CN109977710B - Method for accurately positioning bookshelf to which book belongs, electronic equipment and storage medium - Google Patents
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Abstract
The invention discloses a method for accurately positioning a bookshelf to which a book belongs, comprising the following steps: an image acquisition step: the method comprises the steps that current image information is obtained, and the current image information comprises an antenna fixing structure; a length identification step: identifying to obtain an antenna fixing structure and obtaining the image length of the antenna fixing structure; judging: and matching and calculating according to the image length to obtain a folding angle, and judging the bookshelf to which the scanned book belongs according to the relation between the folding angle and the preset angle. The invention also provides an electronic device and a computer readable storage medium. According to the method for accurately positioning the bookshelf to which the book belongs, the images of the corresponding cameras are acquired, and whether the folding angle is at the preset angle when the corresponding antenna scans the book is judged, so that the bookshelf to which the book scanned by the antenna is further judged; so as to further solve the problem of accurately positioning the bookshelf to which the book belongs.
Description
Technical Field
The present invention relates to the field of book management, and in particular, to a method for precisely positioning a bookshelf to which a book belongs, an electronic device, and a storage medium.
Background
Currently, RFID (Radio Frequency Identification), namely radio frequency identification, is a non-contact automatic identification technology, which automatically identifies a target object through radio frequency signals and can rapidly track objects and exchange data. The most basic RFID system consists of three parts: 1. and (3) tag: each tag has a unique electronic code and is attached to an object to identify a target object; 2. a reader: the device for reading (or writing) tag information can be designed as a hand-held or fixed type; 3. an antenna: radio frequency signals are communicated between the tag and the reader.
Because the RFID technology can identify objects moving at high speed and can simultaneously identify a plurality of labels, the operation is quick and convenient, the operation is extremely wide, and many libraries in China already adopt the RFID technology to enhance the service of the libraries. Library mobile inventory based on RDID technology becomes the most commonly contacted and used inventory device for librarian.
The conventional automatic book intelligent checking device based on the RFID antenna is provided with a plurality of buffer type antennas in the vertical direction, when books are scanned, the buffer parts of the antennas are buffered and folded backwards in the reverse direction of the progress of the checking device due to book resistance when the books are scanned, and books on each layer of bookshelf are not orderly arranged and fully put on the whole layer, even the whole layer can be empty, when a plurality of antennas vertically arranged on the checking device are scanned simultaneously, the antennas of the previous bookshelf scanning empty or not fully put on the book layer between two adjacent bookshelf are restored to the original position and begin to scan the books on the next adjacent bookshelf, but the antennas of the bookshelf layers of the rest books fully put on the whole layer of books are still in the condition of scanning books on the last bookshelf, namely, the condition of disordered checking of books can be caused when the antennas scan books on different bookshelf at the same time.
Disclosure of Invention
In order to overcome the defects of the prior art, one of the purposes of the invention is to provide a method for accurately positioning a bookshelf to which books belong, which can solve the technical problem of book shelf disorder caused by asynchronous scanning.
The second objective of the present invention is to provide an electronic device, which can solve the technical problem of book shelf disorder caused by asynchronous scanning.
The third objective of the present invention is to provide a computer readable storage medium, which can solve the technical problem of book shelf disorder caused by asynchronous scanning.
One of the purposes of the invention is realized by adopting the following technical scheme:
a method for accurately positioning a bookshelf to which a book belongs comprises the following steps:
an image acquisition step: the method comprises the steps that current image information is obtained, and the current image information comprises an antenna fixing structure;
a length identification step: identifying to obtain an antenna fixing structure and obtaining the image length of the antenna fixing structure;
judging: and matching and calculating according to the image length to obtain a folding angle, and judging the bookshelf to which the scanned book belongs according to the relation between the folding angle and the preset angle.
Further, the current image information is specifically a video image, and the method further comprises a preprocessing step after the image acquisition step and before the length identification step: and extracting a key frame image from the video image, and preprocessing the extracted key frame image, wherein the preprocessing comprises noise removal, graying processing and normalization processing.
Further, the graying step specifically includes: graying treatment is carried out on the image information by adopting a weighted average method to obtain a gray image, and the weighted average method has the formula:
f (i, j) =0.30r (i, j) +0.59G (i, j) +0.11B (i, j), wherein i, j represent the position of a pixel in the square matrix, i.e.: ith row, jth column.
Further, the length identifying step specifically includes the following sub-steps:
extracting the characteristics of the preprocessed key frame image to obtain a characteristic vector corresponding to the key frame image;
comparing the extracted feature vector with a pre-established antenna identification model, and framing to select an antenna fixing structure in a key frame image;
and obtaining the image length of the antenna fixed structure according to the pixel points of the frame-selected antenna fixed structure.
