CN110991273B

CN110991273B - Laminate regulating and controlling equipment, method and device

Info

Publication number: CN110991273B
Application number: CN201911129782.8A
Authority: CN
Inventors: 周剑; 明泉水; 廖耿耿; 宋启恒; 郑辉
Original assignee: Alipay Hangzhou Information Technology Co Ltd
Current assignee: Alipay Hangzhou Information Technology Co Ltd
Priority date: 2019-11-18
Filing date: 2019-11-18
Publication date: 2021-03-19
Anticipated expiration: 2039-11-18
Also published as: CN112990138A; CN110991273A; CN112990138B; WO2021098373A1

Abstract

The embodiment of the specification provides a laminate regulation and control device, a method and a device, which are applied to a selling container, wherein the storage space inside the selling container is divided into a plurality of storage layers by a laminate, and the laminate regulation and control device comprises: the camera, the main control module and the lifting module are arranged on the top of each storage layer; the camera collects a first image of a storage layer where the camera is located when a cabinet door of the vending container is opened, and collects a second image and a third image of the storage layer where the camera is located when the cabinet door of the vending container is closed; the first image and the second image comprise plane image information of the storage layer, and the third image comprises depth image information of the storage layer; the main control module is used for determining the laminate to be moved and the movement information of the laminate to be moved according to the image collected by the camera; the lifting module is connected with each layer plate and controls the layer plate to be moved to move according to the movement information of the layer plate to be moved.

Description

Laminate regulating and controlling equipment, method and device

Technical Field

The document relates to the technical field of the Internet of things, in particular to a device, a method and a device for regulating and controlling a laminate.

Background

Along with the rapid development of internet of things, the self-service selling container which does not need to be watched manually and can sell commodities to consumers in all weather is widely applied, and the self-service selling container identifies commodities chosen by the consumers by processing images collected by the cameras installed inside and further settles expenses.

At present, sell the packing cupboard by oneself and be provided with a plurality of storage layers usually, and the space size on every storage layer is fixed, however the storage layer of fixed space size, space utilization is low not only, can be in disorder original commodity mode of putting when purchasing commodity because of consumer's selection in addition for height commodity shelters from each other, produces the dead angle that the camera can not shoot, thereby leads to the commodity scheduling problem that the unable accurate discernment consumer bought.

Disclosure of Invention

One or more embodiments of the present disclosure provide a regulation and control device, a method, and an apparatus, which can flexibly regulate and control a position of a shelf plate in a sales container based on an image collected by a camera, and can not only improve a utilization rate of a storage space, but also increase a distance between the camera and a commodity in a storage layer where an operated commodity is located, thereby reducing a shooting blind area and a shooting dead angle of the camera, improving an accuracy of the image collected by the camera, and improving an accuracy of an identification result of identifying the purchased commodity.

To solve the above technical problem, one or more embodiments of the present specification are implemented as follows:

one or more embodiments of the present disclosure provide a shelf regulation device applied to a vending container, wherein a storage space inside the vending container is partitioned into a plurality of storage layers by a shelf, and the device includes:

a camera disposed on a top side of each of the reservoir layers; the camera collects a first image of a storage layer where the camera is located when a cabinet door of the selling container is opened, and collects a second image and a third image of the storage layer where the camera is located when the cabinet door of the selling container is closed; wherein the first image and the second image comprise planar image information of the reservoir layer and the third image comprises depth image information of the reservoir layer;

the main control module is used for determining a first target storage layer where the operated commodity is located according to the first image and the second image acquired by each camera; determining a to-be-moved laminate in the laminates and movement information of the to-be-moved laminate according to the third images acquired by the cameras and the first target storage layer;

and the lifting module is connected with each laminate and controls the movement of the laminate to be moved according to the movement information of the laminate to be moved.

One or more embodiments of the present disclosure provide a method for controlling a shelf, applied to a sales container, wherein a storage space inside the sales container is partitioned into a plurality of storage layers by the shelf, the method comprising:

acquiring a first image of each storage layer when a cabinet door of a vending container is opened, and a second image and a third image of each storage layer when the cabinet door is closed; the first image, the second image and the third image are obtained by collecting commodities placed in the storage layers where the first image, the second image and the third image are arranged through cameras arranged on the top sides of the storage layers; the first image and the second image comprise planar image information of the reservoir layer, and the third image comprises depth image information of the reservoir layer;

determining a first target storage layer where the operated commodity is located according to the first image and the second image;

determining a to-be-moved laminate in the laminates and movement information of the to-be-moved laminate according to the third image and the first target storage layer;

and controlling the movement of the laminate to be moved according to the movement information of the laminate to be moved.

One or more embodiments of the present disclosure provide a shelf regulating device applied to a sales container, wherein a storage space inside the sales container is divided into a plurality of storage layers by a shelf, the device comprising:

an acquisition module that acquires a first image of each of the stock levels when a cabinet door of a sales container is opened, and a second image and a third image of each of the stock levels when the cabinet door is closed; the first image, the second image and the third image are obtained by collecting commodities placed in the storage layers where the first image, the second image and the third image are arranged through cameras arranged on the top sides of the storage layers; the first image and the second image comprise planar image information of the reservoir layer, and the third image comprises depth image information of the reservoir layer;

the first determining module is used for determining a first target storage layer where the operated commodity is located according to the first image and the second image;

a second determination module which determines a to-be-moved laminate of the laminates and movement information of the to-be-moved laminate according to the third image and the first target storage layer;

and the control module controls the movement of the laminate to be moved according to the movement information of the laminate to be moved.

One or more embodiments of the present description provide a laminate conditioning apparatus, comprising:

a processor; and the number of the first and second groups,

a memory arranged to store computer executable instructions that, when executed, cause the processor to:

One or more embodiments of the present specification provide a storage medium storing computer-executable instructions that, when executed, implement the following:

One embodiment of the specification realizes the flexible regulation and control of the position of the middle layer plate in the selling container, not only can improve the utilization rate of the storage space, but also can increase the distance between the camera in the storage layer where the operated commodity is located and the commodity, reduce the shooting blind area and the shooting dead angle of the camera, improve the accuracy of the image collected by the camera, and improve the accuracy of the identification result for identifying the purchased commodity.

Drawings

In order to more clearly illustrate one or more embodiments or prior art solutions of the present specification, the drawings that are needed in the description of the embodiments or prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present specification, and that other drawings can be obtained by those skilled in the art without inventive exercise.

FIG. 1 is a schematic diagram illustrating an application scenario of self-service vending of a vending container according to one or more embodiments of the present disclosure;

FIG. 2 is a schematic block diagram of a laminate conditioning apparatus according to one or more embodiments of the present disclosure;

fig. 3 is a schematic structural diagram of a lifting module according to one or more embodiments of the present disclosure;

FIG. 4 is a first schematic flow chart of a method for controlling a laminate according to one or more embodiments of the present disclosure;

FIG. 5 is a detailed diagram of step S104 provided in one or more embodiments of the present description;

FIG. 6 is a schematic matrix diagram of a binarized image provided in one or more embodiments of the present disclosure;

FIG. 7 is a detailed diagram of step S106 provided in one or more embodiments of the present description;

FIG. 8 is a first detailed diagram of step S106-8 provided in one or more embodiments of the present disclosure;

FIG. 9 is a diagram illustrating a second refinement of step S106-8 provided in one or more embodiments of the disclosure;

FIG. 10 is a second flowchart of a method for controlling a laminate according to one or more embodiments of the present disclosure;

FIG. 11 is a schematic block diagram of a laminate conditioning device according to one or more embodiments of the present disclosure;

FIG. 12 is a schematic structural diagram of a laminate conditioning device provided in one or more embodiments of the present disclosure;

wherein the reference numerals are as follows:

10: laminating the board;

13-1: a drive unit;

13-2: a guide rail;

13-3: a roller;

13-4: and (4) an output end.

Detailed Description

In order to make those skilled in the art better understand the technical solutions in one or more embodiments of the present disclosure, the technical solutions in one or more embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in one or more embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all embodiments. All other embodiments that can be derived by a person skilled in the art from one or more of the embodiments described herein without making any inventive step shall fall within the scope of protection of this document.

One or more embodiments of the present disclosure provide a laminate control apparatus, a method, and a device, which may be applied to a vending cabinet, and may flexibly control positions of laminates in the vending cabinet based on images collected by a camera, so as to increase a utilization rate of a storage space, and increase a distance between the camera and a commodity in a storage layer where an operated commodity is located, thereby reducing a shooting blind area and a shooting dead angle of the camera, improving an accuracy of the images collected by the camera, and improving an accuracy of an identification result of identifying the purchased commodity.

