CN113319845A

CN113319845A - Shelf display management system, method, device and equipment

Info

Publication number: CN113319845A
Application number: CN202010131062.1A
Authority: CN
Inventors: 唐红兵
Original assignee: Alibaba Group Holding Ltd
Current assignee: Hema China Co Ltd
Priority date: 2020-02-28
Filing date: 2020-02-28
Publication date: 2021-08-31

Abstract

Shelf display management systems, related methods, devices, and apparatus are disclosed. The system acquires shelf display information in a shelf display detection path through a robot to serve as actual shelf display information; sending a shelf display inspection request to a server; the server side determines the storage position with abnormal goods display according to the actual display information of the goods shelf and the target display information of the storage position in the goods shelf, and sends the information of the abnormal goods display storage position to the client side; the client displays the information of the abnormal goods display position so that the shelf manager can adjust the shelf display mode in time. By adopting the processing mode, the inspection robot automatically inspects the shelf display execution condition, realizes the goods display abnormity detection of the granularity of the storage positions, is convenient for shelf display personnel to quickly position the storage positions with goods display abnormity, does not need manual access, and can avoid the problems of inertia, fatigue and the like of people; therefore, the detection accuracy and detection efficiency of the shelf display abnormality can be effectively improved.

Description

Shelf display management system, method, device and equipment

Technical Field

The application relates to the technical field of data processing, in particular to a shelf display management system, method and device, a robot, electronic equipment, remote robot image acquisition equipment and electronic label equipment.

Background

And the new retail mode refers to a new retail mode in which enterprises rely on the Internet, upgrade and reform the production, circulation and sale processes of goods by using advanced technical means such as big data, artificial intelligence and the like, further remodel the industrial structure and the ecological cycle, and perform deep fusion on online service, offline experience and modern logistics. Because the shopping convenience is emphasized in the new retail mode, the shopping efficiency of customers can be improved, so that good shopping experience is brought to the customers, more customers are attracted to shop for shopping, and more retail enterprises begin to adopt the new retail operation mode.

In the store of the new retail mode, specific sold goods can include fresh goods, fruits, meals, drinks, daily goods and the like. For the online order of the user, the operator in the store needs to pick the order firstly, then needs to pass through the links of container sorting, packaging and the like, and finally can be delivered by the delivery personnel. Therefore, the time requirement from the step of receiving the user's order from the store to the steps of picking, sorting, packaging, delivering and the like is very high, and delay in each step may result in failure to perform on time. The time efficiency of the picking link is an important factor influencing the on-time performance. The new retail physical store is divided into a front field and a back field, and the picking personnel can pick goods from the front field or the back field. The front field is a sales area, goods are placed on a sales goods shelf, various sold goods are displayed for customers, and the customers can conveniently select the goods; the back end is the stock area, a large number of stock goods are placed on the stock goods shelf, the replenishment staff can replenish the goods in the stock area to the front sales goods shelf, and the picking staff can directly pick the goods from the stock goods shelf.

To quickly pick correct goods from the shelves, the actual display mode of the shelves is ensured to be consistent with the design mode of shelf display, so that the goods to be picked can be quickly found in the bin indicated by the goods picking equipment. The new retail headquarters have stringent requirements for display of shelf goods in brick and mortar stores, such as one display adjustment every two weeks and two major season changes a year. The display design requirement of the headquarters must reach higher (such as more than 98%) execution accuracy, so that the customers can select and purchase goods more conveniently, the picking personnel can pick the goods quickly, and even the problem of customer complaint application for 3-time price difference compensation caused by inconsistent price tags and goods can be avoided, thereby improving the overall sales revenue. At present, a physical store mainly adopts a working mode of manually inspecting shelf display, and workers patrol the physical store, take pictures of shelf display through a smart phone, upload the pictures to a system, and manually inspect the pictures.

However, in the process of implementing the present invention, the inventor finds that the prior art solution has at least the following problems: 1) in actual operation, omission may be caused by manual field patrol and shooting, and the quality of manual examination is difficult to guarantee, so that the abnormal detection accuracy of the shelf display is low, the display design of a headquarters cannot be well executed, the correct rate of shelf display execution is low, the display position of an entity store to goods is random, and the shelf display quality is difficult to guarantee; 2) the efficiency of manual field patrol and shelf shooting is extremely low, and after the system is uploaded, if the efficiency is lower through manual checking; 3) the goods shelf display is a daily work, the display design is updated regularly, and the goods shelf needs replenishment every day, so the manual inspection is bound to become the daily work, a specially-assigned person is required to perform the inspection for a long time, and the manpower resource is wasted.

In summary, in the prior art, to ensure high accuracy of detecting the abnormal display of the shelf, a lot of manpower is required to be invested to manually patrol the shelf, which is time-consuming, labor-consuming and inefficient. Therefore, how to improve the detection accuracy and detection efficiency of the shelf display abnormality is a technical problem that needs to be solved urgently by those skilled in the art.

Disclosure of Invention

The application provides a shelf display management system to solve the problem that shelf display execution accuracy and detection efficiency are all lower that prior art exists. The application further provides a shelf display management method and device, a robot, electronic equipment, remote robot image acquisition equipment and electronic label equipment.

The application provides a shelf display management system, includes:

the robot is used for acquiring shelf display information in the shelf display detection path as actual shelf display information; sending a shelf display inspection request to a server;

the server is used for receiving the inspection request and determining the abnormal goods display position according to the actual display information of the goods shelf and the target display information of the storage position in the goods shelf; and sending the abnormal stock position information of the goods display to the client;

and the client is used for displaying the abnormal stock position information of the goods display.

The present application also provides a shelf display management method, comprising:

collecting shelf display information in a shelf display detection path as actual shelf display information;

and sending a shelf display inspection request to the server, so that the server determines the abnormal goods display position according to the actual display information of the shelf and the target display information of the storage position in the shelf.

Optionally, the method further includes:

receiving a shelf display detection task issued by a server;

and executing the step of collecting the shelf display information in the shelf display detection path according to the detection task.

Optionally, the collecting shelf display information in the shelf display detection path includes:

collecting a shelf display image through an image collecting device to be used as actual display information of the shelf; the detection request includes the shelf display image.

Optionally, the acquiring, by the image acquiring device, a shelf display image includes:

the method includes acquiring a plurality of shelf display partial images of the same shelf corresponding to the position of the robot by image acquiring devices of the same orientation installed at different height positions on the robot, wherein the detection request includes the plurality of shelf display partial images.

the detection request includes a plurality of shelf display partial images corresponding to a plurality of shelves corresponding to the robot position, and the detection request includes the plurality of shelf display partial images.

Optionally, the shelf display image comprises a library site labeling device identification image.

Optionally, the method further includes:

receiving a library position label device identification transmitted by a library position label device;

the detection request further comprises the library location tag device identification.

