CN114157813A - Electronic scale camera motion control method and device, control terminal and storage medium - Google Patents
Electronic scale camera motion control method and device, control terminal and storage medium Download PDFInfo
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- CN114157813A CN114157813A CN202210115400.1A CN202210115400A CN114157813A CN 114157813 A CN114157813 A CN 114157813A CN 202210115400 A CN202210115400 A CN 202210115400A CN 114157813 A CN114157813 A CN 114157813A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/61—Control of cameras or camera modules based on recognised objects
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Abstract
The embodiment of the invention discloses a method and a device for controlling the motion of a camera of an electronic scale, a control terminal and a storage medium, wherein the method comprises the following steps: when an identification instruction is received, acquiring an identification confidence coefficient of an image shot by a camera; when the recognition confidence coefficient is smaller than a first threshold value, controlling the camera to move according to a search mode; and when the recognition confidence coefficient is larger than the first threshold and smaller than the second threshold, controlling the motion track of the camera according to the distance between the camera view center and the target object until the camera view center is coincided with the target object. The motion mode of the camera is determined by the threshold value of the recognition confidence coefficient of the image, so that the visual field center of the camera is overlapped with the object, the recognition rate of the image is improved, and the workload of workers is reduced.
Description
Technical Field
The invention relates to the field of intelligent identification, in particular to a method and a device for controlling the motion of a camera of an electronic scale, a control terminal and a storage medium.
Background
At present, an electronic scale for identifying supermarket articles through an image identification technology exists, but because the article state, the illumination level and the shooting angle change difference of the electronic scale, which are shot by the electronic scale, are very large, and sometimes commodities placed by customers are not the visual angle center of a camera any more, the successful identification rate is low, the practical level cannot be reached, so that the user still needs to adjust the distance and the position of the articles placed by the user relative to the camera, the practicability is reduced, and the user does not have good experience.
Disclosure of Invention
In view of this, the present invention provides a method for controlling motion of a camera of an electronic scale, including:
when an identification instruction is received, acquiring an identification confidence coefficient of an image shot by a camera;
when the recognition confidence coefficient is smaller than a first threshold value, controlling the camera to move according to a search mode;
and when the recognition confidence coefficient is larger than the first threshold and smaller than the second threshold, controlling the motion track of the camera according to the distance between the camera view center and the target object until the camera view center is coincided with the target object.
Further, the moving according to the search mode includes:
the camera moves along a preset path according to a preset step, when one preset step is moved, the recognition confidence of the current visual field image is obtained, and if the recognition confidence is smaller than the first threshold, the next step is continued to move.
Further, the step distance is the width or length of the visual field of the camera on the weighing pan.
Furthermore, the preset path is planned according to the step distance and the scale size parameter, so that the visual field of the camera can cover the shortest path of the scale area.
Further, the controlling the motion trajectory of the camera according to the distance between the center of the field of view of the camera and the target object includes:
calculating an included angle between the camera view center and a linear track and a current motion track of a target object in real time;
and when the included angle is larger than a preset included angle, taking the linear track of the camera and the target object as a new motion track.
Further, after the center of the field of view of the camera coincides with the target object, the method further includes:
and acquiring the recognition confidence, recognizing the object shot by the camera when the recognition confidence is greater than the second threshold, outputting a recognition result, and controlling the camera to return to the initial position.
Further, the present application provides an electronic scale camera motion control apparatus, including:
the identification module is used for acquiring the identification confidence of the image shot by the camera when receiving the identification instruction;
the searching module is used for controlling the camera to move according to a searching mode when the recognition confidence coefficient is smaller than a first threshold value;
and the alignment module is used for controlling the motion track of the camera according to the distance between the center of the camera view and the target object when the recognition confidence coefficient is greater than the first threshold and less than the second threshold until the center of the camera view coincides with the target object.
Further, the search module further comprises:
and the step module is used for moving the camera along a preset path according to a preset step pitch, acquiring the recognition confidence of the current visual field image once after moving by one preset step pitch, and continuing the movement of the next step pitch if the recognition confidence is smaller than the first threshold.
Further, the present application provides a control terminal, which includes a processor and a memory, where the memory stores a computer program, and the computer program executes the method for controlling the motion of the camera of the electronic scale in any one of the above embodiments when the computer program runs on the processor.
Further, the present application provides a readable storage medium storing a computer program, which when executed on the processor performs the method for controlling the camera movement of the electronic scale according to any one of the above embodiments.
The embodiment of the invention discloses a method for controlling the motion of a camera of an electronic scale, which comprises the following steps: when an identification instruction is received, acquiring an identification confidence coefficient of an image shot by a camera; when the recognition confidence coefficient is smaller than a first threshold value, controlling the camera to move according to a search mode; and when the recognition confidence coefficient is larger than the first threshold and smaller than the second threshold, controlling the motion track of the camera according to the distance between the camera view center and the target object until the camera view center is coincided with the target object. The motion mode of the camera is determined through the recognition confidence coefficient of the image, so that the visual field center of the camera is overlapped with an object, the recognition rate of the image is improved, the workload of workers is reduced, and the electronic scale can be automatically found.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings required to be used in the embodiments will be briefly described below, and it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope of the present invention. Like components are numbered similarly in the various figures.