Fig. 1 is a schematic view of an application scenario of self-service vending of a vending container according to one or more embodiments of the present disclosure, as shown in (a) of fig. 1, for a vending container with a fixed floor height, before a consumer scans a two-dimensional code to open a cabinet door for purchasing goods, the goods in each storage floor of the vending container are placed in order; when a consumer purchases a commodity, the consumer pays attention to information such as the quality guarantee period and the composition of the commodity, and usually takes a plurality of commodities for checking and comparison, but the consumer usually does not pay special attention to the placement position of the commodity, and puts the unnecessary commodity back to the free position of the storage layer at random, and finally after the consumer purchases the commodity, the commodity in the selling container is in a state shown in (b) in fig. 1, the commodity is placed disorderly, the tall and short commodities are shielded from each other, and the height of each storage layer in the selling container is fixed, so that in a limited space, the disorderly commodity and the shielding state can cause dead zones and dead angles for the camera, and the accuracy of the identification result is reduced when the commodity purchased by the consumer is identified according to the image acquired by the camera. Based on the above, one or more embodiments of the present disclosure provide a laminate control apparatus, method and device, which can flexibly adjust the position of each laminate based on the image collected by the camera and the space size of each storage layer in the sales counter, and for convenience of description, sequentially marking each storage layer as a storage layer 1, a storage layer 2, a storage layer 3 and the like from top to bottom, the schematic diagram after ply adjustment based on (b) in FIG. 1 is shown in (c) in FIG. 1, therefore, the space of the storage layer 2 is enlarged by adjusting the layer plate, the distance between the camera in the storage layer 2 and the commodity in the storage layer 2 is increased, the shooting visual angle of the camera is increased, the shooting blind area of the camera is reduced, therefore, when the commodity purchased by the consumer is identified according to the image shot by the camera, the accuracy of the identification result is improved. Further, to determine movement information of the ply, in one or more embodiments of the present description, the camera is a 3D camera that captures video streams each including an image containing planar image information and an image containing depth image information; the depth image information includes information such as three-dimensional spatial position and size. The following provides a detailed description of the ply conditioning apparatus, method and apparatus provided in one or more embodiments of the present disclosure.

FIG. 2 is a schematic diagram of a modular composition of a layer plate regulating and controlling apparatus applied to a sales container according to one or more embodiments of the present disclosure, wherein a storage space inside the sales container is partitioned into a plurality of storage layers by a layer plate, as shown in FIG. 2, the apparatus includes:

a camera 11 disposed at a top side of each of the reservoir layers; the camera 11 collects a first image of the storage layer of the vending container when the door of the vending container is opened, and collects a second image and a third image of the storage layer of the vending container when the door of the vending container is closed; the first image and the second image comprise plane image information of the storage layer, and the third image comprises depth image information of the storage layer;

the main control module 12 is used for determining a first target storage layer where the operated commodity is located according to the first image and the second image acquired by each camera 11; determining a to-be-moved laminate in the laminates and movement information of the to-be-moved laminate according to the third images acquired by the cameras 11 and the determined first target storage layer;

and the lifting module 13 is connected with each layer plate and controls the layer plate to be moved to move according to the movement information of the layer plate to be moved.

One or more embodiments of this description provide plywood regulation and control equipment can be based on the image that the camera was gathered, regulate and control the position of selling the packing cupboard middle plywood in a flexible way, not only can promote storing space's utilization ratio, can increase the camera by operation commodity place storage layer in addition and the distance between the commodity to reduce the shooting blind area and the shooting dead angle of this camera, promote the accuracy of the image that this camera was gathered, and promote the accuracy of discernment the recognition result of the commodity of being bought.

The operated commodity is identified based on the images collected by the camera before and after the commodity is purchased by the consumer, namely the images collected by the camera before and after the door of the selling container is opened and closed; in order to avoid the problem that before and after a consumer purchases a commodity, the state of the commodity is changed due to some malicious operations (such as shaking a selling container and the like) or other factors, so that the operated commodity cannot be correctly identified, in one or more embodiments of the present specification:

the main control module 12 is used for sending a first image acquisition request to each camera 11 according to first detection time of a door opening signal when the door opening signal that the cabinet door of the selling container is opened is detected; and when a door closing signal that the door of the vending cabinet is closed is detected, sending a second image acquisition request to each camera 11 according to second detection time of the door closing signal;

correspondingly, the camera 11, when receiving the first image acquisition request, acquires a corresponding video frame from the shot video stream according to the first detection time, and extracts the first image from the acquired video frame; and when receiving a second image acquisition request, acquiring a corresponding video frame in the shot video stream according to the second detection time, and extracting a second image and a third image from the acquired video frame.

Optionally, the camera 11, when receiving the first image obtaining request, obtains a video frame that is previous to the video frame corresponding to the first detection time from the captured video stream, and extracts the first image from the obtained video frame; or, when receiving the first image acquisition request, the camera 11 determines an initial time corresponding to a first preset time length by taking the first detection time as an end time of the first preset time length, acquires a video frame corresponding to the initial time length from the shot video stream, and extracts a first image from the acquired video frame; or when receiving the first image acquisition request, the camera 11 acquires any one video frame within a first preset time length from the shot video stream by taking the first detection time as the deadline of the first preset time length, and extracts the first image from the acquired video frame; and the number of the first and second groups,

the camera 11, when receiving a second image acquisition request, acquires a video frame subsequent to the video frame corresponding to the second detection time from the captured video stream, and extracts a second image and a third image from the acquired video frame; or, when receiving a second image acquisition request, the camera 11 determines an end time corresponding to a second preset time length by taking a second detection time as an initial time of the second preset time length, acquires a video frame corresponding to the end time length from a shot video stream, and extracts a second image and a third image from the acquired video frame; or when receiving a second image acquisition request, the camera 11 acquires any one video frame within a second preset time length from the shot video stream by taking the second detection time as the starting time of the second preset time length, and extracts a second image and a third image from the acquired video frame; or, when receiving the second image acquisition request, the camera 11 acquires any two video frames within a second preset time length from the shot video stream by taking the second detection time as the start time of the second preset time length, extracts the second image from one of the acquired video frames, and extracts the third image from the other acquired video frame.

The first preset time length and the second preset time length are both short, can be the same as or different from each other, and can be set automatically according to needs in practical application; as an example, the first preset time period and the second preset time period are the same and are both 1 second. It should be noted that the camera 11 may also simultaneously acquire a fifth image containing depth image information of the storage layer when acquiring the first image. Therefore, the video frames with short distance from the first detection time are obtained according to the first detection time to extract the first image, the video frames with short distance from the second detection time are obtained according to the second detection time to extract the second image and the third image, and in the short time interval, the consumer or other users have difficulty in carrying out malicious operation, so that the accuracy of the first image, the second image and the third image can be greatly ensured, and an effective data base is provided for subsequently determining the first target storage layer where the operated commodity is located, determining the movement information of the laminate to be moved and determining the purchased commodity.

In order to ensure effective transmission of images, a transmission channel is established between each camera 11 and the main control module 12, when the camera 11 acquires a first image, the first image is sent to the main control module 12 through the corresponding transmission channel, and when the camera 11 acquires a second image and a third image, the second image and the third image are sent to the main control module 12 through the corresponding transmission channels; after receiving the second image, the main control module 12 determines the first target storage layer where the operated commodity is located based on the first image and the second image.

Specifically, in one or more embodiments of the present disclosure, the main control module 12 determines a first image and a second image corresponding to each storage layer; and the number of the first and second groups,

carrying out difference processing on the first image and the second image corresponding to each storage layer to obtain a difference image corresponding to each storage layer;

carrying out binarization processing on the difference image corresponding to each storage layer to obtain a binarization image corresponding to each storage layer;

determining a target binary image meeting preset conditions in the binary image;

and taking the storage layer corresponding to the target binary image as a first target storage layer where the operated commodity is located.

Carrying out differential processing on the first image and the second image corresponding to each storage layer to weaken the similar part of the first image and the second image corresponding to each storage layer, and obtaining a differential image capable of reflecting the difference between the first image and the second image; the difference image is subjected to binarization processing to obtain a binarized image only having black and white visual effects, and the interference of other noises is removed, so that the first target storage layer where the operated commodity is located can be accurately determined according to the binarized image. Further, specific processes of determining a first image and a second image corresponding to each storage layer, performing difference processing on the first image and the second image, performing binarization processing on the difference image, and determining a target binarization image meeting a preset condition in the binarization image are described in detail later, and reference may be made to the related description later, and a description thereof is not repeated.

In order to enlarge the space of the first target storage layer and enlarge the distance between the camera in the first target storage layer and the commodity, so that the camera in the first target storage layer can acquire clear and complete images, firstly, a laminate to be moved and movement information of the laminate to be moved need to be determined;

specifically, in one or more embodiments of the present disclosure, the main control module 12 determines a third image corresponding to each storage layer; and the number of the first and second groups,

acquiring a target commodity with the smallest vertical distance between the top of the commodity and the top of the storage layer where the commodity is located from the commodities included in the third image corresponding to each storage layer;

taking the vertical distance between the top of the target commodity and the top of the storage layer where the target commodity is located as the residual layer height of the storage layer where the target commodity is located;

and determining the laminate to be moved in the laminates and the movement information of the laminate to be moved according to the residual layer height of the storage layer.

In practical application, all the laminates with moving spaces can be determined according to the remaining layer heights of the storage layers and serve as the laminates to be moved, so that the space of the first target storage layer is maximized, the distance between a camera in the first target storage layer and a commodity is maximized, and the camera can acquire clear and complete images conveniently; and determining a part of the laminates with moving spaces as the laminates to be moved according to the remaining layer height of the storage layer, so that on the basis that the distance between the camera in the first target storage layer and the commodity reaches the preset distance capable of acquiring clear and complete images, excessive laminates are not moved, and safety and stability are ensured.