Optionally, the method further includes:

determining pose data of an executing subject of the method;

the detection request further includes the pose data.

receiving a shelf display inspection request sent by a robot, wherein the inspection request comprises actual shelf display information;

determining target display information of a storage position in a goods shelf;

and determining the abnormal goods display position according to the actual display information of the goods shelf and the target display information of the storage positions in the goods shelf.

Optionally, the method further includes:

if the target display information of the storage positions in the goods shelf changes, generating a goods shelf display detection task;

and sending the detection task to the robot.

Optionally, the actual display information of the shelf comprises a shelf display image;

the determining of the abnormal goods display position according to the actual display information of the goods shelf and the target display information of the goods display position in the goods shelf comprises the following steps:

determining actual display information of goods in each storage position according to the shelf display image;

and judging whether the stock position is an abnormal stock position of the goods display or not according to the actual goods display information and the target goods display information of the stock position aiming at each stock position.

Optionally, the determining the abnormal goods display position according to the actual display information of the shelf and the target display information of the goods display position in the shelf further includes:

determining actual display state information of goods in each storage position according to the shelf display image;

and judging whether the stock position is an abnormal stock position of the goods display or not according to the actual goods display state information and the target goods display state information of the stock position aiming at each stock position.

Optionally, the determining, according to the shelf display image, actual display state information of the goods at each storage location includes:

determining the storage position identification and the storage position display image of each storage position according to the shelf display image;

and determining goods display state information as actual goods display state information according to the storage position display image.

Optionally, the determining actual display information of the goods in each storage space according to the shelf display image includes:

and determining the actual goods display information of the warehouse according to the warehouse position display image.

Optionally, the method further includes:

the determining of the actual goods display information of the warehouse according to the warehouse position display image comprises the following steps:

and determining the goods information included in the stock position display image through a goods image recognition algorithm as the actual goods display information.

Optionally, the storage position identifier and the storage position display image of each storage position are determined according to the shelf display image, and one of the following modes is adopted:

determining the storage position identification and the storage position display image of each storage position according to the storage position label equipment identification image included in the shelf display image;

and determining the storage position identification and the storage position display image of each storage position according to the storage position label equipment identification carried by the request.

Optionally, the method further includes:

determining shelf identification information corresponding to the shelf display image at least according to the robot pose data and shelf position information corresponding to the shelf display image;

and determining the storage position identification and the storage position display image of each storage position according to the storage rack identification information and the storage rack display image.

Optionally, the method further includes:

and acquiring the robot posture data carried by the request.

Optionally, the shelf display image comprises a plurality of merchandise display partial images;

the actual display information of the goods in each storage position is determined according to the shelf display image, and the method comprises the following steps:

generating a shelf display complete image according to the plurality of local images;

and determining the actual display information of the goods in each storage position according to the shelf display complete image.

Optionally, the plurality of merchandise display partial images comprises a plurality of merchandise display partial images of at least one shelf;

the generating of the shelf display complete image according to the plurality of partial images comprises:

for each shelf, the shelf display complete image corresponding to the shelf is generated from the plurality of partial images corresponding to the shelf.

Optionally, the generating a shelf display complete image according to the plurality of partial images further includes:

and determining a plurality of local images corresponding to the shelf according to the image acquisition device identification corresponding to each local image.

receiving goods display abnormal storage position information sent by a server;

and displaying the abnormal goods display position information.

The present application further provides a shelf display management device, comprising:

the shelf display information acquisition unit is used for acquiring shelf display information in the shelf display detection path as actual shelf display information;

and the request sending unit is used for sending a shelf display inspection request to the server so that the server determines the abnormal goods display position according to the actual display information of the shelf and the target display information of the positions in the shelf.

The present application further provides a robot, comprising:

a communication module;

a processor; and

a memory for storing a program for implementing the shelf display management method, the apparatus performing the following steps after being powered on and the program for implementing the method being executed by the processor: collecting shelf display information in a shelf display detection path as actual shelf display information; and sending a shelf display inspection request to the server, so that the server determines the abnormal goods display position according to the actual display information of the shelf and the target display information of the storage position in the shelf.

Optionally, the method further includes: at least one image acquisition device;

the at least one image acquisition device is divided into a plurality of image acquisition device groups; the image acquisition devices of different image acquisition device groups correspond to different orientations;

the shelf display images corresponding to the respective shelves corresponding to the positions of the robot are acquired by the image acquisition devices in the plurality of orientations.

Optionally, the image acquisition device set comprises image acquisition devices at a plurality of height positions;

the plurality of shelf display partial images of the shelf corresponding to the orientation of the image pickup device group are picked up by the image pickup devices at the plurality of height positions.

the system comprises a request receiving unit, a shelf display inspection unit and a display control unit, wherein the request receiving unit is used for receiving a shelf display inspection request sent by a robot, and the inspection request comprises actual shelf display information;

a target display information determination unit for determining target display information of a storage position in the shelf;

and the abnormal storage position determining unit is used for determining the goods display abnormal storage position according to the actual display information of the goods shelf and the target display information of the storage positions in the goods shelf.

The present application further provides an electronic device, comprising:

a processor; and

a memory for storing a program for implementing the shelf display management method, the apparatus performing the following steps after being powered on and the program for implementing the method being executed by the processor: receiving a shelf display inspection request sent by a robot, wherein the inspection request comprises actual shelf display information; determining target display information of a storage position in a goods shelf; and determining the abnormal goods display position according to the actual display information of the goods shelf and the target display information of the storage positions in the goods shelf.

the abnormal stock position information receiving unit is used for receiving the goods display abnormal stock position information sent by the server;

and the abnormal stock position information display unit is used for displaying the abnormal stock position information of the goods display.

The present application further provides an electronic device, comprising:

a processor; and

a memory for storing a program for implementing the shelf display management method, the apparatus performing the following steps after being powered on and the program for implementing the method being executed by the processor: receiving goods display abnormal storage position information sent by a server; and displaying the abnormal goods display position information.

The application also provides a remote robot image acquisition device, including:

the system comprises a support and a plurality of image acquisition devices, wherein the plurality of image acquisition devices are arranged on the support;

the plurality of image acquisition devices are divided into a plurality of image acquisition device groups; the image acquisition devices of different image acquisition device groups correspond to different orientations;

the device comprises a support and a plurality of image acquisition devices, wherein the plurality of image acquisition devices are arranged at different height positions in the same direction on the support;

the plurality of shelf display local images of the same shelf corresponding to the robot position are acquired by the image acquiring device of the same orientation of the plurality of height positions.

Optionally, the image capturing devices at different height positions correspond to different shelf layers of the same shelf.

the device comprises a support and a plurality of image acquisition devices, wherein the plurality of image acquisition devices are arranged at different transverse positions in the same direction on the support;

the plurality of shelf display partial images of the same shelf corresponding to the position of the robot are acquired by the image acquiring device in the same orientation at the plurality of lateral positions.