FIG. 1 is a schematic diagram illustrating a flow chart of a method for controlling a camera of an electronic scale according to an embodiment of the present disclosure;
FIG. 2A is a schematic view of a pan-tilt structure for controlling the motion of a scale camera according to an embodiment of the present disclosure;
FIG. 2B is a schematic diagram illustrating a side structure of a pan/tilt head for controlling movement of a camera of a scale according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram illustrating a camera movement process of an electronic scale according to an embodiment of the present disclosure;
fig. 4 shows a schematic diagram of a camera motion control device of an electronic scale according to an embodiment of the present application.
Description of the symbols: the device comprises a first steering engine-1, a second steering engine-2, a camera-3, a rack-4, a first gear-5, a fixed plate-6, a second gear-7, a second rack-8 and a base-9.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Hereinafter, the terms "including", "having", and their derivatives, which may be used in various embodiments of the present invention, are only intended to indicate specific features, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be construed as first excluding the existence of, or adding to, one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the present invention belong. The terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning that is consistent with their contextual meaning in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in various embodiments of the present invention.
The following describes the embodiments of the present application with specific examples.
Fig. 1 shows specific process steps of a method for controlling the motion of a camera of an electronic scale according to the present embodiment.
Step S100, when an identification instruction is received, acquiring an identification confidence coefficient of an image shot by a camera;
the method of the embodiment is applied to an intelligent electronic scale, wherein the intelligent electronic scale is provided with an identification module for identifying the types of commodities and a camera for acquiring the images of the commodities, and the camera is arranged on a holder in the embodiment. The specific steering engine pan-tilt structure is shown in fig. 2A and 2B.
The steering engine cloud platform can be fixed on the electronic scale support column of a certain height through base 9, is fixed with second rack 8 on base 9, and first steering engine 1 is fixed on fixed plate 6, can realize the horizontal motion of fixed plate 6 through meshing with second gear 7 and second rack 8 of first steering engine 1. A first rack 4 is fixed on the fixed plate 6, the camera 3 is fixed on the second steering engine 2, and the first gear 5 of the second steering engine 2 is meshed with the first rack 4 on the fixed plate 6 to realize the vertical motion of the camera, so that the horizontal and vertical motion of the camera 3 can be realized through the rotation of the first steering engine 1 and the second steering engine 2. The midpoint of the horizontal and vertical direction stroke of the steering engine holder is used as the initial position of the camera 3, and the initial position coordinate is set in the motion control module.
Put the object on the intelligent electronic scale, then can trigger recognition command, the image that the camera can shoot on the current pan of steelyard at this moment passes to identification module, is discerned the object in the image by identification module, and then output commodity kind. Specifically, the identification command is sent out after the scale pan is subjected to the acting force which is stable for a certain time, so that the fact that the object is placed on the scale pan is judged.
And for each recognition, a recognition confidence level exists, namely a value representing whether the recognition result is credible or not, and the specific value can be a percentage or an integer as long as the current recognition result can be represented whether the recognition result is credible or not.
Step S200, when the recognition confidence coefficient is smaller than a first threshold value, controlling the camera to move according to a search mode;
when the recognition confidence is smaller than the first threshold, the target object is not considered to be present in the current image, but because the recognition instruction is fed back, the object is still on the scale, so that the camera needs to be controlled to find the object, a searching movement which can cover the whole scale is needed to find the approximate position of the object, and the movement is carried out by adopting a preset searching mode.
Specifically, the motion mode of the search mode is that the camera moves along a preset path according to a preset step, after one preset step is moved, the recognition confidence of the current view image is obtained once, and if the recognition confidence is smaller than the first threshold, the next step is continued to be moved.
Wherein, in order to make the object can be covered by the camera field of vision comprehensively, can set up the stride as the width or the length in camera field of vision, this search pattern must be that the faster finds the object better simultaneously, consequently can cover whole scale with the camera field of vision as the basis, need find the shortest path of motion under the search pattern, this shortest path can be planned according to scale size and stride size parameter.
And step S300, when the recognition confidence coefficient is larger than the first threshold and smaller than the second threshold, controlling the motion track of the camera according to the distance between the center of the camera view and the target object until the center of the camera view coincides with the target object.
When the recognition confidence is greater than the first threshold but less than the second threshold in the search mode, it represents that the object has been found, but the object is not yet at the center of the field of view, so the recognition result confidence is not high yet, and therefore the object needs to be moved to the center of the field of view.
For this reason, the camera is moved to make the center of the field of view of the camera and the object coincide and align, and the specific moving and aligning process is understood in conjunction with fig. 3.