Specifically, in one or more embodiments of the present disclosure, if it is determined that a storage layer with a non-zero movable distance exists according to the remaining layer height of each storage layer except for the first target storage layer and the preset safety distance, the main control module 12 determines the layer plate to be moved according to the position relationship between the storage layer with the non-zero movable distance and the first target storage layer; and the number of the first and second groups,

determining the moving direction of the laminate to be moved according to the position relation between the laminate to be moved and the first target storage layer; determining the actual moving distance of the laminate to be moved according to the movable distance of the storage layer corresponding to the laminate to be moved; taking the moving direction and the actual moving distance of the laminate to be moved as the moving information of the laminate to be moved;

alternatively, the first and second electrodes may be,

the main control module 12 is used for determining a laminate to be moved according to a second target storage layer which is closest to the first target storage layer and has a total movable distance not less than a preset distance if the second target storage layer is determined to exist according to the residual layer height and the preset safety distance of each storage layer except the first target storage layer; and the number of the first and second groups,

determining the moving direction of the laminate to be moved according to the position relation between the laminate to be moved and the first target storage layer; determining the actual moving distance of the laminate to be moved according to the movable distance of the second target storage layer; and taking the moving direction and the actual moving distance of the laminate to be moved as the moving information of the laminate to be moved.

By determining the movement information of the laminate to be moved, the laminate to be moved is accurately controlled according to the movement information in the follow-up process, and partial commodities cannot be damaged due to different heights of the commodities in the same storage layer.

After the movement information of the laminate to be moved is determined, the laminate to be moved can be controlled to move according to the movement information; specifically, in one or more embodiments of the present disclosure, the lifting module 13 includes: a driving unit 13-1, a guide rail 13-2, and a roller 13-3; wherein, gyro wheel 13-3 sets up in the side of each plywood, and is corresponding:

the main control module 12 is used for sending a laminate moving instruction to the driving unit 13-1 according to the moving information of the laminate to be moved and the laminate identification;

and the output end 13-4 of the driving unit 13-1 is connected with each layer plate, and when a layer plate moving instruction is received, the driving unit drives the layer plate to be moved corresponding to the layer plate identification to move along the guide rail 13-2 through the roller 13-3 arranged on the side surface of the driving unit according to the moving information.

Therefore, the position of the middle layer plate of the selling container is adjusted by arranging the lifting module 13.

In order to ensure that the layer to be moved does not slide down due to gravity after moving, in one or more embodiments of the present disclosure, the driving unit 13-1 is a structure having a limiting function, such as a pneumatic cylinder, a hydraulic cylinder, a ball screw, and the like, and can accurately control the layer to be moved to a corresponding moving direction according to the movement information and keep at a corresponding position after moving an actual moving distance, and does not slide down along the guide rail 13-2 through the roller 13-3 due to gravity. In practical application, the driving unit 13-1 may also be a structure without a limiting function, for example, if the driving unit is a common motor, the lifting module 13 further includes a limiting unit 13-5, the limiting unit 13-5 may be disposed on a side surface of the layer board, or may be disposed on the guide rail 13-2, and after the driving unit 13-1 controls the layer board to be moved to move to a corresponding moving direction by an actual moving distance, the limiting unit 13-5 is controlled to limit.

Further, the rollers 13-3 may be arranged on the left side, and/or the right side, and/or the rear side of the shelf, and correspondingly, the guide rails 13-2 may be arranged on the left side, and/or the right side, and/or the rear side of the storage space of the sales counter;

furthermore, the guide rails 13-2 can be arranged in a plurality of corresponding laminates one by one, and the laminates can share the same guide rail 13-2, and in practical application, the guide rails can be set automatically according to requirements; it should be noted that, when the guide rails 13-2 are arranged corresponding to the laminates one by one, the positions of the rollers 13-3 on the sides of different laminates may be the same or different, and for convenience of description, the laminates are sequentially marked as laminate 1, laminate 2, laminate 3, etc. according to the sequence from top to bottom, for example, the roller 13-3 arranged on the side of the laminate 1 is arranged in the middle of the left side of the laminate 1, the roller 13-3 arranged on the side of the laminate 2 is arranged in the middle of the left side of the laminate 2, and the roller 13-3 arranged on the side of the laminate 3 is arranged at the left side of the right side of the laminate 3; when the plies share the same guide rail 13-2, the rollers 13-3 are positioned at the same location on the sides of the plies, e.g., both at the middle of the left and right sides of the plies.

By way of example, the same guide rail 13-2 is shared by the layers, and the rollers 13-3 are arranged at the middle positions of the left side and the right side of the layer, the layer is marked as 10, and the structural diagram is shown in FIG. 3; it should be noted that the position of the driving unit 13-1 can be set as desired in practical applications, for example, at the bottom of a sales counter.

From this, after waiting to remove the plywood removal through lifting module 13 control, the distance between camera and the commodity in the first target storage layer can enlarge, and the image that the camera was gathered this moment can be more complete and clear before the plywood removes, and the image identification based on the camera was gathered this moment also can be more accurate by the commodity of purchasing. That is, in one or more embodiments of the present specification, the main control module 12 further obtains a fourth image of the first target storage layer after the lifting module 13 controls the layer to be moved to move, where the fourth image includes planar image information of the first target storage layer; determining the purchased commodity according to the first image and the fourth image corresponding to the first target storage layer, and sending commodity information of the purchased commodity to the corresponding consumer;

the lifting module 13 also controls the position of the laminate to be moved to be restored to the position before the movement.

Specifically, after determining the movement information of the laminate to be moved, the main control module 12 records the movement information of the laminate to be moved, and when receiving a movement completion signal sent by the lifting module 13, sends a third image acquisition request to the camera 11 arranged in the first target storage layer according to the receiving time of the movement completion signal, so that when receiving the third image acquisition request, the camera 11 in the first target storage layer acquires a corresponding video frame from a video stream shot by the camera according to the receiving time included in the third image acquisition request, and extracts a fourth image from the acquired video frame; when the main control module 12 receives the fourth image sent by the camera 11 in the first target storage layer, the first image and the fourth image corresponding to the first target storage layer are input into a pre-trained deep neural network for learning, and commodity information of a purchased commodity is obtained, wherein the commodity information such as commodity name, commodity category, commodity price and the like is sent to a corresponding consumer, restoration information of the laminate to be moved is determined according to recorded movement information of the laminate to be moved, and a laminate restoration instruction is sent to the lifting module 13 according to the restoration information, so that the lifting module 13 controls the laminate to be moved to be restored to a position before moving according to the restoration information. Or, when receiving the laminate moving instruction sent by the main control module 12, the lifting module 13 records the moving information of the laminate to be moved; after the main control module 12 determines the purchased goods, the main control module 12 sends a laminate restoration instruction to the lifting module 13; when the lifting module 13 receives the laminate restoration instruction, the laminate restoration information is determined according to the recorded laminate movement information, and the laminate to be moved is controlled to be restored to the position before the movement according to the laminate restoration information.

The process of acquiring the fourth image by the camera 11 is similar to the process of acquiring the second image by the camera 11, and reference may be made to the foregoing related description, and repeated parts are not described herein again. Therefore, the purchased commodity is determined based on the fourth image acquired after the laminate is moved, the accuracy of the determination result is improved, and the laminate is restored to the position before the laminate is moved, so that each storage layer has a certain space and the operation of the consumer is facilitated when the subsequent consumer purchases the commodity.

One or more embodiments of this description provide a plywood regulation and control equipment, be provided with the elevating gear who links to each other with each plywood, this equipment has realized the nimble regulation and control to the plywood position in the packing cupboard of selling based on the image that the camera was gathered, not only can promote storing space's utilization ratio, and can increase the camera by operation commodity place in the storage layer and the distance between the commodity, reduce the shooting blind area and the shooting dead angle of this camera, promote the accuracy of the image that this camera was gathered, and promote the accuracy of the discernment result of discernment the commodity of being purchased.

Corresponding to the laminate regulation and control equipment described in fig. 2 to 3, based on the same technical concept, one or more embodiments of the present disclosure further provide a laminate regulation and control method applied to a vending container, where a storage space inside the vending container is partitioned into a plurality of storage layers by a laminate. Fig. 4 is a schematic flow chart of a method for controlling a laminate according to one or more embodiments of the present disclosure, as shown in fig. 4, the method includes the following steps:

step S102, acquiring a first image of each storage layer when a cabinet door of a selling container is opened, and a second image and a third image of each storage layer when the cabinet door is closed; the first image, the second image and the third image are all obtained by collecting commodities placed in the storage layers where the first image, the second image and the third image are arranged through cameras arranged on the top sides of the storage layers; the first image and the second image comprise planar image information of the reservoir layer, and the third image comprises depth image information of the reservoir layer;

for the subsequent determination of the movement information of the layer, wherein the camera is a 3D camera, and each video frame in the video stream shot by the camera comprises an image containing plane image information and an image containing depth image information; the depth image information includes information such as three-dimensional spatial position and size.

Step S104, determining a first target storage layer where the operated commodity is located according to the acquired first image and the acquired second image;

the operated goods include goods moved by the consumer and goods purchased by the consumer.

Step S106, determining a to-be-moved laminate in the laminates and movement information of the to-be-moved laminate according to the third image and the first target storage layer;

and S108, controlling the movement of the layer plate to be moved according to the movement information of the layer plate to be moved.