Optionally, the image capturing devices at different lateral positions correspond to different shelf rows of the same shelf.

The present application further provides an electronic label device, including:

a display screen;

a processor; and

a memory for storing a program for implementing the shelf display management method, the apparatus performing the following steps after being powered on and the program for implementing the method being executed by the processor: receiving a display content adjustment indication message sent by a server; and adjusting the display content according to the indication message.

Optionally, the indication message includes: and displaying the two-dimension code of the equipment or displaying the goods identification information.

The present application also provides a computer-readable storage medium having stored therein instructions, which when run on a computer, cause the computer to perform the various methods described above.

The present application also provides a computer program product comprising instructions which, when run on a computer, cause the computer to perform the various methods described above.

Compared with the prior art, the method has the following advantages:

according to the shelf display management system provided by the embodiment of the application, shelf display information in a shelf display detection path is acquired through a robot and is used as actual shelf display information; sending a shelf display inspection request to a server; the server side determines the storage position with abnormal goods display according to the actual display information of the goods shelf and the target display information of the storage position in the goods shelf, and sends the information of the abnormal goods display storage position to the client side; the client displays the information of the abnormal goods display position so that shelf managers can adjust the shelf display mode in time; by adopting the processing mode, the inspection robot can automatically inspect the shelf display execution condition, the goods display abnormity detection of the granularity of the storage positions is realized, the shelf display personnel can quickly position the storage positions with goods display abnormity, the manual access is not needed, and the problems of inertia, fatigue and the like of people can be avoided; therefore, the abnormal detection accuracy and detection efficiency of the shelf display can be effectively improved, and meanwhile, the goods display adjustment efficiency can be improved. In addition, due to the processing mode, the accuracy of shelf display execution is improved, so that the picking speed can be effectively improved, the order is ensured to fulfill on time, and the goods sale is promoted. In addition, the whole system ensures that the goods shelf display inspection work does not need manual intervention, the inspection, the identification and the verification are performed by an inspection robot in a full-automatic way, and the goods shelves of the whole physical store can be scanned and identified at the speed of 1 m/s; therefore, the inspection efficiency of the shelf display can be effectively improved, and the human resource cost is saved.

Drawings

FIG. 1 is a schematic view of an embodiment of a shelf display management system provided herein;

FIG. 2 is a schematic illustration of a scenario of an embodiment of a shelf display management system provided by the present application;

FIG. 3 is a schematic diagram of an apparatus interaction of an embodiment of a shelf display management system provided by the present application;

FIG. 4 is a system architecture diagram of an embodiment of a shelf display management system provided by the present application;

FIG. 5 is a shelf electronic price tag diagram of an embodiment of a shelf display management system provided by the present application.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of implementation in many different ways than those herein set forth and of similar import by those skilled in the art without departing from the spirit of this application and is therefore not limited to the specific implementations disclosed below.

In the present application, shelf display management systems, methods, and apparatus, robots, and electronic devices are provided. Each of the schemes is described in detail in the following examples.

First embodiment

Please refer to fig. 1, which is an exemplary diagram of a shelf display management system according to an embodiment of the present application. In the embodiment, the system comprises a server 1 and a robot 2.

The server 1 may be a server deployed on a cloud server, or may be a server dedicated to implementing shelf display management, and may be deployed in a data center. The server may be a cluster server or a single server.

The robot 2 is deployed in a physical store, can be an intelligent robot with automatic positioning and navigation, and is used for completing patrol detection tasks of shelf display. The robot 2 can shoot the display image of the goods shelf through a camera provided by the robot, and can identify the bar code or the special chip of the warehouse location label equipment through a laser head, an infrared head, self-induction equipment and the like provided by the robot. In addition, the robot 2 may be configured with a wireless communication module to send a shelf display detection request to the server 2.

In specific implementation, the robot 2 may use a laser SLAM or a visual SLAM technology to perform autonomous positioning and navigation, so as to move along the shelf display detection path. SLAM (simultaneous Localization and Mapping), also known as CML (Concurrent Mapping and Localization). The robot is placed at an unknown position in an unknown environment, the robot draws a map of the environment step by step while moving, and then positioning and navigation are carried out according to the map.

The client 3, including but not limited to mobile communication devices, is: the mobile phone or the smart phone also includes terminal devices such as a personal computer, a PAD, and an iPad.

Please refer to fig. 2, which is a schematic view illustrating a shelf display management system according to an embodiment of the present application. In this embodiment, the inspection robot 2 can shoot two-dimensional code pictures of label devices on the shelf row surfaces and the electronic price tags in the shelf display detection path through a camera carried by the inspection robot and send the pictures to the server 2 (cloud end); the cloud identifies the two-dimensional code, and verifies whether the actual display position of the electronic price tag is consistent with the designed display position; in addition, the goods can be identified at special points through a cloud vision artificial intelligence Algorithm (AI), and whether the goods display mode is correct or not is further checked.

Please refer to fig. 3, which is a schematic diagram illustrating an apparatus interaction of the shelf display management system according to an embodiment of the present application. In the present embodiment, after receiving the shelf display detection task, the robot 2 collects shelf display information in the shelf display detection path as actual shelf display information; sending a shelf display inspection request to a server; the server is used for receiving the inspection request and determining the abnormal goods display position according to the actual display information of the goods shelf and the target display information of the storage position in the goods shelf; and sending the abnormal stock position information of the goods display to the client; the client is used for displaying the abnormal goods display position information.

The rack may include a plurality of storage positions, each storage position being a container capable of holding an item. The shelf can be a shelf 2 as shown in fig. 2 for placing goods, a fish tank for aquatic products and the like. If one fish tank is used as a shelf, the small spaces separated by the partitions in the fish tank can be a storage space, and different aquatic products can be temporarily cultured in each storage space, such as carp cultured in the storage space 1 and weever cultured in the storage space 2, so that the number of the fish tanks can be reduced, and users can conveniently select different varieties of fishes.

In one example, the server 1 may also be used to generate shelf display detection tasks; sending the shelf display inspection task to a robot; correspondingly, the robot 2 receives and executes the task, and can design a shelf display detection path according to the task and acquire actual shelf display information of the target shelf.

In this embodiment, the server 1 generates a shelf display detection task if it determines that target display information of a storage space in a shelf changes; and sending the detection task to the robot. The robot 2 can communicate with the cloud (the server 1) by means of Wi-Fi, and shelf display detection task scheduling of a cloud system is achieved.

In specific implementation, when the display design in the server-side system is changed, a display change task can be firstly issued to a physical store worker, and the task comprises the adjusted target goods display information. After the physical store employee has performed the display change task, the server may generate the inspection task of the shelf display after closing, and the task is sent to the robot 2 to allow the robot to inspect. The shelf display detection task can comprise which shelves and storage positions are changed and need to be subjected to key inspection. In addition, routing inspection tasks may also be generated each morning before a brick and mortar store is opened.