When the reliability value is higher than the first threshold and lower than the second threshold, and the second threshold is set as that an object exists in the camera view but the camera view does not have higher reliability, the distance from the center of the object to the center of the camera view is firstly calculated, and a corresponding motion track is calculated through a continuous path planning algorithm, wherein the continuous path planning algorithm is a track planning for a steering engine based on an image sensor. The camera view coordinate system is xoy, the track of the center of an object to the view center is op at the moment, the track is sent to a motion control module of a steering engine holder module, the motion control module converts the orientation track of the object into PWM signals with different duty ratios according to the moment, the rotation angle of two servo motors is controlled to drive the camera to move, when the distance of the movement is changed into oo ', the camera view coordinate system is changed into x' o 'y', the object cannot move according to the original track when the position of the object is in the o 'p', the angle theta is set to be a preset included angle simultaneously according to the included angle of the original track op and the new track o 'p', when the angle theta exceeds the preset included angle, the situation that the object needs to move according to the new track o 'p' is shown, and the process is repeated until the center of the camera view center coincides with the object center.
After the visual field center of the camera and the center of the object coincide, the recognition confidence coefficient is judged, when the recognition confidence coefficient is larger than a second threshold value, the recognition result is high credible, the recognition module can directly output the recognition result, the recognition operation is finished, and then the cradle head steering engine controls the camera to return to the initial position.
The present application further provides an electronic scale camera motion control apparatus, as shown in fig. 4, including:
the recognition module 10 is configured to obtain a recognition confidence of an image captured by the camera when receiving the recognition instruction;
the searching module 20 is configured to control the camera to move according to a searching mode when the recognition confidence is smaller than a first threshold;
and the alignment module 30 is configured to control a motion trajectory of the camera according to a distance between the center of the field of view of the camera and a target object when the recognition confidence is greater than the first threshold and smaller than the second threshold until the center of the field of view of the camera coincides with the target object.
And the step module 40 is configured to move the camera along a preset path according to a preset step, acquire a recognition confidence of the current view image once after the camera moves by one preset step, and continue the movement of the next step if the recognition confidence is smaller than the first threshold.
Further, the present application provides a control terminal, which includes a processor and a memory, where the memory stores a computer program, and the computer program executes the method for controlling the motion of the camera of the electronic scale in any one of the above embodiments when the computer program runs on the processor.
Further, the present application provides a readable storage medium storing a computer program, which when executed on the processor performs the method for controlling the camera movement of the electronic scale according to any one of the above embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, each functional module or unit in each embodiment of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention or a part of the technical solution that contributes to the prior art in essence can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention.
Claims (10)
1. A method for controlling the motion of a camera of an electronic scale is characterized by comprising the following steps:
when an identification instruction is received, acquiring an identification confidence coefficient of an image shot by a camera;
when the recognition confidence coefficient is smaller than a first threshold value, controlling the camera to move according to a search mode;
and when the recognition confidence coefficient is larger than the first threshold and smaller than the second threshold, controlling the motion track of the camera according to the distance between the camera view center and the target object until the camera view center is coincided with the target object.
2. The method for controlling the movement of a camera of an electronic scale according to claim 1, wherein the moving according to the search mode comprises:
the camera moves along a preset path according to a preset step, when one preset step is moved, the recognition confidence of the current visual field image is obtained, and if the recognition confidence is smaller than the first threshold, the next step is continued to move.
3. The method for controlling the movement of a camera of an electronic scale according to claim 2, wherein the step distance is the width or length of the visual field of the camera on the scale pan.
4. The method for controlling the motion of a camera of an electronic scale according to claim 2, wherein the preset path is a shortest path planned according to the step distance and the scale size parameters so that the field of view of the camera can cover the scale area.
5. The method for controlling the motion of the camera of the electronic scale according to claim 1, wherein the controlling the motion track of the camera according to the distance between the center of the field of view of the camera and the target object comprises:
calculating an included angle between the camera view center and a linear track and a current motion track of a target object in real time;
and when the included angle is larger than a preset included angle, taking the linear track of the camera and the target object as a new motion track.
6. The method for controlling the movement of a camera of an electronic scale according to claim 1, wherein after the center of the camera view is overlapped with the target object, the method further comprises:
and acquiring the recognition confidence, recognizing the object shot by the camera when the recognition confidence is greater than the second threshold, outputting a recognition result, and controlling the camera to return to the initial position.
7. The utility model provides an electronic scale camera motion control device which characterized in that includes:
the identification module is used for acquiring the identification confidence of the image shot by the camera when receiving the identification instruction;
the searching module is used for controlling the camera to move according to a searching mode when the recognition confidence coefficient is smaller than a first threshold value;
and the alignment module is used for controlling the motion track of the camera according to the distance between the center of the camera view and the target object when the recognition confidence coefficient is greater than the first threshold and less than the second threshold until the center of the camera view coincides with the target object.
8. The electronic scale camera motion control apparatus of claim 7, wherein the search module further comprises:
and the step module is used for moving the camera along a preset path according to a preset step pitch, acquiring the recognition confidence of the current visual field image once after moving by one preset step pitch, and continuing the movement of the next step pitch if the recognition confidence is smaller than the first threshold.
9. A control terminal, characterized by comprising a processor and a memory, the memory storing a computer program which, when run on the processor, performs the electronic scale camera motion control method of any one of claims 1 to 6.
10. A readable storage medium, characterized in that it stores a computer program which, when run on a processor, executes the electronic scale camera motion control method according to any one of claims 1 to 6.
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