In one or more embodiments of the present description, based on the images collected by each camera in the selling container, flexible adjustment and control of the position of the middle layer plate in the selling container are achieved, which not only can improve the utilization rate of the storage space, but also can increase the distance between the camera in the storage layer where the operated commodity is located and the commodity, thereby reducing the shooting blind area and the shooting dead angle of the camera, improving the accuracy of the images collected by the camera, and improving the accuracy of the recognition result of the purchased commodity.

The operated commodity is identified based on the images collected by the camera before and after the commodity is purchased by the consumer, namely the images collected by the camera before and after the door of the selling container is opened and closed; in order to avoid the problem that the state of the commodity is changed due to some malicious operations (such as shaking the vending container) or other factors before and after the consumer purchases the commodity, so that the operated commodity cannot be correctly identified, in one or more embodiments of the present specification, the step S102 of acquiring the first image of each storage layer when the door of the vending container is opened, and the second image and the third image of each storage layer when the door of the vending container is closed includes:

step A1, when a door opening signal that a cabinet door of a vending container is opened is detected, sending a first image acquisition request to each camera according to first detection time of the door opening signal, so that each camera acquires a corresponding video frame in a shot video stream according to the first detection time, and extracting a first image from the acquired video frame;

when the camera receives a first image acquisition request, acquiring a previous video frame of a video frame corresponding to first detection time from a shot video stream, and extracting a first image from the acquired video frame; or when the camera receives a first image acquisition request, determining the starting time corresponding to a first preset time length by taking a first detection time as the ending time of the first preset time length, acquiring the video frame corresponding to the starting time length from the shot video stream, and extracting a first image from the acquired video frame; or when the camera receives a first image acquisition request, taking the first detection time as the deadline of the first preset time duration, acquiring any one video frame in the first preset time duration from the shot video stream, and extracting the first image from the acquired video frame. It should be noted that, when the camera extracts the first image from the acquired video frame, the camera may also extract a fifth image containing depth image information of the storage layer at the same time.

And step A2, when a door closing signal that the door of the vending cabinet is closed is detected, sending a second image acquisition request to each camera according to the second detection time of the door closing signal, so that each camera acquires a corresponding video frame in the shot video stream according to the second detection time, and extracting a second image and a third image from the acquired video frame.

When the camera receives a second image acquisition request, acquiring a video frame subsequent to the video frame corresponding to the second detection time from the shot video stream, and extracting a second image and a third image from the acquired video frame; or when the camera receives a second image acquisition request, determining the cut-off time corresponding to a second preset time length by taking a second detection time as the starting time of the second preset time length, acquiring the video frame corresponding to the cut-off time length from the shot video stream, and extracting a second image and a third image from the acquired video frame; or when the camera receives a second image acquisition request, taking second detection time as the starting time of second preset time duration, acquiring any one video frame in the second preset time duration from the shot video stream, and extracting a second image and a third image from the acquired video frame; or when the camera receives a second image acquisition request, taking the second detection time as the starting time of a second preset time length, acquiring any two video frames within the second preset time length from the shot video stream, extracting a second image from one of the acquired video frames, and extracting a third image from the other acquired video frame.

The first preset time length and the second preset time length are both short, the first preset time length and the second preset time length can be the same or different, and the first preset time length and the second preset time length can be set automatically according to needs in practical application; as an example, the first preset time period and the second preset time period are the same and are both 1 second. Therefore, by acquiring the first image, the second image and the third image acquired by each camera, the time interval between the acquisition time of the first image acquired by the camera and the first detection time is short, and the time interval between the acquisition time of the second image acquired by the camera and the second detection time is short, and in the short time interval, a consumer or other users are difficult to perform malicious operation, so that the accuracy of the first image and the second image can be greatly ensured, and an effective data base is provided for subsequently determining the first target storage layer where the operated commodity is located, determining the movement information of the laminate to be moved and determining the purchased commodity.

Since the first image and the second image contain the plane information of the commodity placed on each storage layer before and after the commodity is purchased by the consumer, the first target storage layer where the commodity operated by the consumer is located can be obtained by processing the first image and the second image corresponding to each storage layer. Specifically, as shown in fig. 5, step S104 includes:

s104-2, determining a first image and a second image corresponding to each storage layer;

in order to ensure effective acquisition of images and distinguish images acquired by each camera, in one or more embodiments of the present specification, step S102 further includes: establishing a transmission channel with each camera so as to obtain images acquired by the corresponding cameras through the transmission channel; establishing a corresponding relation between the channel identification of the transmission channel and the storage layer identification of the storage layer where the corresponding camera is located; correspondingly, step S104-2 includes:

acquiring a corresponding storage layer identifier in the corresponding relation between the channel identifier and the storage layer identifier according to the channel identifier of the transmission channel for acquiring the first image, and taking the corresponding first image as the first image of the storage layer corresponding to the acquired storage layer identifier; and the number of the first and second groups,

and acquiring a corresponding storage layer identifier in the corresponding relation between the channel identifier and the storage layer identifier according to the channel identifier of the transmission channel for acquiring the second image, and taking the corresponding second image as the second image of the storage layer corresponding to the acquired storage layer identifier.

Or, in order to distinguish images collected by the cameras and distinguish the cameras in each storage layer, in one or more embodiments of the present specification, a storage layer identifier is allocated to each storage layer, a correspondence between the camera identifier and the storage layer identifier is established, and the image names of the first image, the second image, and the third image include the camera identifier of the camera collecting the image, which corresponds to the camera identifier, and step S104-2 includes:

according to the camera identification included in the image name of each first image, acquiring the corresponding storage layer identification in the corresponding relation between the camera identification and the storage layer identification, and taking the corresponding first image as the first image of the storage layer corresponding to the acquired storage layer identification; and the number of the first and second groups,

and acquiring the corresponding storage layer identification in the corresponding relation between the camera identification and the storage layer identification according to the camera identification included in the image name of each second image, and taking the corresponding second image as the second image of the storage layer corresponding to the acquired storage layer identification.

Step S104-4, carrying out difference processing on the first image and the second image corresponding to each storage layer to obtain a difference image corresponding to each storage layer;

specifically, the pixel values of the same pixel points of the first image and the second image corresponding to each storage layer are subtracted to obtain the pixel value difference value of the corresponding pixel point; and taking the pixel value difference as the pixel value of the corresponding pixel point of the differential image to obtain the differential image corresponding to each storage layer.

The first image and the second image corresponding to each storage layer are subjected to difference processing to weaken the similar part of the first image and the second image corresponding to each storage layer, and a difference image capable of showing the difference between the first image and the second image is obtained.

Step S104-6, performing binarization processing on the difference image corresponding to each storage layer to obtain a binarization image corresponding to each storage layer;

specifically, a matrix comprising a plurality of elements to be filled is constructed corresponding to the pixel points of the differential image corresponding to each storage layer; comparing the pixel value of each pixel point of the differential image of each storage layer with a preset pixel value threshold, and if the pixel value of the pixel point of the differential image is greater than the preset pixel value threshold, filling the corresponding element to be filled in the corresponding matrix into a first preset value; if the pixel value of the pixel point of the differential image is not greater than the preset pixel value threshold, filling the corresponding element to be filled in the corresponding matrix into a second preset value; and taking the image corresponding to the matrix filled with the elements to be filled as the binary image of the corresponding storage layer. Wherein the first preset value is, for example, 1, the second preset value is, for example, 0, and a schematic diagram of the complete matrix filled with the elements to be filled is shown in fig. 6.

The difference image is subjected to binarization processing to obtain a binarized image only having black and white visual effects, and the interference of other noises is removed, so that the first target storage layer where the operated commodity is located can be accurately determined according to the binarized image.

S104-8, determining a target binary image meeting preset conditions in the binary image;

specifically, the number of first preset values included in the matrix of each binary image is counted, and if the counted number is greater than the first preset number, the corresponding binary image is determined to be the target binary image; or counting the number of second preset values included in the matrix of each binary image, and if the counted number is greater than the second preset number, determining that the corresponding binary image is the target binary image. The first number and the second number may be the same or different, and may be set as required in practical application.

And S104-10, taking the storage layer corresponding to the target binary image as a first target storage layer where the operated commodity is located.

Since the consumer may move through multiple items in different storage layers or purchase multiple items in different storage layers when selecting the items, the first target storage layer may be one or more; for example, after the consumer has picked up orange juice in the storage layer 1 and compared the cola in the storage layer 3, and then has replaced the cola in the storage layer 2, the storage layer 1, the storage layer 2 and the storage layer 3 are all the first target storage layers; in another example, if the consumer picks up three different brands of coffee in the storage layer 2, and finally purchases 2 of the coffee bottles and replaces the other coffee bottle in the storage layer 2, the second storage layer is the first target storage layer.

In order to enlarge the space of the first target storage layer and enlarge the distance between the camera in the first target storage layer and the commodity, so that the camera in the first target storage layer can acquire clear and complete images, firstly, the layer plate to be moved and the movement information of the layer plate to be moved need to be determined. Specifically, as shown in fig. 7, step S106 includes:

s106-2, determining a third image corresponding to each storage layer;

the implementation method of this step is similar to the process of determining the first image and the second image corresponding to each storage layer in step S104-2, and reference may be made to the foregoing related description, which is not repeated herein.