In one example, the inspection robot consists of a robot chassis and a camera set. The robot chassis is an autonomous positioning and navigation robot based on the laser SLAM technology, and comprises a motor, wheels, a battery, a laser radar, a hardware controller and a computing platform. The laser radar is a radar device rotating 360 degrees, and can acquire the distance from the current position of the robot to each position in the environment. The computing platform computes radar data to complete positioning of the robot, namely: and determining the current position of the robot. And the hardware controller is communicated with the computing platform, executes a control instruction and drives the robot to move forwards, backwards and turn. In addition, a computing platform in the robot chassis can realize task scheduling of a cloud system by means of Wi-Fi and cloud communication. The camera group can be by 4 ~ 8 cameras constitute, divide 2 groups, 180 degrees relative arrangement, shoots the both sides of robot respectively. The image data collected by the camera becomes the image data of the complete arrangement of the goods shelf after panoramic stitching of the cloud (the server 1).

In one example, after the robot determines its location, it may locally determine which display image of the shelf the robot takes based on the shelf location information in the physical store and the current location information of the robot, so that the detection request includes the shelf identification information. With this processing method, the robot needs to acquire shelf position information in the physical store from the server in advance. In this embodiment, the position of the shelf, the storage location is a prerequisite, which has been accurately recorded in the system. In addition, a digital map can be provided, and the positions of the shelves and the positions of the storage positions can be precise positions in the map. The robot realizes accurate positioning through SLAM technology, and simultaneously the robot also can know orientation, direction of oneself, this can be given by the gyroscope in the robot system. Thus, the robot knows what the shelf and the storage position can be photographed at each position, and if the display is found to be not accordant, the robot can judge that the display is wrong.

After the robot determines the current position, the detection request may include current position information of the robot, and the server may determine which shelf corresponds to the request based on the shelf position information in the physical store and the current position information. With this processing, the server needs to undertake the shelf determination processing.

Table 1 shows shelf position information and store position information of each brick and mortar store stored in the server side in this embodiment.

TABLE 1 shelf position data sheet of physical store

As can be seen from table 1, the server can store not only the shelf location information of the physical store, but also the location information of each storage location in the shelf, so that the goods display detection can be performed for the storage location. Wherein, the piled goods can be placed on a flower vehicle or directly piled on the ground.

Please refer to fig. 4, which is a schematic diagram of an electronic price tag (a stock price tag) on a shelf according to an embodiment of the present application. In one example, the inspection robot cooperates with an electronic price tag system that displays a two-dimensional code including its ID as the inspection robot passes by. The shelf display image includes a library site labeling device identification image.

The Electronic price tag, also called an Electronic Shelf Label (ESL), may be an Electronic display device with an information transceiving function, and is mainly applied to Electronic labels for displaying price information in supermarkets, convenience stores, pharmacies, and the like. The electronic price tags are placed on the goods shelf, the electronic display device of the traditional paper price tags can be replaced, each electronic goods shelf tag can be connected with the computer database of the entity store through a wired or wireless network, and the latest goods information is displayed through a screen on the electronic goods shelf tag.

An electronic price tag system (ESL system) is a system for managing hardware and tasks of an electronic price tag of a physical store, and includes: registration of electronic price tag hardware, commodity binding/unbinding, generation of electronic price tag display content, issuing of display content, heartbeat of equipment and the like. This system can directly control the designated electronic price tag. Table 2 shows binding information of electronic price tags of respective brick and mortar stores with the electronic price tag system in the present embodiment.

Physical store identification	Electronic price tag identification	Goods shelf and storehouse position mark	Goods identification
				Shanghai Cao shop	Price tag device identification-0001	Goods shelf-0001, storehouse-001	SKU-0001
Shanghai Cao shop	Price tag device identification-0002	Goods shelf-0001, storehouse-002	SKU-0002
				…	…	…	…
Beijing country trade shop	Price tag device identification-9551	Goods shelf-0001, storehouse-001	SKU-0051
				…	…	…	…

TABLE 2 binding data table of electronic price tags and goods of physical stores

The electronic price tag system receives a matching instruction of the inspection robot system, when the inspection robot passes through, the electronic price tag system issues an instruction to enable the electronic price tag on the inspection route to switch a display mode, and the price display mode is switched to a two-dimensional code display mode. The two-dimensional code contains device ID information of the electronic price tag. And when the inspection robot passes, the electronic price tag is restored to the original display mode.

The process of the robot system (server 1) issuing the instruction to the ESL system may be as follows. The cloud system (server 1) of the inspection robot knows the real-time position of the robot, on a path through which the robot passes, the position information of the warehouse can be obtained in advance through the table 1, the ID of the electronic price tag can be obtained through the table 2, and then the electronic price tag system is informed. These electronic price tags need to be switched to the two-dimensional code display mode in advance. The electronic price tag system sends an instruction to a designated electronic price tag device, wherein the instruction can comprise a device ID of the electronic price tag, the device switches display contents, the display contents are two-dimensional codes, and the contents of the two-dimensional codes can be the ID of the device. By adopting the processing mode, the robot can patrol in the business hours of the physical store, and the influence on shopping of customers can be effectively reduced due to the fact that only the display mode of the position label on the path through which the robot passes is changed, so that the user experience is improved.

During specific implementation, the library position or the whole field needing to be inspected can be directly switched to a two-dimensional code display mode before the inspection task starts. By adopting the processing mode, the system is more suitable for routing inspection processing in a closed store, the load of a service end can be effectively reduced, and network resources are saved.

Please refer to fig. 5, which is a schematic diagram of a system architecture of a shelf display management system according to an embodiment of the present application. As can be seen from fig. 5, the label device on the storage location in the shelf may establish a network connection with the ESL system through the electronic price label AP deployed in the physical store, and receive indication information of changing display content sent by the ESL system. The robot 2 can also establish network connection with the server 1 through the electronic price tag AP. In this embodiment, information from the physical store device, such as a shelf display detection request sent by a robot, is processed by an internet of things center (IoT-hub) in the cloud, and the hub determines that the request corresponds to a shelf display management application and forwards the request to a server for application deployment. The shelf display management system server can determine the real-time position of the robot, and on the path that the robot passes through, the position information can be obtained through the table 1, and the ID of the electronic price tag can be obtained through the table 2, and then the electronic price tag system is informed. The electronic price tag system sends an instruction to the designated electronic price tag device via the hub.

The electronic price tag AP may be an Access Point (AP). The AP is an access point of a wireless network, commonly referred to as a "hot spot", and mainly includes a routing switching access integrated device and a pure access point device, the integrated device performs access and routing work, the pure access device is only responsible for access of a wireless client, the pure access device is usually used as a wireless network extension and connected with other APs or a main AP to expand a wireless coverage area, and the integrated device is generally the core of the wireless network.