Further, the construction of the antenna identification model mainly comprises the following substeps:
acquiring image features of the antenna fixing structure under various angles;
learning and training all the extracted image features by using a convolutional neural network to obtain standard templates under various angles;
an antenna identification model is constructed from templates of criteria at various angles.
Further, the judging step specifically includes the following substeps:
acquiring the image length and the real length of the antenna fixing structure;
cosine calculation is carried out according to the image length and the real length to obtain the folding angle of the current antenna fixing structure;
judging whether the folding angle is larger than a preset angle, if so, positioning the scanned book on the current bookshelf, and if not, not belonging to the current bookshelf.
Further, the preset angle is any value between 10 degrees and 15 degrees.
The second purpose of the invention is realized by adopting the following technical scheme:
an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements a method for precisely positioning a bookshelf to which a book belongs according to any one of the objects of the invention when executing the computer program.
The third purpose of the invention is realized by adopting the following technical scheme:
a computer readable storage medium having stored thereon a computer program which when executed by a processor achieves a method of accurately positioning a bookshelf to which a book belongs as defined in any one of the objects of the present invention.
Compared with the prior art, the invention has the beneficial effects that:
according to the method for accurately positioning the bookshelf to which the book belongs, the images of the corresponding cameras are acquired, and whether the folding angle is at the preset angle when the corresponding antenna scans the book is judged, so that the bookshelf to which the book scanned by the antenna is further judged; so as to further solve the problem of accurately positioning the bookshelf to which the book belongs.
Drawings
FIG. 1 is a flow chart of a method for precisely positioning a bookshelf to which a book belongs according to the first embodiment;
fig. 2 is a schematic diagram of an antenna structure at a certain folding angle according to the first embodiment.
Reference numerals: 1. an antenna fixing structure; 2. a camera; 3. and (5) a base.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and detailed description, wherein it is to be understood that, on the premise of no conflict, the following embodiments or technical features may be arbitrarily combined to form new embodiments.
Example 1
According to the book checking robot, the plurality of cameras 2 arranged on the book checking robot correspondingly acquire the images of the plurality of vertically arranged antennas for scanning books, and the state of each antenna in the images is used for judging whether the books are in a folded state or not and the folding angle when the books are scanned, so that the bookshelf where the books scanned by each antenna are positioned is judged, and the problem of disordered books caused by asynchronous scanning of the plurality of antennas can be well solved.
Specifically, as shown in fig. 1, the embodiment provides a method for accurately positioning a bookshelf to which a book belongs, which includes the following steps:
s1: when a book checking robot scans books on a bookshelf, acquiring current image information of a plurality of cameras 2 of the checking robot, wherein the current image information comprises an antenna fixing structure 1; the step is mainly to obtain corresponding judgment image information, and as a reference for subsequent judgment, the image information can be directly obtained or the video information can be obtained when the image data is obtained, and then the video information is further processed, and in the embodiment, preferably, the video image is selected for extraction judgment.
After step S1, a preprocessing step is further included: and extracting a key frame image from the video image, and preprocessing the extracted key frame image, wherein the preprocessing comprises noise removal, graying processing and normalization processing. The preprocessing process improves the image processing and identifying performance of the server. The graying step specifically comprises the following steps: graying treatment is carried out on the image information by adopting a weighted average method to obtain a gray image, and the weighted average method has the formula:
f (i, j) =0.30r (i, j) +0.59G (i, j) +0.11B (i, j), wherein i, j represent the position of a pixel in the square matrix, i.e.: ith row, jth column. According to the formula, the gray value of each pixel point of each image is calculated, and the range of the gray value is 0-255, so that the images are in black and white gray states.
S2: identifying to obtain an antenna fixing structure 1, and obtaining the image length of the antenna fixing structure 1; the image length of the antenna fixing structure 1 can be obtained in two ways, namely, the corresponding length can be obtained directly through image clustering, and the image length is calculated in the following way, namely, the length of ac as shown in fig. 2. In the judgment of the length of the antenna ac edge, there are two modes, one is through a machine learning mode, and the other is not through a machine learning mode, but is calculated through a mode of carrying out color clustering on the acquired real-time image of the scanned book, because the antenna handle is black, the length of the antenna ac edge is judged according to the distance between the pixel points at the two ends outside the black block obtained after clustering. If machine learning mode is used for recognition, the step S2 specifically includes the following sub-steps:
extracting the characteristics of the preprocessed key frame image to obtain a characteristic vector corresponding to the key frame image; dividing the key frame image into M square areas, calculating the ratio of the number of points in each square to the total number of points in the antenna image, and obtaining M square N dimension characteristic vector. When the antenna area image is selected and learned, only the antenna fixing structure 1 corresponding to the abc three points shown in fig. 2 is framed for learning, the part of the base 3 is not in the range of learning, the scanned antenna soft surface is not required to be contained, and all the pixel points at the outermost part of the abc three points are required to be included during selection.