S106-4, acquiring the target commodity with the smallest vertical distance between the top of the commodity and the top of the storage layer where the commodity is located from the commodities included in the third image corresponding to each storage layer;

specifically, the vertical distance between the top of each commodity included in the third image corresponding to each storage layer and the top of the storage layer where the commodity is located is measured, the measured vertical distances are compared to obtain the minimum vertical distance, and the commodity corresponding to the minimum vertical distance is used as the target commodity.

S106-6, taking the vertical distance between the top of the target commodity and the top of the storage layer as the residual layer height of the storage layer where the target commodity is located;

s106-8, determining the laminate to be moved in the laminates and the movement information of the laminate to be moved according to the remaining layer height of the storage layer.

In practical application, all the laminates with moving spaces can be determined according to the remaining layer heights of the storage layers and serve as the laminates to be moved, so that the space of the first target storage layer is maximized, the distance between a camera in the first target storage layer and a commodity is maximized, and the camera can acquire clear and complete images conveniently; and part of the laminates in the laminates with the moving space can be used as the laminates to be moved according to the residual layer height of the storage layer, so that the excessive laminates are not moved on the basis that the distance between the camera in the first target storage layer and the commodity reaches the preset distance capable of acquiring clear and complete images, and safety and stability are ensured. Specifically, in one or more embodiments of the present specification, as shown in fig. 8, step S106-8 includes:

step B2, if the existence of the storage layer with the non-zero movable distance is determined according to the residual layer height and the preset safety distance of each storage layer except the first target storage layer, determining the laminate to be moved according to the storage layer with the non-zero movable distance;

specifically, subtracting the preset safe distance from the remaining layer height of each storage layer except the first target storage layer to obtain a subtraction result, taking the subtraction result as the movable distance of the corresponding storage layer, judging whether a non-zero movable distance exists or not, and if so, determining that the storage layer with the non-zero movable distance exists; determining the layer plate to be moved according to the number of the storage layers with the non-zero movable distance, the number of the first target storage layers and the position relation between the storage layers with the non-zero movable distance and the first target storage layers;

further, determining the layer to be moved according to the number of the storage layers with the non-zero movable distance, the number of the first target storage layers, and the position relation between the storage layers with the non-zero movable distance and the first target storage layers, comprises:

if the number of the storage layers with the non-zero movable distance is one, the number of the first target storage layers is one, and the storage layers with the non-zero movable distance are adjacent to the first target storage layers and are positioned above/below the first target storage layers, determining the bottom/top side plate of the storage layers with the non-zero movable distance as a plate to be moved; for convenience of description, the layers are sequentially denoted as layer 1, layer 2, layer 3 and the like from top to bottom, for example, if the storage layer with a non-zero movable distance is the storage layer 2, and the first target storage layer is the storage layer 3, the bottom layer of the storage layer 2 is determined to be the layer to be moved, that is, the layer 2 is the layer to be moved;

determining a bottom/top side plate of the reservoir layer with the non-zero movable distance to a top/bottom side plate of the first target reservoir layer as a plate to be moved if the number of the reservoir layers with the non-zero movable distance is not unique, the number of the first target reservoir layers is one, and the reservoir layers with the non-zero movable distance are continuous reservoir layers adjacent to and above/below the first target reservoir layer; for example, if the storage layers with non-zero movable distance are the storage layer 4 and the storage layer 5, and the first target storage layer is the storage layer 3, the top layer plate of the storage layer 5 to the bottom layer plate of the storage layer 3 are determined as the to-be-moved layer plates, i.e. the layer plate 4 and the layer plate 3 are determined as the to-be-moved layer plates;

if the number of the reservoir layers with the non-zero movable distance is not unique, the number of the first target reservoir layers is one, and the reservoir layers with the non-zero movable distance are discontinuous reservoir layers, determining a bottom/top layer plate of the reservoir layer with the non-zero movable distance positioned at the uppermost/lower position to a top/bottom layer plate of the first target reservoir layer as a layer to be moved when the reservoir layers with the non-zero movable distance are all positioned at the upper/lower position of the first target reservoir layer; determining a bottom plate of a reservoir layer with a non-zero movable distance positioned uppermost in the first target reservoir layer to a top plate of the first target reservoir layer and a top plate of a reservoir layer with a non-zero movable distance positioned lowermost in the first target reservoir layer to a bottom plate of the first target reservoir layer as to-be-moved plates when the reservoir layers with the non-zero movable distance are dispersedly positioned above and below the first target reservoir layer; it should be noted that, when the number of the reservoir layers having the non-zero movable distance is two, and the reservoir layers are dispersedly located above and below the first target reservoir layer and are both adjacent to the first target reservoir layer, the bottom-side plate of the reservoir layer having the non-zero movable distance located uppermost to the first target reservoir layer and the top-side plate of the first target reservoir layer are the same plate, and the top-side plate of the reservoir layer having the non-zero movable distance located lowermost to the first target reservoir layer and the bottom-side plate of the first target reservoir layer are the same plate.

For example, if the storage layers with non-zero movable distance are the storage layer 1 and the storage layer 3, and the first target storage layer is the storage layer 5, determining the layer from the bottom layer plate of the storage layer 1 to the top layer plate of the storage layer 5 as the layer to be moved, i.e. the layer 1, the layer 2, the layer 3 and the layer 4 are the layers to be moved; if the storage layers with the non-zero movable distance are the storage layer 1, the storage layer 2 and the storage layer 5, and the first target storage layer is the storage layer 3, determining that the bottom-side layer plate from the storage layer 1 to the top-side layer plate from the storage layer 3 and the top-side layer plate from the storage layer 5 to the bottom-side layer plate from the storage layer 3 are movable layers, namely, the layer plate 1, the layer plate 2, the layer plate 3 and the layer plate 4 are to-be-moved layers; as another example, if the reservoir layers with non-zero movable distances are the reservoir layer 2 and the reservoir layer 4, and the first target reservoir layer is the reservoir layer 3, then the bottom layer of the reservoir layer 2 and the top layer of the reservoir layer 4 are movable layers, i.e., the layers 2 and 3 are to-be-moved layers.

Further, when the number of the first target reservoir layers is greater than one, one of the first target reservoir layers may be sequentially used as the current target reservoir layer, and the movable layer with respect to the current target reservoir layer may be determined in the above manner. The movable layer plate can be determined according to the calculation result by calculating according to the movable distance and the preset distance of the storage layer with the non-zero movable distance; for example, the first target storage layer is the storage layer 2 and the storage layer 5, the storage layers with non-zero movable distance are the storage layer 1 and the storage layer 4, the movable distance of the storage layer 1 is 9 cm, the movable distance of the storage layer 4 is 2 cm, and the preset distance is 5 cm; the method can determine that the bottom-side laminate of the storage layer 1 moves upwards by 5 cm to enable the target storage layer 2 to reach a preset distance, and at the moment, the storage layer 1 has a movable distance of 3 cm, and the storage layer 5 still cannot reach the preset distance after the bottom-side laminate of the storage layer 4 moves upwards by 2 cm, so that the storage layer 5 can reach a shooting distance by moving the bottom-side laminate of the storage layer 1 upwards by 8 cm, moving the top-side laminate and the bottom-side laminate of the storage layer 3 upwards by 3 cm, and moving the bottom-side laminate of the storage layer 4 upwards by 3+2 ═ 5 cm; alternatively, the movable distance of the target bank layer 5 may be 6 cm, exceeding the preset distance, by moving the bottom side plate of the bank layer 1 up 9 cm, the top and bottom side plates of the bank layer 3 up 4 cm, and the bottom side plate of the bank layer 4 up 4+2 ═ 6 cm; the bottom layer plate of the storage layer 1, the top layer plate and the bottom layer plate of the storage layer 3 and the bottom layer plate of the storage layer 4 are determined as the layer plates to be moved, namely the layer plates 1, 2, 3 and 4 are determined as the layer plates to be moved. It should be understood that when the number of the first target storage layers is greater than one, the strategy for determining the movable layer can be configured by itself, which can maximize the space of the target storage layers, and each strategy for determining the movable layer is within the protection scope of this document and is not exemplified here.

Step B4, determining the moving direction of the laminate to be moved according to the position relation between the laminate to be moved and the first target storage layer;

specifically, when the number of the first target storage layers is one, if the layer plate to be moved is located above the first target storage layer, the moving direction of the layer plate to be moved is upward; if the layer plate to be moved is positioned below the first target storage layer, the moving direction of the layer plate to be moved is downward. When the number of the first target storage layers is more than one, the moving direction of the layer plate to be moved can be determined according to a specific calculation process.