In specific implementation, network connection can be provided for all node devices (robots, electronic price tags and the like) of the physical store through a control center (such as a PC or an industrial personal computer) deployed in the physical store; the AP equipment can be connected with the network in a wired (such as Ethernet) or Wireless (WIFI) mode, and the stable networking range of each AP is 50 meters x50 meters; the AP and the node equipment use a 2.4G ad hoc network protocol for data communication, and theoretically, the number of the node equipment allowed to be connected by each AP is not limited; different APs use different receiving and transmitting channels, so that data collision and loss are reduced, and the successful data delivery rate is improved. Generally, the number of APs required for each brick and mortar store is 1 to 2 (AP position layout is performed according to the shape of the site). Therefore, the control center is communicated with the electronic price tag AP, and the integration of the electronic price tag AP and the cloud application is realized through the networking capacity of the control center.

The system that this application provided adopts wireless scheme, and the communication can use 2.4G ad hoc network agreement between label equipment and the AP, and when new and old shop used, only need provide on the goods shelves 220V change 5V power can, need not any extra network wiring, therefore the label equipment number that allows to arrange on every goods shelves is unrestricted, what kind of goods have, just can place how many labels. In specific implementation, the wireless communication mode between the AP and the node device may be replaced by a communication mode other than a 2.4G ad hoc network.

In another example, because each electronic price tag has bar code information, the inspection robot can also not need the cooperation of the electronic price tag system, the inspection robot directly shoots bar images on the electronic price tags, and the cloud identifies the bar code information so as to determine the corresponding storage position of each bar code. The bar code can be a price tag device code or an article bar code. By adopting the processing mode, the cooperation of the electronic price tag system is not needed, and the load of the electronic price tag system can be effectively reduced. It should be noted that this approach requires the robot 2 to be equipped with a higher resolution camera, since the barcode size is typically small.

In yet another example, the electronic price tag may also transmit an infrared code (e.g., price tag device code) through an infrared transmitting tube, and the inspection robot may receive the infrared code through an infrared receiving tube array to obtain the display position of the electronic price tag.

In a specific embodiment, the detection request may include a plurality of shelf display partial images of the same shelf corresponding to the robot position, the shelf display partial images being acquired by an image acquisition device mounted on the robot in the same orientation at a plurality of height positions.

In a specific embodiment, the detection request may include a plurality of shelf display partial images corresponding to a plurality of shelves corresponding to the robot position, the shelf display partial images being acquired by an image acquisition device attached to the robot at a plurality of height positions at a plurality of orientation positions. By adopting the processing mode, the robot can shoot shelf display images of a plurality of shelves at one position; therefore, the shelf display detection efficiency can be effectively improved.

In one example, the server is specifically configured to determine actual display information of goods at each storage position according to the shelf display image; and judging whether the stock position is an abnormal stock position of the goods display or not according to the actual goods display information and the target goods display information of the stock position aiming at each stock position.

In specific implementation, the server side can determine the storage position identification and the storage position display image of each storage position according to the shelf display image; and determining the actual goods display information of the warehouse according to the warehouse position display image. When the method is specifically implemented, the goods information included in the storage position display image can be determined through a goods image recognition algorithm and is used as the actual goods display information.

In this embodiment, patrol and examine the robot and shoot goods shelves row face and two-dimensional code picture through the camera to send to the high in the clouds. The cloud identifies the two-dimensional code to check whether the position of the electronic price tag is consistent with the display position. The server may be specifically configured to determine the storage space identifiers and the storage space display images of the storage spaces according to the storage space tag device identifier images included in the shelf display images.

In one example, the server side determines shelf identification information corresponding to the shelf display image at least according to the robot pose data and shelf position information corresponding to the shelf display image; and determining the storage position identification and the storage position display image of each storage position according to the storage rack identification information and the storage rack display image.

In this embodiment, the robot takes pictures along the way it is traveling, the server system can determine the precise location and orientation of the robot (e.g., the request includes both the shelf display image and the robot pose data at the time the image was captured), and then the system can determine which electronic price tags should be taken by the robot at each location based on the data in table 1. The robot can be partially provided with a left camera and a right camera, the left camera and the right camera are respectively provided with 3-4 cameras, the camera on each side can shoot the vertical face of a goods shelf, the pictures shot by the camera on each side can be spliced into a complete picture, all two-dimensional codes can be recognized in the picture, the position of the goods shelf in the picture can be determined according to the table 1 and the current pose data of the robot, and then the goods shelf identification can be determined according to the table 1. Table 3 shows an actual correspondence between the electronic price tag and the location identified by the server 1 in this embodiment.

Physical store identification	Electronic price tag identification	Goods shelf and storehouse position mark
			Shanghai Cao shop	Price tag device identification-0001	Goods shelf-0001, storehouse-001
Shanghai Cao shop	Price tag device identification-0002	Goods shelf-0001, storehouse-002
			…	…	…
Beijing country trade shop	Price tag device identification-9551	Goods shelf-0001, storehouse-001
			…	…	…

TABLE 3 actual correspondence between physical store electronic price tags and locations

After determining the correspondence between the electronic price tags and the positions in the library, it is determined whether the actual merchandise is identical to the merchandise designed for display by the following procedure. Firstly, the identification of the actual displayed commodity can be determined according to the corresponding relation between the determined electronic price tag and the stock position based on the data in the table 2 of the ESL system; then, the actual displayed commodity mark is compared with the target displayed commodity mark of the stock space, if the actual displayed commodity mark is the same as the target displayed commodity mark of the stock space, the commodity display position is correct, and otherwise, the display abnormality is shown.

In one example, the shelf display image comprises a plurality of merchandise display partial images; the server side can generate a shelf display complete image according to the plurality of local images; and determining the actual display information of the goods in each storage position according to the shelf display complete image.

In another example, the plurality of merchandise display local images includes a plurality of merchandise display local images of at least one shelf; the server may generate the shelf display complete image corresponding to the shelf from the plurality of partial images corresponding to the shelf for each shelf. In specific implementation, the server side can determine a plurality of local images corresponding to the shelf according to the image acquisition device identification corresponding to each local image. For example, the request comprises 8 local image data acquired by 8 cameras, and the camera 1-4 corresponding to the image 1-4 is located on the left side of the robot stand column and belongs to a local image of a left shelf; the camera 1-4 corresponding to the image 5-8 is positioned on the right side of the robot upright post and belongs to a local image of a right-side shelf.

In one example, the server is further used for determining actual display state information of goods in each storage position according to the shelf display image; and judging whether the stock position is an abnormal stock position of the goods display or not according to the actual goods display state information and the target goods display state information of the stock position aiming at each stock position. In specific implementation, the storage position identification and the storage position display image of each storage position can be determined according to the shelf display image; and determining goods display state information as actual goods display state information according to the storage position display image.

