrying out the structure of market indoor map by image automatic collection vehicle
It builds, which comprises the steps of:
Step S1: automatically moved in the market by image automatic collection vehicle just build the market it is indoor globally
Figure, and each shelf location in the market is determined in global map indoors；
Step S2: the mobile planogram for carrying out each shelf of described image automatic collection vehicle is controlled by the indoor global map
As acquisition, and by multiple described shelf image splicings to generate shelf model in the corresponding shelf location；
Step S3: each commodity region recognition on the shelf model is gone out, and then is realized and corresponded to quotient to each commodity region
The mark of product information.
2. indoor navigation map method for building up in market according to claim 1, which is characterized in that described image automatic collection
Vehicle includes positioning immediately and map structuring device, car body, bracket and camera；The bracket is arranged on the car body and along perpendicular
Histogram is to extension；The car body drives the bracket mobile；
The camera removably connects the bracket by installation part；Multiple cameras are successively arranged along the height of the bracket
Column；
The instant positioning is arranged on the car body with map structuring device, carries out for controlling described image automatic collection vehicle
Operation is to establish the indoor global map.
3. indoor navigation map method for building up in market according to claim 1, which is characterized in that further include following steps:
Step S4: carrying out unit detection to the price tag on each shelf image by preset price tag detection model,
Identify multiple price label areas in described image；
Step S5: reading the bar code of each price label area and identifies that the number of each price label area is raw
At pricing information；
Step S6: inquiring preset merchandising database according to the bar code sequence and determine corresponding setting price, described in judgement
Whether pricing information and setting price are consistent, and alarm signal is issued when inconsistent.
4. indoor navigation map method for building up in market according to claim 1, which is characterized in that the step S2 includes such as
Lower step:
Step S201: control described image automatic collection vehicle is mobile by the operation rule of setting in the front side of each shelf,
The operation rule is set as keeping preheating setting time static after described image automatic collection vehicle runs presetting distance；
Step S202: the shelf image of each shelf is acquired by the photographic device of described image automatic collection vehicle, and is guaranteed
There is between continuous two shelf images overlapping region in time sequencing；
Step S203: the shelf image is successively subjected to splicing according to the time sequencing of acquisition and generates the shelf model.
5. indoor navigation map method for building up in market according to claim 1, which is characterized in that the step S3 includes such as
Lower step:
Step S301: to unit detection is carried out on each shelf image on the shelf model, the shelf are identified
Multiple commodity image regions on model；
Step S302: price tag detection is carried out to each shelf image, identifies multiple price tags in described image
Region；
Step S303: it identifies that the text of each price label area generates the merchandise news, and then determines every monovalence
The corresponding commodity image region of the merchandise news of lattice label area；
Step S304: by each commodity region rear deposit commodity information database corresponding with the merchandise news.
6. indoor navigation map method for building up in market according to claim 5, which is characterized in that the step S3 includes such as
Lower step:
Step S3031: on each shelf image, multiple commodity regions successively one commodity region of transversely arranged formation
Ranks, multiple price label areas successively one price tag region ranks of transversely arranged formation, the commodity region column
Upside or/and downside at least arrange a price tag region ranks；
Step S3032: the central point and the central point in the adjacent commodity region of each price label area are calculated
Distance determines the smallest commodity region of central point apart from each price label area；
Step S3033: by the price label area and the smallest commodity region phase of central point apart from the price label area
It is corresponding.
7. indoor navigation map method for building up in market according to claim 4, which is characterized in that the commodity image is automatic
The application method of collecting vehicle includes the following steps:
Step M1: installing corresponding number of camera according to the shelf number of plies in the market, and by the height of each camera
It is adjusted to consistent with the height of respective layer in the shelf；
Step M2: the front side of control described image automatic collection vehicle each shelf in the indoor global map is by setting
The operation rule it is mobile；
Step M3: when the commodity image automatic collection vehicle is moved on front side of a shelf, multiple cameras are towards the goods
Commodity in the multilayer of frame carry out Image Acquisition and generate several shelf images.
8. a kind of market indoor navigation map establishes system, for realizing in market room described in any one of claims 1 to 7
Navigation map method for building up characterized by comprising
Indoor global map establishes module, for controlling at the beginning of described image automatic collection vehicle automatically moved in the market
The indoor global map in the market is built, and determines each shelf location in the market in global map indoors；
Shelf model building module, it is every for controlling the mobile progress of described image automatic collection vehicle by the indoor global map
The shelf image of one shelf acquires, and by multiple described shelf image splicings to generate shelf mould in the corresponding shelf location
Type；
Commodity identification module for going out each commodity region recognition on the shelf model, and then is realized to each commodity
The mark of region corresponding goods information.
9. a kind of market indoor navigation map establishes equipment characterized by comprising
Processor；
Memory, wherein being stored with the executable instruction of the processor；
Wherein, the processor is configured to come any one of perform claim requirement 1 to 7 institute via the execution executable instruction
The step of stating market indoor navigation map method for building up.
10. a kind of computer readable storage medium, for storing program, which is characterized in that described program is performed realization power
Benefit require any one of 1 to 7 described in market indoor navigation map method for building up the step of.
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