Step B6, determining the actual moving distance of the laminate to be moved according to the movable distance of the storage layer corresponding to the laminate to be moved;

specifically, if the number of the first target storage layers is one and the number of the to-be-moved layer plates is one, determining the movable distance of the corresponding storage layer as the actual moving distance of the to-be-moved layer plate; for example, if the target storage layer is the storage layer 3, the to-be-moved layer plate is the layer plate 2, and the movable distance of the storage layer 2 corresponding to the layer plate 2 is 1.5 cm, the actual movement distance of the to-be-moved layer plate 2 is determined to be 1.5 cm;

if the number of the first target storage layers is one, the number of the laminates to be moved is not unique and the first target storage layers are positioned above/below the target storage layers, accumulating the movable distances of the storage layers taking the laminates to be moved as bottom/top laminates from top to bottom/from bottom to top in sequence, and taking the accumulated result as the actual moving distance of the corresponding movable laminate; for example, if the first target reservoir layer is the reservoir layer 4, the to-be-moved layer is the layer 1, the layer 2 and the layer 3, the movable distance of the reservoir layer 1 with the layer 1 as the bottom layer is 1 cm, the movable distance of the reservoir layer 2 with the layer 2 as the bottom layer is 1.5 cm, and the movable distance of the reservoir layer 3 with the layer 3 as the bottom layer is 1 cm, the actual moving distance of the layer 1 is determined to be 1 cm, the actual moving distance of the layer 2 is 1+1.5 cm-2.5 cm, and the actual moving distance of the layer 3 is 1+1.5+ 1-3.5 cm; for another example, the first target storage layer is the storage layer 2, the to-be-moved layer is the layer 2, the layer 3 and the layer 4, the movable distance of the storage layer 3 with the layer 2 as the top layer is 1 cm, the movable distance of the storage layer 4 with the layer 3 as the top layer is 0 cm, and the movable distance of the storage layer 5 with the layer 4 as the top layer is 2 cm, it is determined that the actual moving distance of the layer 4 is 2 cm, the actual moving distance of the layer 3 is 2+0 ═ 2 cm, and the actual moving distance of the layer 2 is 2+0+1 ═ 3 cm.

Further, when the number of the first target storage layers is more than one, the moving distance of the layer to be moved can be determined according to a specific calculation process.

Step B8, taking the moving direction and the actual moving distance of the laminate to be moved as the moving information of the laminate to be moved;

in the manner described in the above-mentioned steps B2 to B8, all the laminae having the moving space can be determined as the laminae to be moved according to the storage layers having the non-zero movable distance, so as to maximize the space of the first target storage layer.

In one or more embodiments of the present disclosure, on the basis that the distance between the camera and the commodity in the first target storage layer reaches the preset distance that can collect a clear and complete image, safety and stability are ensured without moving too many laminas, and only a part of the laminas having a movement space may be used as movable laminas; specifically, as shown in fig. 9, step S106-8 includes:

step C2, if a second target storage layer which is closest to the first target storage layer and the total movable distance of which is not less than the preset distance is determined to exist according to the residual layer height and the preset safety distance of each storage layer except the first target storage layer, determining a laminate to be moved according to the second target storage layer;

specifically, the remaining layer height of each storage layer except the first target storage layer is subtracted from a preset safe distance, and the subtraction result is used as the movable distance of the corresponding storage layer; recording the current calculated number of layers as one, judging whether the movable distance of one storage layer adjacent to the first target storage layer upwards or downwards on the basis of the first target storage layer is not less than a preset distance, if so, determining that the one storage layer is the target storage layer, if not, adding one to the current calculated number of layers to serve as the current calculated number of layers, taking the first target storage layer as the basis, upwards and/or downwards, adding the movable distances of two storage layers closest to the first target storage layer, taking the addition result as the movable total distance of the two storage layers, judging whether the total distance is not less than the preset distance, if so, taking the two storage layers as second target storage layers, and determining a to-be-moved laminate according to the second target storage layer; and if not, continuously updating the current calculated layer number and carrying out the calculation until a second target storage layer is obtained.

Further, determining the ply to be moved according to the second target reservoir layer includes:

if the number of the first target storage layers is one and the second target storage layers are positioned above/below the first target storage layers, determining the bottom side/top side plate of the second target storage layer positioned at the top/below to the top side/bottom side plate of the first target storage layer as a plate to be moved; for example, if the first target storage layer is the storage layer 4, and the second target storage layer is the storage layer 2 and the storage layer 3, the layer from the bottom layer plate of the storage layer 2 to the top layer plate of the storage layer 4 is determined as the layer to be moved, that is, the layer plates 2 and 3 are the layers to be moved;

if the number of the first target storage layers is one, and the second target storage layers are dispersedly positioned above and below the first target storage layers, regarding the second target storage layer positioned above the first target storage layer, taking the bottom-side plate of the second target storage layer positioned at the top to the top-side plate of the first target storage layer as the plate to be moved; and for a second target storage layer below the first target storage layer, taking a top layer plate of the second target storage layer positioned at the lowest position to a bottom layer plate of the first target storage layer as a layer to be moved; for example, if the first target reservoir layer is the reservoir layer 3 and the second target reservoir layer is the reservoir layer 2, the reservoir layer 4, and the reservoir layer 5, the bottom layer plate of the reservoir layer 2, the top layer plate of the reservoir layer 4, and the reservoir layer 5 are determined as the layer plate to be moved, i.e., the layer plate 2, the layer plate 3, and the layer plate 4 are determined as the layer plate to be moved.

Further, if the number of the first target reservoir layers is greater than one, one of the first target reservoir layers may be sequentially used as the current target reservoir layer, and the movable layer with respect to the current target reservoir layer may be determined as described above. And calculating according to the movable distance and the preset distance of the storage layer with the non-zero movable distance by taking the space of each first target storage layer as a maximum as a target, so as to determine the movable layer plate according to the calculation result. It should be understood that when the number of the first target storage layers is greater than one, the strategy for determining the movable layer can be configured by itself, which can maximize the space of the target storage layers, and each strategy for determining the movable layer is within the protection scope of the present document and is not exemplified here.

Step C4, determining the moving direction of the laminate to be moved according to the position relation between the laminate to be moved and the first target storage layer;

the implementation method of this step can refer to the related description in the foregoing step B4, and repeated details are not repeated here.

Step C6, determining the actual moving distance of the layer plate to be moved according to the movable distance of the second target storage layer;

the implementation method of this step can refer to the related description in the foregoing step B6, and repeated details are not repeated here.

And step C8, taking the moving direction and the actual moving distance of the layer plate to be moved as the moving information of the layer plate to be moved.

Through the mode of the step C2 to the step C8, the distance between the camera and the commodity in the first target storage layer can reach the preset distance capable of collecting clear and complete images, excessive laminates can not be moved, and safety and stability are guaranteed.

The moving information of the laminate to be moved is determined, so that the laminate to be moved is accurately controlled according to the moving information in the follow-up process, and partial commodities cannot be damaged due to different heights of the commodities in the same storage layer.

After determining the movement information of the layer to be moved, the layer to be moved may be controlled to maximize the space of the first target storage layer, and in one or more embodiments of the present disclosure, the step S108 includes:

according to the movement information and the laminate identification of the laminate to be moved, sending a laminate movement instruction to a lifting module arranged in the selling container, so that a driving unit in the lifting module drives the laminate to be moved corresponding to the laminate identification to move along a guide rail in the lifting module through a roller arranged on the side face of the laminate according to the movement information included in the laminate movement instruction.

Further, it is considered that when the space of the first target storage layer is maximized, the image collected by the camera is more complete and clearer than that before the layer moves, and the purchased goods are determined more accurately based on the image collected by the camera. Based on this, in one or more embodiments of the present specification, as shown in fig. 10, after step S108, the method further includes:

step S110, acquiring a fourth image of the first target storage layer, wherein the fourth image comprises plane image information of the first target storage layer;

specifically, when a movement completion signal sent by a lifting module in the vending cabinet is received, a third image acquisition request is sent to a camera arranged in the first target storage layer according to the receiving time of the movement completion signal; the camera in the first target storage layer receives a third image acquisition request, acquires a corresponding video frame in a video stream shot by the camera according to the receiving time included by the third image acquisition request, extracts a fourth image from the acquired video frame and returns the fourth image; and receiving a fourth image returned by the camera in the first target storage layer.

Step S112, determining a purchased commodity according to the first image and the fourth image corresponding to the first target storage layer;

specifically, a first image and a fourth image corresponding to the first target storage layer are input into a pre-trained deep neural network for learning, and commodity information of the taken commodity is obtained, wherein the commodity information includes a commodity name, a commodity category, a commodity price and the like.

It should be noted that the training process of the deep neural network is a technical means well known to those skilled in the art, and the specific training process is not described herein again, and reference may be made to the training process of the existing deep neural network.

And step S114, sending the commodity information of the purchased commodity to a corresponding consumer, and controlling the laminate to be moved to restore to the position before moving.

Specifically, the commodity information of the purchased commodity obtained by learning is sent to the corresponding consumer, so that the consumer can confirm and pay corresponding fees;

therefore, the purchased commodity is determined based on the fourth image acquired after the laminate is moved, the accuracy of the determination result is improved, and the laminate is restored to the position before the laminate is moved, so that each storage layer has a certain space and the operation of the consumer is facilitated when the subsequent consumer purchases the commodity.

Further, in order to control the ply to be moved to return to the position before the movement, in one or more embodiments of the present specification, the step S106-8 is followed by: recording the determined movement information of the laminate to be moved; correspondingly, the step S114 of controlling the layer to be moved to return to the position before the movement includes: and determining restoration information of the laminate to be moved according to the recorded movement information of the laminate to be moved, and sending a laminate restoration instruction to a lifting module in the vending container according to the restoration information so that the lifting module controls the laminate to be moved to be restored to the position before the movement according to the restoration information.

Or when the lifting module in the selling container receives the laminate moving instruction, recording the moving information of the laminate to be moved; correspondingly, the step S114 of controlling the layer to be moved to return to the position before the movement includes: and sending a laminate restoration instruction to a lifting module in the vending container so that the lifting module determines laminate restoration information according to the laminate movement information recorded by the lifting module and controls the laminate to be moved to be restored to the position before moving according to the laminate restoration information.