In this embodiment, the server side can splice into the row face image of goods shelves with the many goods shelves images of robot shooting in a position, and the panorama photo includes two-dimensional code and the goods shelves row face image on the price tag, by the vision AI discernment commodity of high in the clouds system to judge whether the display of goods accords with the electron price tag, and whether putting of commodity accords with the operation requirement.

In specific implementation, the panoramic image can be obtained by splicing the following processes:

step 1: the robot left and right sides respectively 3 ~ 5 cameras, and independent image can be shot according to certain shooting frequency to every camera. For example, the shooting frequency is related to the moving speed of the robot, and if the moving speed of the robot is high, the shooting frequency is high, and vice versa.

Step 2: each image taken by the robot carries detailed additional information, such as: robot position, orientation, camera position (left right, top to bottom).

And step 3: the cloud arranges the images, firstly classifies the images according to the left side and the right side, then arranges the images from the images on the left side and the right side in a centralized manner according to the position of each shelf, and finally, the arrangement sequence of the images is consistent with the position of the robot in the transverse direction and the installation position of the camera in the longitudinal direction.

And 4, step 4: and seamlessly splicing the image sets of each shelf to form a complete image.

And 5: and (5) identifying the two-dimensional code of the goods shelf global image generated in the step 4, and establishing a storage position matrix of the goods shelf.

Step 6: and (4) identifying the goods of the shelf picture generated in the step (4), and comparing the goods with the result of the step (5) so as to judge whether the goods labels are consistent, wherein the consistency of the goods labels indicates that the goods are consistent with the storage positions, otherwise, the storage positions are displayed abnormally.

And 7: and (4) carrying out commodity display state recognition on the shelf pictures generated in the step (4) so as to evaluate whether the display meets the requirements (fullness and tidiness).

Table 5 shows shelf display detection results determined by the service terminal 1 based on a shelf display image of one shelf in this embodiment.

TABLE 5 warehouse location matrix of goods shelves

As can be seen from Table 5, the shelf has a total of 5 levels, each level being defined by a different number of positions. Wherein, the storehouse position 11 is the abnormal storehouse position of goods display: price-tagging, but wrong goods; the stock position 22 is an abnormal stock position of the goods display: wrong price tags and wrong goods; the stock level 42 is an abnormal stock level for the goods display: price tag pair, goods pair, but misplaced.

In the embodiment, whether the electronic price tag of each stock position is correct is firstly checked, which is mainly obtained by displaying a two-dimensional code of the ID of the electronic price tag; then, whether the goods of each stock position are consistent with the electronic price tags or not is checked, and the goods can be identified from the images to be checked on the basis of the previous step; and finally, checking whether the placement of the goods meets the requirements, such as whether the display is full and whether the display is neat.

In one example, the robot 2 may further process for an abnormal stock slot of "goods pairs, but with a wrong price tag". For example, a certain stock space is designed to place the goods a, the goods a are actually placed, but the robot detects that the electronic price tag displays the name and price information of another kind of goods, the robot can send an electronic price tag adjustment request to the server, the request can include a price tag device identifier, and the server can adjust the goods information corresponding to the price tag according to the request. By adopting the processing mode, the warehouse positions with non-uniform labels can be detected in time, and the problems related to complaint of users are avoided; therefore, the user experience can be effectively improved.

After the server 1 finishes the processing, the routing inspection result can be displayed through the client 3, related workers can be directly notified through the aspects of nailing, short messages, telephones and the like, and the details of the routing inspection result can still be displayed in the client 3.

It should be noted that the system is not only suitable for the physical store front goods display detection scene, but also supports the physical store front goods display detection scene, and other warehouse (such as distribution center, warehouse, etc.) goods display detection scenes.

As can be seen from the above embodiments, the shelf display management system provided in the embodiment of the present application acquires, by the robot, shelf display information in the shelf display detection path as actual shelf display information; sending a shelf display inspection request to a server; the server side determines the storage position with abnormal goods display according to the actual display information of the goods shelf and the target display information of the storage position in the goods shelf, and sends the information of the abnormal goods display storage position to the client side; the client displays the information of the abnormal goods display position so that shelf managers can adjust the shelf display mode in time; by adopting the processing mode, the inspection robot can automatically inspect the shelf display execution condition, the goods display abnormity detection of the granularity of the storage positions is realized, the shelf display personnel can quickly position the storage positions with goods display abnormity, the manual access is not needed, and the problems of inertia, fatigue and the like of people can be avoided; therefore, the abnormal detection accuracy and detection efficiency of the shelf display can be effectively improved, and meanwhile, the goods display adjustment efficiency can be improved. In addition, due to the processing mode, the accuracy of shelf display execution is improved, so that the picking speed can be effectively improved, the order is ensured to fulfill on time, and the goods sale is promoted. In addition, the whole system ensures that the goods shelf display inspection work does not need manual intervention, the inspection, the identification and the verification are performed by an inspection robot in a full-automatic way, and the goods shelves of the whole physical store can be scanned and identified at the speed of 1 m/s; therefore, the inspection efficiency of the shelf display can be effectively improved, and the human resource cost is saved.

Second embodiment

The embodiment of the application also provides a shelf display management method. The execution main body of the method can be a server, comprises a background server of an online ordering platform, can process order placing requests submitted by a user client, sends order information to a terminal side of an entity store, sends a goods picking task to a goods picking terminal in the entity store, and can also send a goods shelf detection task to the inspection robot. The execution subject of the method may also be any device capable of executing the method. In this embodiment, the method includes the steps of:

step 1: receiving a shelf display inspection request sent by a robot, wherein the inspection request comprises actual shelf display information;

step 2: determining target display information of a storage position in a goods shelf;

and step 3: and determining the abnormal goods display position according to the actual display information of the goods shelf and the target display information of the storage positions in the goods shelf.

In one example, the method may further comprise the steps of: if the target display information of the storage positions in the goods shelf changes, generating a goods shelf display detection task; and sending the detection task to the robot.

In one example, the shelf actual display information includes a shelf display image; step 3 may comprise the following sub-steps: 3.1, determining actual display information of goods in each storage position according to the shelf display image; 3.2 aiming at each storage position, judging whether the storage position is an abnormal storage position of the goods display according to the goods actual display information and the goods target display information of the storage position.

In one example, step 3 may further include the sub-steps of: 3.3, determining the actual display state information of the goods in each storage position according to the shelf display image; and 3.4 judging whether the stock position is an abnormal stock position of the goods display or not according to the actual goods display state information and the target goods display state information of the stock position aiming at each stock position.