Comparing the extracted characteristic vector with a pre-established antenna identification model, and framing to select an antenna fixing structure 1 in a key frame image; this step is mainly for further accurate extraction of the corresponding antenna fixing structure 1; the construction of the antenna identification model mainly comprises the following substeps:
acquiring image features of the antenna fixing structure 1 at various angles; in this embodiment, the antenna partial area refers to an antenna fixing structure 1, and performs frame selection marking on the antenna partial area in the image to obtain antenna sample images in various folded or unfolded states when scanning books, dividing each antenna image into square areas of m×n according to arrangement condition characteristics of colors and shapes of space densities of the antenna images at different folding angles, and calculating a ratio of points in each square to total points of the antenna images to obtain m×n dimension feature vectors. When the antenna area image is selected and learned in a frame mode, only the antenna folding handle part area corresponding to the abc three points shown in fig. 2 is framed for learning, the scanned antenna soft surface does not need to be contained, all the outermost pixel points of the abc three points are needed to be included in the selection process, the length of ac can be calculated through the outermost pixel points, and therefore the folding angle of the antenna can be accurately calculated according to the length of the antenna in the later identification process.
Learning and training all the extracted image features by using a convolutional neural network to obtain standard templates under various angles; the correct values of various antennas need to be indicated during training; an antenna identification model is constructed from templates of criteria at various angles.
After the extracted feature vector is compared with a pre-established antenna identification model, the image length of the antenna fixing structure 1 is obtained according to the pixel points of the frame-selected antenna fixing structure 1. S3: and matching and calculating according to the image length to obtain a folding angle, and judging the bookshelf to which the scanned book belongs according to the relation between the folding angle and the preset angle. In the embodiment, when the GPS is arranged, the GPS is arranged at the robot shell, and the general induction antenna is positioned at the rear of the travelling direction of the robot shell; in this embodiment, the description is made according to the above-mentioned position mode, and when the position setting of the GPS is different, the adjustment of the corresponding judgment standard can be performed according to the position setting. The arrow direction in fig. 2 is the traveling direction.
Specifically, whether the folding angle is larger than a preset angle is judged, if so, the scanned book is positioned on the current bookshelf, and if not, the book does not belong to the current bookshelf. When the matching calculation is performed, there are several ways to perform the matching calculation, one way is to directly perform the corresponding data matching by setting a matching table so as to obtain the corresponding folding angle, and the other way is to perform the cosine calculation by a calculation way; when performing cosine calculation, the step S3 specifically includes the following sub-steps:
acquiring the image length and the real length of the antenna fixing structure 1; since the real length of the antenna fixing structure 1 is fixed, that is, it can be directly stored, when necessary, the real length of the corresponding antenna fixing structure 1 is called, and the real length of the antenna fixing structure 1 refers to the length of the bc segment in fig. 2.
Calculating according to a cosine formula to obtain the folding angle of the current antenna fixing structure 1; according to the antenna area image selected by the frame, the length of an ac side when each antenna scans books is obtained according to the outermost pixel point in the ac direction of the antenna, and as the current position of the book checking robot can be obtained by a laser radar arranged on a machine body, the distance between the book checking robot and books on a bookshelf, namely the distance between the book checking robot and the books on the bookshelf, is known, the included angle between ac and ab is 90 degrees, the advancing angle beta of each antenna of the device on the book checking robot when each book is scanned can be calculated according to the cosine law, and then the folding angle alpha is obtained according to the advancing angle.
Judging whether the folding angle alpha is larger than a preset angle or not, if so, positioning the scanned book on the current bookshelf, and if not, attaching to the next bookshelf instead of the current bookshelf. Preferably, the preset angle is any value between 10 degrees and 15 degrees, and because the deviation of a certain antenna fixing structure 1 is worried about in the use process due to long-term use, a more proper value is set for deviation calibration, so that the possibility of misjudgment of the book robot is reduced.
When a book checking robot spans 2 adjacent bookshelves to scan books, determining a bookshelf to be checked to be started when entering the next bookshelf to be checked according to the real-time position of a book checking vehicle, judging whether the bookshelves to which books obtained in the current scanning of the antennas belong are folded according to the calculated folding angle alpha of each antenna when scanning each book, judging that the bookshelves to which the books obtained in the current scanning of the antennas belong still are the current bookshelves in the folded antenna scanning, and judging that the bookshelves to which the unfolded antennas belong are the next bookshelves to be checked to be started.
According to the book checking robot, the plurality of cameras 2 arranged on the book checking robot correspondingly acquire the images of the plurality of vertically arranged antennas for scanning books, and the state of each antenna in the images is used for judging whether the books are in a folded state or not and the folding angle when the books are scanned, so that the bookshelf where the books scanned by each antenna are positioned is judged, and the problem of disordered books caused by asynchronous scanning of the plurality of antennas can be well solved.
Example two
The second embodiment discloses an electronic device, which comprises a processor, a memory and a program, wherein one or more of the processor and the memory can be adopted, the program is stored in the memory and is configured to be executed by the processor, and when the processor executes the program, the method for precisely positioning the bookshelf to which the book belongs in the first embodiment is realized. The electronic device may be a series of electronic devices such as a cell phone, a computer, a tablet computer, etc.
Example III
Embodiment three discloses a computer readable storage medium for storing a program, and when the program is executed by a processor, the method for precisely positioning a bookshelf to which a book belongs in embodiment one is implemented.
Of course, the storage medium containing computer executable instructions provided in the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the method provided in any embodiment of the present invention.
From the above description of embodiments, it will be clear to a person skilled in the art that the present invention may be implemented by means of software and necessary general purpose hardware, but of course also by means of hardware, although in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, etc., and include several instructions for causing an electronic device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments of the present invention.
It should be noted that, in the above embodiment of the notification device based on content update, each unit and module included are only divided according to the functional logic, but not limited to the above division, so long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.
The above embodiments are only preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, but any insubstantial changes and substitutions made by those skilled in the art on the basis of the present invention are intended to be within the scope of the present invention as claimed.
Claims (10)
1. The method for precisely positioning the bookshelf to which the book belongs is characterized by comprising the following steps:
an image acquisition step: the method comprises the steps that current image information is obtained, and the current image information comprises an antenna fixing structure;
a length identification step: identifying to obtain an antenna fixing structure and obtaining the image length of the antenna fixing structure;
judging: according to the image length matching calculation, a folding angle is obtained, and the bookshelf to which the scanned book belongs is judged according to the relation between the folding angle and a preset angle;
the matching calculation specifically comprises the following steps: and (3) performing corresponding data matching by setting a matching table so as to obtain a corresponding folding angle, or performing cosine calculation in a calculation mode.
2. The method for precisely positioning a bookshelf to which a book belongs according to claim 1, wherein the current image information is specifically a video image, and further comprises a preprocessing step after the image acquisition step and before the length recognition step: and extracting a key frame image from the video image, and preprocessing the extracted key frame image, wherein the preprocessing comprises noise removal, graying processing and normalization processing.
3. The method for precisely positioning a bookshelf to which a book belongs according to claim 2, wherein the graying process is specifically as follows: graying treatment is carried out on the image information by adopting a weighted average method to obtain a gray image, and the formula of the weighted average method is as follows:
f (i, j) =0.30r (i, j) +0.59G (i, j) +0.11B (i, j), wherein i, j represent the position of a pixel in the square matrix, i.e.: ith row, jth column.
4. The method for precisely positioning the bookshelf to which the book belongs according to claim 2, wherein the length recognition step specifically comprises the following substeps:
extracting the characteristics of the preprocessed key frame image to obtain a characteristic vector corresponding to the key frame image;
comparing the extracted feature vector with a pre-established antenna identification model, and framing to select an antenna fixing structure in a key frame image;
and obtaining the image length of the antenna fixed structure according to the pixel points of the frame-selected antenna fixed structure.
5. The method for precisely positioning a bookshelf to which a book belongs according to claim 4, wherein in said image capturing step, current image information of a plurality of cameras is captured.
6. The method for precisely positioning the bookshelf to which the book belongs according to claim 4, wherein the construction of the antenna identification model mainly comprises the following substeps:
acquiring image features of the antenna fixing structure under various angles;
learning and training all the extracted image features by using a convolutional neural network to obtain standard templates under various angles;
an antenna identification model is constructed from templates of criteria at various angles.
7. The method for precisely positioning a bookshelf to which a book belongs according to any one of claims 1 to 6, wherein the judging step specifically comprises the following substeps:
acquiring the image length and the real length of the antenna fixing structure;
cosine calculation is carried out according to the image length and the real length to obtain the folding angle of the current antenna fixing structure;
judging whether the folding angle is larger than a preset angle, if so, positioning the scanned book on the current bookshelf, and if not, not belonging to the current bookshelf.
8. The method for precisely positioning a bookshelf to which a book belongs according to claim 7, wherein the predetermined angle is any value between 10 degrees and 15 degrees.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements a method for precisely positioning a bookshelf to which a book belongs according to any one of claims 1-8 when executing the computer program.
10. A computer-readable storage medium having stored thereon a computer program, characterized by: the computer program when executed by a processor implements a method for precisely positioning a bookshelf to which a book belongs according to any one of claims 1-8.
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