The laminate adjusting method provided by one or more embodiments of the specification can determine the movement information of the laminate to be moved based on the images collected by the cameras in the vending container; it has realized selling the nimble regulation and control of packing cupboard intermediate floor position, not only can promote storing space's utilization ratio, can increase moreover by the camera in operation commodity place storage layer and the distance between the commodity to reduce the shooting blind area and the shooting dead angle of this camera, promote the accuracy of the image that this camera gathered, and promote the accuracy of discernment the discernment result of being bought commodity.

Corresponding to the laminate regulation and control method described in fig. 4 to 10, based on the same technical concept, one or more embodiments of the present disclosure further provide a laminate regulation and control device applied to a sales container, wherein a storage space inside the sales container is divided into a plurality of storage layers by a laminate. Fig. 11 is a schematic block diagram of a laminate conditioning apparatus according to one or more embodiments of the present disclosure, the apparatus being used to perform the laminate conditioning method described in fig. 4 to 10, and as shown in fig. 11, the apparatus including:

an acquisition module 201 for acquiring a first image of each of the storage layers when a cabinet door of the sales container is opened, and a second image and a third image of each of the storage layers when the cabinet door is closed; the first image, the second image and the third image are obtained by collecting commodities placed in the storage layers where the first image, the second image and the third image are arranged through cameras arranged on the top sides of the storage layers; the first image and the second image comprise planar image information of the reservoir layer, and the third image comprises depth image information of the reservoir layer;

a first determining module 202, configured to determine a first target storage layer where the operated commodity is located according to the first image and the second image;

a second determining module 203, which determines a to-be-moved ply of the plies and movement information of the to-be-moved ply according to the third image and the first target storage layer;

and the control module 204 is used for controlling the movement of the layer to be moved according to the movement information of the layer to be moved.

Optionally, the obtaining module 201 is configured to,

when a door opening signal that a cabinet door of the sales container is opened is detected, sending a first image acquisition request to each camera according to first detection time of the door opening signal, so that each camera acquires a corresponding video frame in a shot video stream according to the first detection time, and extracting the first image from the acquired video frame; and the number of the first and second groups,

when a door closing signal that the door of the sales counter is closed is detected, sending a second image acquisition request to each camera according to second detection time of the door closing signal, so that each camera acquires a corresponding video frame in a shot video stream according to the second detection time, and extracting the second image and the third image from the acquired video frame.

Optionally, the first determining module 202 is configured to determine the first image and the second image corresponding to each storage layer; and the number of the first and second groups,

Optionally, the second determining module 203 determines the third image corresponding to each storage layer; and the number of the first and second groups,

Optionally, if it is determined that a storage layer with a non-zero movable distance exists according to the remaining layer height of each storage layer except the first target storage layer and the preset safety distance, the second determining module 203 determines a layer to be moved according to the position relationship between the storage layer with the non-zero movable distance and the first target storage layer; and the number of the first and second groups,

determining the moving direction of the laminate to be moved according to the position relation between the laminate to be moved and the first target storage layer;

determining the actual moving distance of the laminate to be moved according to the movable distance of the storage layer corresponding to the laminate to be moved;

taking the moving direction and the actual moving distance of the laminate to be moved as the moving information of the laminate to be moved;

alternatively, the first and second electrodes may be,

if a second target storage layer which is closest to the first target storage layer and has a total movable distance not less than a preset distance is determined to exist according to the residual layer height and the preset safety distance of each storage layer except the first target storage layer, determining a laminate to be moved according to the second target storage layer; and the number of the first and second groups,

determining the actual moving distance of the layer plate to be moved according to the movable distance of the second target storage layer;

and taking the moving direction and the actual moving distance of the laminate to be moved as the moving information of the laminate to be moved.

Optionally, the control module 204 sends a laminate moving instruction to the lifting module disposed in the vending container according to the moving information of the laminate to be moved and the laminate identifier, so that the driving unit in the lifting module drives the laminate to be moved corresponding to the laminate identifier to move along the guide rail in the lifting module through the roller disposed on the side of the laminate according to the moving information.

Optionally, the obtaining module 201 is further configured to obtain a fourth image corresponding to the first target storage layer after the control module 204 controls the layer to be moved to move, where the fourth image includes planar image information of the first target storage layer; and the number of the first and second groups,

determining the purchased commodity according to the first image and the fourth image corresponding to the first target storage layer;

sending the commodity information of the purchased commodity to a corresponding consumer;

the control module 204 further controls the layer to be moved to be restored to the position before the movement.

The laminate regulating and controlling device provided by one or more embodiments of the specification can determine the movement information of the laminate to be moved based on the images collected by the cameras in the vending container; it has realized not only can promoting the utilization ratio of storing space to the nimble regulation and control of layer board position in the packing cupboard of selling, can increase moreover by the camera in operation commodity place storage layer and the distance between the commodity to reduce the shooting blind area and the shooting dead angle of this camera, promote the accuracy of the image that this camera was gathered, and promote the accuracy of discernment the identification result of being bought commodity.

It should be noted that the embodiment of the laminate control device in this specification and the embodiment of the laminate control method in this specification are based on the same inventive concept, and therefore, the specific implementation of this embodiment may refer to the implementation of the laminate control method described above, and repeated details are not repeated.

Further, corresponding to the methods shown in fig. 4 to 10, based on the same technical concept, one or more embodiments of the present disclosure further provide a laminate conditioning apparatus for performing the laminate conditioning method, and fig. 12 is a schematic structural diagram of the laminate conditioning apparatus provided in one or more embodiments of the present disclosure.

As shown in FIG. 12, the ply manipulation apparatus may have a large difference due to different configurations or performances, and may include one or more processors 301 and a memory 302, and the memory 302 may store one or more stored applications or data. Memory 302 may be, among other things, transient storage or persistent storage. The application program stored in memory 302 may include one or more modules (not shown), each of which may include a series of computer-executable instructions in a tier regulation device. Still further, processor 301 may be configured to communicate with memory 302 to execute a series of computer-executable instructions in memory 302 on a lamina regulatory device. The layer regulation device may also include one or more power sources 303, one or more wired or wireless network interfaces 304, one or more input-output interfaces 305, one or more keyboards 306, and the like.

In one particular embodiment, a lamina regulation device includes a memory, and one or more programs, wherein the one or more programs are stored in the memory, and the one or more programs may include one or more modules, and each module may include a series of computer-executable instructions in a lamina regulation device, and the one or more programs configured to be executed by one or more processors include computer-executable instructions for:

Optionally, the computer executable instructions, when executed, said obtaining a first image of each said store level when a door of a merchandising container is opened and a second image and a third image of each said store level when the door is closed, comprise:

when a door opening signal that a cabinet door of the sales container is opened is detected, sending a first image acquisition request to each camera according to first detection time of the door opening signal, so that each camera acquires a corresponding video frame in a shot video stream according to the first detection time, and extracting the first image from the acquired video frame;

Optionally, when executed, the determining, according to the first image and the second image, a first target storage layer where the operated commodity is located includes:

determining the first image and the second image corresponding to each storage layer;

Optionally, when executed, the determining, from the third image and the first target reservoir layer, a ply to be moved of the plies and movement information of the ply to be moved includes:

determining the third image corresponding to each storage layer;

Optionally, when executed, the determining, according to the remaining layer height of the storage layer, a to-be-moved layer of the layers and movement information of the to-be-moved layer includes:

if the storage layer with the non-zero movable distance is determined to exist according to the residual layer height and the preset safety distance of each storage layer except the first target storage layer, determining a layer plate to be moved according to the position relation between the storage layer with the non-zero movable distance and the first target storage layer;

alternatively, the first and second electrodes may be,

if a second target storage layer which is closest to the first target storage layer and has a total movable distance not less than a preset distance is determined to exist according to the residual layer height and the preset safety distance of each storage layer except the first target storage layer, determining a laminate to be moved according to the second target storage layer;

Optionally, when executed, the controlling the movement of the layer to be moved according to the movement information of the layer to be moved includes:

and sending a laminate moving instruction to a lifting module arranged in the selling container according to the moving information and the laminate identification of the laminate to be moved, so that a driving unit in the lifting module drives the laminate to be moved corresponding to the laminate identification to move along a guide rail in the lifting module through a roller arranged on the side surface of the laminate according to the moving information.

Optionally, the computer-executable instructions, when executed, further comprise, after controlling the movement of the ply to be moved:

acquiring a fourth image corresponding to the first target storage layer, wherein the fourth image comprises plane image information of the first target storage layer;

and sending the commodity information of the purchased commodity to a corresponding consumer, and controlling the laminate to be moved to restore to the position before moving.

The laminate regulating and controlling device provided by one or more embodiments of the specification can determine the movement information of the laminate to be moved based on the images collected by the cameras in the vending container; the flexible regulation and control of the middle layer plate position of the selling container are realized, the utilization rate of the storage space can be improved, the distance between the camera and the commodity in the storage layer where the commodity is operated can be increased, the shooting blind area and the shooting dead angle of the camera are reduced, the accuracy of the image collected by the camera is improved, and the accuracy of the identification result of the commodity purchased through identification is improved.