In one example, step 3.3 may comprise the sub-steps of: 3.3.1 determining the storage position identification and the storage position display image of each storage position according to the shelf display image; 3.3.2 determining goods display state information as the actual goods display state information according to the storehouse position display image.

In one example, step 3.1 may comprise the sub-steps of: 3.1.1, determining the storage position identification and the storage position display image of each storage position according to the shelf display image; 3.1.2, according to the storehouse position display image, determining the actual display information of the goods of the storehouse position.

In specific implementation, step 3.1.2 can be implemented as follows: and determining the goods information included in the stock position display image through a goods image recognition algorithm as the actual goods display information.

In one example, step 3.3.1 and step 3.1.1 may be implemented in one of the following ways: the method 1 comprises the steps of determining a storage position identifier and a storage position display image of each storage position according to a storage position label equipment identifier image included in a shelf display image; and 2, determining the storage position identifier and the storage position display image of each storage position according to the storage position label equipment identifier carried by the request.

In one example, the method may further comprise the steps of: determining shelf identification information corresponding to the shelf display image at least according to the robot pose data and shelf position information corresponding to the shelf display image; correspondingly, the storage position identification and the storage position display image of each storage position are determined according to the storage rack identification information and the storage rack display image.

In one example, the method may further comprise the steps of: and acquiring the robot posture data carried by the request.

In one example, the shelf display image comprises a plurality of merchandise display partial images; step 3.1 may comprise the following sub-steps: 3.1.1' generating a shelf display complete image according to the plurality of local images; 3.1.2' determining the actual display information of the goods in each storage position according to the shelf display complete image.

In one example, the plurality of merchandise display local images includes a plurality of merchandise display local images of at least one shelf; step 3.1.1' may comprise the following sub-steps: for each shelf, the shelf display complete image corresponding to the shelf is generated from the plurality of partial images corresponding to the shelf.

In one example, step 3.1.1' may further comprise the sub-steps of: and determining a plurality of local images corresponding to the shelf according to the image acquisition device identification corresponding to each local image.

Third embodiment

In accordance with the shelf display management method, the present application also provides a shelf display management device. Since the device embodiment is basically similar to the first method embodiment, the description is relatively simple, and the relevant points can be referred to the partial description of the method embodiment. The device embodiments described below are merely illustrative.

The application provides a shelf display management device, includes:

Fourth embodiment

The application also provides an electronic device. Since the apparatus embodiments are substantially similar to the method embodiments, they are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for relevant points. The device embodiments described below are merely illustrative.

An electronic device of the present embodiment includes: a processor and a memory; a memory for storing a program for implementing the shelf display management method, the apparatus performing the following steps after being powered on and the program for implementing the method being executed by the processor: receiving a shelf display inspection request sent by a robot, wherein the inspection request comprises actual shelf display information; determining target display information of a storage position in a goods shelf; and determining the abnormal goods display position according to the actual display information of the goods shelf and the target display information of the storage positions in the goods shelf.

Fifth embodiment

The embodiment of the application also provides a shelf display management method. The execution subject of the method may be a robot or the like deployed in a brick and mortar store. In this embodiment, the method includes the steps of:

step 1: collecting shelf display information in a shelf display detection path as actual shelf display information;

step 2: and sending a shelf display inspection request to the server, so that the server determines the abnormal goods display position according to the actual display information of the shelf and the target display information of the storage position in the shelf.

In one example, the method may further comprise the steps of: receiving a shelf display detection task issued by a server; and executing the step 1 according to the detection task.

In one example, step 1 may be implemented as follows: collecting a shelf display image through an image collecting device to be used as actual display information of the shelf; the detection request includes the shelf display image.

In one example, the image acquisition device is used for acquiring shelf display images, and the method can be realized by the following steps: the method includes acquiring a plurality of shelf display partial images of the same shelf corresponding to the position of the robot by image acquiring devices of the same orientation installed at different height positions on the robot, wherein the detection request includes the plurality of shelf display partial images.

In one example, the image acquisition device is used for acquiring shelf display images, and the method can be realized by the following steps: the detection request includes a plurality of shelf display partial images corresponding to a plurality of shelves corresponding to the robot position, and the detection request includes the plurality of shelf display partial images.

In one example, the shelf display image includes a library site tag device identification image.

In one example, the method may further comprise the steps of: receiving a library position label device identification transmitted by a library position label device; the detection request further comprises the library location tag device identification.

In one example, the method may further comprise the steps of: determining pose data of an executing subject of the method; the detection request further includes the pose data.

Sixth embodiment

The application provides a shelf display management device, includes:

Seventh embodiment

The application also provides a robot. Since the apparatus embodiments are substantially similar to the method embodiments, they are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for relevant points. The device embodiments described below are merely illustrative.

A robot of the present embodiment includes: a processor and a memory; a memory for storing a program for implementing the shelf display management method, the apparatus performing the following steps after being powered on and the program for implementing the method being executed by the processor: and sending a shelf display inspection request to the server, so that the server determines the abnormal goods display position according to the actual display information of the shelf and the target display information of the storage position in the shelf.

As shown in fig. 2, in one example, the robot may further include: at least one image acquisition device; the at least one image acquisition device is divided into a plurality of image acquisition device groups; the image acquisition devices of different image acquisition device groups correspond to different orientations; the shelf display images corresponding to the respective shelves corresponding to the positions of the robot are acquired by the image acquisition devices in the plurality of orientations. By adopting the processing mode, the robot can shoot shelf display images of a plurality of shelves at one position; therefore, the shelf display detection efficiency can be effectively improved, and robot resources are saved.

In another example, the set of image capture devices includes a plurality of elevation position image capture devices; the plurality of shelf display partial images of the shelf corresponding to the orientation of the image pickup device group are picked up by the image pickup devices at the plurality of height positions. By adopting the processing mode, the robot can shoot a plurality of shelf display local images of a shelf at one position; therefore, the cost of the image acquisition device can be effectively reduced.

In this real-time example, the inspection robot consists of a robot chassis and a camera group. The robot chassis is an autonomous positioning and navigation robot based on the laser SLAM technology, and comprises a motor, wheels, a battery, a laser radar, a hardware controller and a computing platform. The laser radar is a radar device rotating 360 degrees, and can acquire the distance from the current position of the robot to each position in the environment. The computing platform computes radar data to complete positioning of the robot, namely: and determining the current position of the robot. And the hardware controller is communicated with the computing platform, executes a control instruction and drives the robot to move forwards, backwards and turn. In addition, a computing platform in the robot chassis can realize task scheduling of a cloud system by means of Wi-Fi and cloud communication. The camera group can be by 4 ~ 8 cameras constitute, divide 2 groups, 180 degrees relative arrangement, shoots the both sides of robot respectively. The image data collected by the camera becomes the image data of the complete arrangement of the goods shelf after panoramic stitching of the cloud (the server 1).

Eighth embodiment

The embodiment of the application also provides a shelf display management method. The execution subject of the method may be a client or the like. In this embodiment, the method includes the steps of:

step 1: receiving goods display abnormal storage position information sent by a server;

step 2: and displaying the abnormal goods display position information.

Ninth embodiment

The application provides a shelf display management device, includes:

Tenth embodiment

An electronic device of the present embodiment includes: a processor and a memory; a memory for storing a program for implementing the shelf display management method, the apparatus performing the following steps after being powered on and the program for implementing the method being executed by the processor: receiving goods display abnormal storage position information sent by a server; and displaying the abnormal goods display position information.

Eleventh embodiment

The application also provides a remote robot image acquisition device. Since the apparatus embodiments are substantially similar to the method embodiments, they are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for relevant points. The device embodiments described below are merely illustrative.

As shown in fig. 2, the image capturing apparatus for a remote robot according to the present embodiment includes: the device comprises a support and a plurality of image acquisition devices, wherein the plurality of image acquisition devices are arranged on the support. Wherein, the support can be a component such as a column. The plurality of image acquisition devices are divided into a plurality of image acquisition device groups; the image acquisition devices of different image acquisition device groups correspond to different orientations; the shelf display images corresponding to the respective shelves corresponding to the positions of the robot are acquired by the image acquisition devices in the plurality of orientations.

In one example, the set of image acquisition devices includes a plurality of elevation position image acquisition devices; the plurality of shelf display partial images of the shelf corresponding to the orientation of the image pickup device group are picked up by the image pickup devices at the plurality of height positions.

Twelfth embodiment

As shown in fig. 2, the image capturing apparatus for a remote robot according to the present embodiment includes: the device comprises a support and a plurality of image acquisition devices, wherein the plurality of image acquisition devices are arranged at different height positions in the same direction on the support; the plurality of shelf display local images of the same shelf corresponding to the robot position are acquired by the image acquiring device of the same orientation of the plurality of height positions.

In one example, the image acquisition devices at different height positions correspond to different shelf layers of the same shelf, and respectively acquire shelf display local images of the different shelf layers.

Thirteenth embodiment

A telerobot image acquisition device of this embodiment includes: the device comprises a support and a plurality of image acquisition devices, wherein the plurality of image acquisition devices are arranged at different transverse positions in the same direction on the support; the plurality of shelf display partial images of the same shelf corresponding to the position of the robot are acquired by the image acquiring device in the same orientation at the plurality of lateral positions.

In one example, the image capturing devices at different lateral positions respectively capture shelf display partial images of different shelf rows corresponding to different shelf rows of the same shelf.

Fourteenth embodiment

The application also provides electronic label equipment. Since the apparatus embodiments are substantially similar to the method embodiments, they are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for relevant points. The device embodiments described below are merely illustrative.

An electronic label device of this embodiment, this device includes: a display screen, a processor and a memory; a memory for storing a program for implementing the shelf display management method, the apparatus performing the following steps after being powered on and the program for implementing the method being executed by the processor: receiving a display content adjustment indication message sent by a server; and adjusting the display content according to the indication message.

The indication message can be an indication message of a two-dimensional code of the display device, so that the shelf display detection robot acquires a shelf display image comprising a two-dimensional code image of the display device through the image acquisition device, and the storage position information and the storage position display image related to the shelf display image can be determined according to the two-dimensional code image of the display device. The indication message may also be an indication message for displaying the item identification information, so that the user can conveniently view the item identification information.

Although the present application has been described with reference to the preferred embodiments, it is not intended to limit the present application, and those skilled in the art can make variations and modifications without departing from the spirit and scope of the present application, therefore, the scope of the present application should be determined by the claims that follow.

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.

1. 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, computer readable media does not include non-transitory computer readable media (transient media), such as modulated data signals and carrier waves.

2. As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application 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.

Claims

1. A shelf display management system, comprising:

2. A shelf display management method, comprising:

3. The method of claim 2, further comprising:

receiving a shelf display detection task issued by a server;

4. The method of claim 2,

the collecting shelf display information in the shelf display detection path includes:

5. The method of claim 4,

the shelf display image is collected through the image collecting device, and the shelf display image collecting device comprises:

6. The method of claim 4,

7. The method of claim 4,

the shelf display image includes a library site labeling device identification image.

8. The method of claim 4, further comprising:

9. The method of claim 4, further comprising:

determining pose data of an executing subject of the method;

the detection request further includes the pose data.

10. A shelf display management method, comprising:

determining target display information of a storage position in a goods shelf;

11. The method of claim 10, further comprising:

and sending the detection task to the robot.

12. The method of claim 10,

the actual display information of the shelf comprises a shelf display image;

13. The method of claim 12,

the method for determining the abnormal goods display position according to the actual display information of the goods shelf and the target display information of the goods position in the goods shelf further comprises the following steps:

14. The method of claim 13,

the determining of the actual display state information of the goods in each storage position according to the shelf display image comprises the following steps:

and determining the goods display state information as the actual goods display state information according to the stock position display image.

15. The method of claim 12,

16. The method of claim 15, further comprising:

17. The method according to claim 14 or 15,

and determining the storage position identification and the storage position display image of each storage position according to the shelf display image by adopting one of the following modes:

18. The method of claim 14 or 15, further comprising:

19. The method of claim 18, further comprising:

and acquiring the robot posture data carried by the request.

20. The method of claim 12,

the shelf display image comprises a plurality of merchandise display partial images;

21. The method of claim 20,

the plurality of merchandise display local images comprises a plurality of merchandise display local images of at least one shelf;

22. The method of claim 21,

the generating of the shelf display complete image according to the plurality of partial images further comprises:

23. A shelf display management method, comprising:

receiving goods display abnormal storage position information sent by a server;

and displaying the abnormal goods display position information.

24. A shelf display management apparatus, comprising:

25. A robot, comprising:

a communication module;

a processor; and

26. The robot of claim 25, further comprising: at least one image acquisition device;

27. A robot as set forth in claim 26,

the image acquisition device group comprises image acquisition devices at a plurality of height positions;

28. A shelf display management apparatus, comprising:

29. An electronic device, comprising:

a processor; and

30. A shelf display management apparatus, comprising:

31. An electronic device, comprising:

a processor; and

32. A telerobotic image acquisition device, comprising:

33. The apparatus of claim 32,

34. A telerobotic image acquisition device, comprising:

35. The apparatus of claim 34,

the image acquisition devices at different height positions correspond to different shelf layers of the same shelf.

36. A telerobotic image acquisition device, comprising:

37. The apparatus of claim 36,

the image acquisition devices at different transverse positions correspond to different shelf columns of the same shelf.

38. An electronic label device, comprising:

a display screen;

a processor; and

39. The apparatus of claim 38,

the indication message includes: and displaying the two-dimension code of the equipment or displaying the goods identification information.