It should be noted that the embodiment of the laminate control apparatus in this specification and the embodiment of the laminate control method in this specification are based on the same inventive concept, and therefore, the specific implementation of this embodiment may refer to the implementation of the corresponding laminate control method, and repeated details are not repeated.

Further, based on the same technical concept, corresponding to the methods shown in fig. 4 to fig. 10, one or more embodiments of the present specification further provide a storage medium for storing computer-executable instructions, where in a specific embodiment, the storage medium may be a usb disk, an optical disk, a hard disk, and the like, and the storage medium stores computer-executable instructions that, when executed by a processor, implement the following processes:

Optionally, the storage medium storing computer executable instructions that, when executed by a processor, obtain a first image of each of the storage layers when a door of a merchandising container is opened and a second image and a third image of each of the storage layers when the door is closed, comprising:

Optionally, the storage medium stores computer-executable instructions that, when executed by the processor, determine a first target storage layer where the operated commodity is located according to the first image and the second image, and includes:

Optionally, the storage medium stores computer-executable instructions that, when executed by a processor, determine a ply to be moved of the plies and movement information of the ply to be moved based on the third image and the first target reservoir layer, including:

determining the third image corresponding to each storage layer;

Optionally, the storage medium stores computer-executable instructions that, when executed by a processor, determine a ply to be moved of the plies and movement information of the ply to be moved according to a remaining layer height of the storage layer, including:

alternatively, the first and second electrodes may be,

Optionally, the storage medium stores computer-executable instructions that, when executed by a processor, control movement of the ply to be moved according to the movement information of the ply to be moved, including:

Optionally, the storage medium stores computer-executable instructions that, when executed by the processor, further comprise, after controlling the movement of the ply to be moved:

The storage medium stores computer-executable instructions that, when executed by a processor, enable determination of movement information for a shelf to be moved based on images collected by cameras in a sales container; the flexible regulation and control of the middle layer plate position of the selling container are realized, the utilization rate of the storage space can be improved, the distance between the camera and the commodity in the storage layer where the commodity is operated can be increased, the shooting blind area and the shooting dead angle of the camera are reduced, the accuracy of the image collected by the camera is improved, and the accuracy of the identification result of the commodity purchased through identification is improved.

It should be noted that the embodiment of the storage medium in this specification and the embodiment of the lamina regulation method in this specification are based on the same inventive concept, and therefore, the specific implementation of this embodiment may refer to the implementation of the corresponding lamina regulation method, and repeated details are not repeated.

The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

In the 30 s of the 20 th century, improvements in a technology could clearly be distinguished between improvements in hardware (e.g., improvements in circuit structures such as diodes, transistors, switches, etc.) and improvements in software (improvements in process flow). However, as technology advances, many of today's process flow improvements have been seen as direct improvements in hardware circuit architecture. Designers almost always obtain the corresponding hardware circuit structure by programming an improved method flow into the hardware circuit. Thus, it cannot be said that an improvement in the process flow cannot be realized by hardware physical modules. For example, a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), is an integrated circuit whose Logic functions are determined by programming the Device by a user. A digital system is "integrated" on a PLD by the designer's own programming without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Furthermore, nowadays, instead of manually making an Integrated Circuit chip, such Programming is often implemented by "logic compiler" software, which is similar to a software compiler used in program development and writing, but the original code before compiling is also written by a specific Programming Language, which is called Hardware Description Language (HDL), and HDL is not only one but many, such as abel (advanced Boolean Expression Language), ahdl (alternate Hardware Description Language), traffic, pl (core universal Programming Language), HDCal (jhdware Description Language), lang, Lola, HDL, laspam, hardward Description Language (vhr Description Language), vhal (Hardware Description Language), and vhigh-Language, which are currently used in most common. It will also be apparent to those skilled in the art that hardware circuitry that implements the logical method flows can be readily obtained by merely slightly programming the method flows into an integrated circuit using the hardware description languages described above.

The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and an embedded microcontroller, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic for the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may thus be considered a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.

The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the units may be implemented in the same software and/or hardware or in multiple software and/or hardware when implementing the embodiments of the present description.

One skilled in the art will recognize that one or more embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, one or more embodiments of the present description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The description has been presented with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the description. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

One or more embodiments of the present description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. One or more embodiments of the specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.

The above description is only an example of this document and is not intended to limit this document. Various modifications and changes may occur to those skilled in the art from this document. Any modifications, equivalents, improvements, etc. which come within the spirit and principle of the disclosure are intended to be included within the scope of the claims of this document.

Claims

1. The utility model provides a plywood regulation and control equipment is applied to and sells packing cupboard, wherein, sell the inside storing space of packing cupboard and divide into a plurality of storage layers by the plywood, equipment includes:

2. The apparatus as set forth in claim 1, wherein,

the main control module is used for sending a first image acquisition request to each camera according to first detection time of a door opening signal when the door opening signal that the cabinet door of the selling container is opened is detected; when a door closing signal that the door of the selling container is closed is detected, sending a second image acquisition request to each camera according to second detection time of the door closing signal;

the camera acquires a corresponding video frame in a shot video stream according to the first detection time when receiving the first image acquisition request, and extracts the first image from the acquired video frame; and when the second image acquisition request is received, acquiring a corresponding video frame in the shot video stream according to the second detection time, and extracting the second image and the third image from the acquired video frame.

3. The apparatus as set forth in claim 1, wherein,

the main control module is used for determining the first image and the second image corresponding to each storage layer; and the number of the first and second groups,

4. The apparatus as set forth in claim 1, wherein,

the main control module is used for determining the third image corresponding to each storage layer; and the number of the first and second groups,

5. The apparatus as set forth in claim 4, wherein,

the main control module determines a laminate to be moved according to the position relationship between the storage layer with the non-zero movable distance and the first target storage layer if the storage layer with the non-zero movable distance is determined to exist according to the residual layer height of each storage layer except the first target storage layer and the preset safety distance; and the number of the first and second groups,

alternatively, the first and second electrodes may be,

6. The apparatus of claim 1, the lift module comprising: the device comprises a driving unit, a guide rail and rollers, wherein the rollers are arranged on the side surface of each layer plate;

the main control module sends a laminate moving instruction to the driving unit according to the moving information of the laminate to be moved and the laminate identification;

and the output end of the driving unit is connected with each laminate, and when the laminate moving instruction is received, the driving unit drives the laminate to be moved corresponding to the laminate identification to move along the guide rail through the roller arranged on the side surface of the laminate according to the moving information.

7. The apparatus of any one of claims 1-6,

the main control module is used for acquiring a fourth image of the first target storage layer after the lifting module controls the layer plate to be moved to move, wherein the fourth image comprises plane image information of the first target storage layer; and the number of the first and second groups,

determining a purchased commodity according to the first image and the fourth image corresponding to the first target storage layer;

and the lifting module also controls the laminate to be moved to be restored to the position before moving.

8. A laminate control method is applied to a sales container, wherein a storage space inside the sales container is divided into a plurality of storage layers by a laminate, and the method comprises the following steps:

9. The method of claim 8, said obtaining a first image of each of said storage levels when a door of a merchandising container is opened and a second image and a third image of each of said storage levels when the door is closed, comprising:

10. The method of claim 8, wherein determining the first target storage layer where the operated commodity is located according to the first image and the second image comprises:

11. The method of claim 8, the determining, from the third image and the first target reservoir layer, a to-be-moved ply of the plies and movement information for the to-be-moved ply, comprising:

determining the third image corresponding to each storage layer;

12. The method of claim 11, the determining a ply to be moved of the plies and movement information of the ply to be moved according to a remaining layer height of the reservoir layer, comprising:

alternatively, the first and second electrodes may be,

13. The method of claim 8, the controlling movement of the ply to be moved according to movement information of the ply to be moved, comprising:

14. The method according to any one of claims 8-13, after controlling the movement of the ply to be moved, further comprising:

15. The utility model provides a plywood regulation and control device is applied to and sells packing cupboard, wherein, sell the inside storing space of packing cupboard and divide into a plurality of storage layers by the plywood, the device includes:

16. The apparatus as set forth in claim 15, wherein,

the first determining module is used for determining the first image and the second image corresponding to each storage layer; and the number of the first and second groups,

17. The apparatus as set forth in claim 15, wherein,

the second determining module is used for determining the third image corresponding to each storage layer; and the number of the first and second groups,

taking the vertical distance between the top of the target commodity and the top of the storage layer as the residual layer height of the storage layer where the target commodity is located;

18. The apparatus according to any one of claims 15-17,

the control module sends a laminate moving instruction to the lifting module arranged in the selling container according to the moving information of the laminate to be moved and the laminate identification, so that the driving unit in the lifting module drives the laminate to be moved corresponding to the laminate identification to move along the guide rail in the lifting module through the roller arranged on the side surface of the laminate according to the moving information.

19. A laminate conditioning apparatus comprising:

a processor; and the number of the first and second groups,

obtaining a first image of each storage layer obtained by dividing the storage space of the sales container by a layer when a door of the sales container is opened, and a second image and a third image of each storage layer when the door of the sales container is closed; the first image, the second image and the third image are obtained by collecting commodities placed in the storage layers where the first image, the second image and the third image are arranged through cameras arranged on the top sides of the storage layers; the first image and the second image comprise planar image information of the reservoir layer, and the third image comprises depth image information of the reservoir layer;

20. A storage medium storing computer-executable instructions that when executed implement the following: