WO2019144691A1 - 基于重量监测的货品感知系统及货品感知方法 - Google Patents

基于重量监测的货品感知系统及货品感知方法 Download PDF

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Publication number
WO2019144691A1
WO2019144691A1 PCT/CN2018/117327 CN2018117327W WO2019144691A1 WO 2019144691 A1 WO2019144691 A1 WO 2019144691A1 CN 2018117327 W CN2018117327 W CN 2018117327W WO 2019144691 A1 WO2019144691 A1 WO 2019144691A1
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WIPO (PCT)
Prior art keywords
goods
shelf
weight
user
database
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PCT/CN2018/117327
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English (en)
French (fr)
Inventor
马捷昱
冯立男
夏鼎
李庭涛
邬文尧
张一玫
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上海云拿智能科技有限公司
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Application filed by 上海云拿智能科技有限公司 filed Critical 上海云拿智能科技有限公司
Priority to EP18902476.3A priority Critical patent/EP3745100A4/en
Priority to KR1020207009712A priority patent/KR102378059B1/ko
Priority to JP2020524001A priority patent/JP7016187B2/ja
Priority to SG11202004369RA priority patent/SG11202004369RA/en
Priority to AU2018405073A priority patent/AU2018405073A1/en
Publication of WO2019144691A1 publication Critical patent/WO2019144691A1/zh
Priority to US16/862,519 priority patent/US20200258069A1/en
Priority to JP2021193375A priority patent/JP7229580B2/ja
Priority to JP2021193301A priority patent/JP7170355B2/ja
Priority to AU2022203376A priority patent/AU2022203376A1/en

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Definitions

  • the present invention relates to a cargo sensing technology for the retail industry, and more particularly to a cargo sensing system and sensing method based on weight monitoring.
  • the object of the present invention is to provide a product sensing technology based on weight monitoring, which can solve the technical problem that the prior art has poor sensing accuracy, large monitoring error, high cost, and easy loss of goods.
  • the present invention provides a goods sensing system based on weight monitoring, comprising: a goods database generating unit for generating a goods database; and a weight value collecting unit for collecting real-time weight sensing values of each board in real time.
  • the pick-and-place state judging unit is configured to judge whether the weight sensing value of each shelf changes, and if it becomes smaller, it is determined that the article on the shelf is removed; if it is larger, it is determined that the article is placed on the shelf
  • a goods database updating unit for storing the real-time weight sensing value to the goods database to update the weight sensing value of each shelf in the goods database.
  • the weight monitoring-based goods sensing system further includes a shelf, each shelf includes at least one shelf, each shelf is provided with at least one item; and a weight sensing device is disposed on the shelf Below each panel, and connected to the weight value acquisition unit.
  • the item database generating unit includes an initializing unit for initializing a product database, and an information input unit for inputting the weight value and the item information of each item and storing the same.
  • the sensing value initializing unit is configured to collect the weight sensing value of each shelf after the goods are placed, and store the same in the goods database.
  • the pick and place state determining unit includes a weight difference calculating unit, configured to calculate real-time weight sensing values of each shelf collected in real time and the same shelf stored in the goods database. The difference between the weight sensing values is recorded as the weight difference of each board; the weight difference judging unit is configured to compare the weight difference of at least one board with 0; when the weight difference of one board is less than 0 Determining that the goods on the shelf are removed; when the weight difference of one of the plates is greater than 0, it is determined that the articles on the shelf are placed; and the shelf information recording unit, when the weight difference of one of the plates is greater than 0 or less than 0, used to record the shelf number of the shelf and the difference in weight of the shelf.
  • a weight difference calculating unit configured to calculate real-time weight sensing values of each shelf collected in real time and the same shelf stored in the goods database. The difference between the weight sensing values is recorded as the weight difference of each board; the weight difference judging unit is configured to compare the weight difference of at least one board with 0; when the
  • the pick-and-place state determining unit further includes: a cargo type determining unit, configured to correspond to the shelf number and the shelf The item information determines the type of the item to be taken away; and the item quantity calculation unit calculates a ratio of the absolute value of the weight difference of the board to the weight value of the item corresponding to the shelf, and uses the rounding method to The ratio is rounded up, and the obtained integer is the quantity of goods taken.
  • the weight monitoring-based goods sensing system further includes a shopping user judgment system for determining a user identity of the taken or returned item; and a shopping information recording unit for recording each user The type and quantity of goods taken.
  • the shopping information recording unit includes a shopping database generating unit, configured to generate a shopping database of the user according to the identity information of the user when the identity of the user is recognized; and a shopping database update a unit, when the goods are taken away, generates shopping information according to the type and quantity of the taken goods and the identity information of the user who takes the goods, and stores them in the user's shopping database; when the goods are put back, according to the The return information is generated by returning the type and quantity of the goods and the identity information of the user who put back the goods, and the shopping information corresponding to the return information is deleted from the shopping database of the user.
  • a shopping database generating unit configured to generate a shopping database of the user according to the identity information of the user when the identity of the user is recognized
  • a shopping database update a unit when the goods are taken away, generates shopping information according to the type and quantity of the taken goods and the identity information of the user who takes the goods, and stores them in the user's shopping database; when the goods are put back, according to the The return information
  • the present invention also provides a method for sensing goods based on weight monitoring, comprising the steps of: a product database generating step for generating a goods database; and a weight value collecting step for real-time collecting real time of each board.
  • the weight sensing value; the picking and placing state determining step is used to determine whether the weight sensing value of each shelf changes, and if it is smaller, it is determined that the goods on the shelf are removed; if it is larger, it is determined that the article is placed
  • the item database updating step configured to store the real-time weight sensing value to the goods database to update the weight sensing value of each shelf in the goods database; and return the weight value collecting step.
  • the method before the database generating step, the method further includes: a shelf setting step, at least one item is placed on at least one shelf of at least one shelf; the same kind of goods on the same shelf have The same weight value, each weight value corresponds to only one kind of goods; and a sensor setting step, a weight sensor is disposed under each of the boards, and is connected to the weight value collecting unit.
  • the item database generating step specifically includes the following steps: an initialization step for initializing a product database; and an information entry step for inputting the weight value and the item information of each item. And storing it in the goods database; and a weight sensing value initializing step for collecting the weight sensing value after each shelf is placed and storing it in the goods database.
  • the picking and placing state determining step specifically includes the following steps: a weight difference calculating step, configured to calculate real-time weight sensing values of each shelf collected in real time and stored in the goods database The difference between the weight sensing values of the same shelf is recorded as the weight difference of each shelf; the weight difference judging step is used to compare the weight difference of at least one panel with 0; when the weight difference of one panel When the value is less than 0, it is determined that the goods on the shelf are removed; when the weight difference of one of the plates is greater than 0, it is determined that items are placed on the shelf; and the information recording step is when the weight of one of the plates is poor When the value is greater than 0 or less than 0, the shelf number of the shelf and the difference in weight of the shelf are recorded.
  • a weight difference calculating step configured to calculate real-time weight sensing values of each shelf collected in real time and stored in the goods database The difference between the weight sensing values of the same shelf is recorded as the weight difference of each shelf
  • the weight difference judging step is used to compare the weight difference of at
  • the picking and placing state determining step further includes the following steps: the cargo type determining step, according to the shelf number and the shelf The item information corresponding to the board determines the type of the item to be taken; and the item quantity calculation step is used to calculate the ratio of the absolute value of the weight difference of one board to the weight value of the item corresponding to the shelf, using rounding The ratio is rounded, and the obtained integer is the quantity of goods taken.
  • the weight monitoring based product sensing method further includes the following steps: a shopping user determining step, determining a user identity of the taken or returned item; and a shopping information recording step, Record the type and quantity of goods taken by each user.
  • the shopping information recording step includes a shopping database generating step of generating a shopping database of the user according to the identity information of the user when the identity of the user is recognized; and updating the shopping database Step, when the goods are taken away, generate shopping information according to the type and quantity of the taken goods and the identity information of the user who takes the goods, and store them in the user's shopping database; when the goods are put back, according to the The return information is generated by returning the type and quantity of the goods and the identity information of the user who put back the goods, and the shopping information corresponding to the return information is deleted from the shopping database of the user.
  • the invention has the beneficial effects of providing a goods sensing system and sensing method based on weight monitoring, which can monitor the real-time weight sensing value of the goods on the shelf in real time, and sense the weight change of each board in real time, and all the shelves of the shelves are
  • the weight change infers which type of item has been taken or put back, and can determine the type and quantity of the item that was taken or returned.
  • the present invention can further determine the identity of the user who takes the product back or put back, and generates a shopping database to record the type and quantity of the goods taken by the user. In order to allow the customer to settle directly after the purchase is over.
  • FIG. 1 is a top view of an unmanned supermarket according to an embodiment of the present invention.
  • FIG. 2 is a schematic view showing the overall structure of a shelf according to an embodiment of the present invention.
  • FIG. 3 is a schematic structural view of a tray and a shelf according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural view of a shelf plate according to an embodiment of the present invention.
  • FIG. 5 is a structural block diagram of a user identity recognition system according to an embodiment of the present invention.
  • FIG. 6 is a structural block diagram of a user positioning system according to an embodiment of the present invention.
  • FIG. 7 is a distribution diagram of an image sensor in an enclosed space according to an embodiment of the present invention.
  • FIG. 8 is a structural block diagram of a goods sensing unit based on weight monitoring according to an embodiment of the present invention.
  • FIG. 9 is a structural block diagram of a shopping user judgment system according to an embodiment of the present invention.
  • FIG. 10 is a structural block diagram of a shopping database system according to an embodiment of the present invention.
  • FIG. 11 is a structural block diagram of a settlement system according to an embodiment of the present invention.
  • FIG. 12 is a flow chart of a method for sensing goods based on weight monitoring according to the present invention.
  • Figure 13 is a flow chart showing the steps of generating a database according to the present invention.
  • Figure 14 is a flowchart of the step of judging the pick-and-place state according to the present invention.
  • Figure 15 is a flow chart of the shopping information recording step of the present invention.
  • 100 user identification system 101 access control device, 102 identity recognition device; 1021 scan code device, 1022 identity acquisition unit, 103 user portal, 104 user exit;
  • 200 target positioning system 201 three-dimensional image acquisition device, 202 target coordinate acquisition unit;
  • 500 shopping user judgment system 501 goods information storage unit, 502 shelf coordinate storage unit, 503 shelf and user matching judgment unit, 504 goods and user matching judgment unit;
  • 600 shopping database system 601 shopping database generating unit, 602 shopping database updating unit;
  • 700 settlement system 701 total amount calculation unit, 702 payment unit.
  • a component When a component is described as being “on” another component, the component can be placed directly on the other component; an intermediate component can also be present, the component being placed on the intermediate component, And the intermediate part is placed on another part.
  • a component When a component is described as “mounted to” or “connected to” another component, it can be understood as “directly” or “connected”, or a component is “mounted to” or “connected” through an intermediate component. "Another part.
  • the present embodiment relates to a goods sensing system based on weight monitoring, which is a part of an unmanned vending system for an unmanned supermarket.
  • the unmanned vending system includes a closed space 1 having a plurality of shelves 2 therein, each shelf 2 including a bracket 3 and a plurality of trays detachably mounted on the bracket 3. 4.
  • the plurality of trays 4 are parallel to each other at different heights or at the same height.
  • Each tray 4 is provided with a plurality of shelf plates 5 arranged side by side, and each shelf plate 5 is provided with at least one kind of goods.
  • the goods placed on the shelf 5 of the embodiment need to be taken away or replaced by the user. Therefore, the end of the shelf 5 facing the user is used as the front end of the shelf 5.
  • a weight sensing device 6 is disposed between each of the plates 5 and the tray 4, preferably a rectangular parallelepiped shape weight sensor, the lower surface of one end of which is connected to the tray 4, and the upper surface of the other end is connected to the shelf plate 5, each weight
  • the sensing device 6 acquires the weight value of the shelf 5 above it and the upper surface of the shelf 5 in real time, and senses the change in the weight value in time.
  • each of the panels 5 is an open box that can be placed with one or more items, the goods being standard goods, and the appearance and weight of the same type of goods are the same or similar.
  • the same type of goods placed on the same shelf 5 have the same weight value, and different types of goods have different weight values, and each weight value corresponds to only one type of goods.
  • the weight sensing device 6 can accurately acquire the real-time weight sensing value of the shelf 5 and its upper surface goods, and accurately perceive the amount of change in each weight value of each shelf 5, including the amount of increase or decrease. When a certain user is taken away, the weight value data collected by the weight sensing device 6 under the shelf 5 of the product becomes smaller, and when a certain product is put back, the shelf 5 of the product is placed. The weight value data collected by the lower weight sensing device 6 becomes larger, and the weight sensing device 6 can obtain a relatively accurate weight change value.
  • the shelf plate 5 includes a shelf substrate 51, a shelf baffle 52, and a baffle notch 53.
  • the shelf 5 is generally a rectangular parallelepiped, but the front end is low in height, and the shelf substrate 51 is rectangular for placing goods.
  • the shelf baffle 52 is rectangular or trapezoidal or wedge-shaped for isolating different types of goods, preventing confusion of goods, ensuring that the goods do not slip, and ensuring that the weight sensing device 3 can sense accurately when the weight value of the goods on each of the shelf substrates changes. .
  • This embodiment includes three shelf baffles 52 connected to each other, connected to the left and right sides and the rear edge of 51.
  • the shelf baffle 52 disposed on the left and right sides of the shelf substrate 51 has a trapezoidal or wedge shape, and has a lower front end portion for the user to pick up and place the product; the shelf baffle 52 disposed at the rear of the shelf substrate 51 is rectangular.
  • the shelf baffle 52 is as perpendicular as possible to the shelf substrate 51.
  • the shelf shutter 52 is attached to the edge of the shelf substrate 51 and protrudes from the upper surface of the shelf substrate 51.
  • the baffle notch 53 is formed between two oppositely disposed shelf baffles 52.
  • the baffle notch 53 is disposed at the front of the shelf substrate 51, facing the user in front of the shelf, and the user's hand can be thereby blocked by the baffle 53. Enter the space above the shelf substrate to facilitate the user to pick up and place the goods.
  • the embodiment further includes a data processing device 7, such as a server or a computer.
  • the data processing device 7 is internally provided with a plurality of data processing software, and has a plurality of functional modules, which can be connected to multiple hardware through a data line, and implemented by a combination of software and hardware. A variety of functions.
  • the embodiment further includes a user identity recognition system 100 for identifying identity information of each user.
  • the user identification system 100 includes an access control device 101 and an identification device 102.
  • the enclosed space 1 in this embodiment is not an absolutely sealed space, but a relatively closed space.
  • the closed space 1 is provided with an entrance and exit, preferably a user portal 103 and a user. At the exit 104, all users enter the enclosed space 1 by the user portal 103, leaving the enclosed space 1 by the user exit 104.
  • each access opening of the enclosed space 1 is provided with an access control device 101, preferably an automatic gate.
  • the identity identifying device 102 is configured to acquire identity information of the user, including the scan code device 1021 connected to the data processing device 7 and the identity obtaining unit 1022 in the data processing device 7.
  • the code scanning device 1021 is disposed inside or outside the access control device 101 at the user entrance 103, preferably on the outer surface of the automatic gate, for scanning the identification code, preferably a two-dimensional code; the identity acquisition unit 1022 is a data processing device.
  • a function module of 7 can obtain the identity information of the user according to the identification code.
  • the access device 101 at the user exit 104 need not be provided with the identification device 102.
  • each user downloads a dedicated application software (APP) used with an unmanned supermarket to a mobile communication terminal (mobile phone, tablet, etc.), registers an account in the application software (APP), and associates with the payment software.
  • APP application software
  • each user downloads payment software (such as WeChat/Alipay) to the mobile communication terminal, embeds a small program used with the unmanned supermarket in the payment software, registers the account in the payment software, and uses the dedicated application software (APP).
  • the payment software has user registration information and electronic payment information, including user identity information, bank account information, payment password, and the like. After the registration is completed, the user identity information is stored in the user database of the data processing device 7.
  • the application software (APP) in the mobile communication terminal can generate a two-dimensional code, and the two-dimensional code stores the identity information of the user, etc., when a certain user needs to enter the closed space 1 from the outside, the two-dimensional generated by the application software
  • the code is facing the scanning end of the scanning code device 1021, and the scanning code scanning device 1021 decodes the two-dimensional code, and transmits the decoding result to the data processing device 7. If the two-dimensional code is identifiable and recognized The identity information is matched with the identity information pre-stored in the user database, and the identity of the user is determined to be legal.
  • the access control device 101 is opened to allow the user to enter the closed space 1.
  • the access device 101 at the user portal 103 is provided with an inductive device, such as an infrared sensor.
  • the access control device 101 When the user enters the enclosed space 1, the access control device 101 senses that someone has walked through the access control and then automatically turns off. When the user needs to leave the enclosed space 1 after the shopping ends, the access control device 101 at the user exit 104 senses that when the person approaches the access control device 101 from the inside of the closed space 1, the access control device automatically opens, and after the user leaves the closed space 1, the access control device 101 senses that someone has walked through the door and then automatically shuts down.
  • the data processing device 7 may generate a shopping database of the user, and update the shopping database according to the shopping information obtained by the user for each shopping behavior during the user shopping process. Since the mobile communication terminal carried by the user carries on real-time data exchange with the data processing device 7 through the application software (APP), the user's shopping database can also be displayed in the application software (APP) in the mobile communication terminal to form a shopping cart interface, so that Users understand their shopping records and subsequent billing.
  • APP application software
  • the embodiment further includes a target positioning system 200 for acquiring a real-time position of each target in the closed space 1, the target being all or part of the user and its extension, for acquiring The set of coordinates of the user as a whole or locally (such as the head, hand, etc.).
  • the object positioning system 200 includes a three-dimensional image capturing device 201 connected to the data processing device 7 and a target object acquiring unit 202 provided in the data processing device 7.
  • the 3D image capturing device 201 includes at least one image sensor 2011 for real-time acquisition of at least one frame of three-dimensional images.
  • the image sensor 2011 is evenly distributed on the top of the closed space 1 with the lens facing downward, and the lens center axis can be horizontally
  • the vertical direction may also have a certain inclination angle, and the field of view of the image sensor 2011 covers the entire bottom surface of the closed space 1.
  • the 3D image captured by the image sensor includes the user image, and the user image refers to the entire body of the user and its extension or Partial. If there is no one in the enclosed space, the 3D image at each moment is the same as the previous moment, and it can be judged that the 3D image at that moment is the background, and does not include any user image.
  • Each image sensor 2011 includes a depth image sensor 2012 and an RGB image sensor 2013 and a three-dimensional image integration unit 2014 arranged in parallel, the depth image sensor 2012 continuously collects multiple frames of depth images, and the RGB image sensor 2013 continuously collects multiple frames of RGB images, and the three-dimensional image integration
  • the unit 2014 combines one frame of depth image and one frame of RGB image acquired at the same time into one frame of three-dimensional image.
  • the above two sensors are synchronously acquired (simultaneous acquisition and the same acquisition frequency).
  • the image sensor 2011 can acquire RGB images and depth images of the same frame number per second.
  • the 3D image integration unit 2014 can continuously obtain multi-frame 3D images per second and transmit to the data processing.
  • the target coordinate acquiring unit 202 is a functional module in the data processing device 7, and establishes a three-dimensional coordinate system in the closed space, and acquires the user in the three-dimensional coordinate system in real time according to consecutive three-dimensional images including user images.
  • the object coordinate acquiring unit 202 includes a coordinate system establishing unit 2021, a parameter acquiring unit 2022, a background removing unit 2023, and a target object coordinate calculating unit 2024.
  • the coordinate system establishing unit 2021 establishes a three-dimensional coordinate system in the closed space.
  • the center point of the closed space bottom surface (the ground of the unmanned supermarket) is selected as the coordinate system origin, and the X-axis and the Y-axis are set in the horizontal direction. Set the Z axis in the straight direction.
  • a coordinate set can be used to represent the position of the user. If the positional precision control and calculation are convenient, a specific point in the coordinate set can also be used.
  • the coordinates represent the position of the user. For example, the coordinates of the highest point (the point with the highest Z-axis value) in the user coordinate set can be used to represent the user position.
  • the parameter obtaining unit 2022 processes the continuous multi-frame three-dimensional image including the user image, and acquires a position parameter and a color parameter of each pixel of each frame of the three-dimensional image; the position parameter is x, y, z, and represents the pixel point. Position coordinates in the three-dimensional coordinate system; the color parameters are r, g, b, respectively representing the three primary color intensities of the pixel.
  • the data processing device 7 can acquire multi-frame three-dimensional images every second, and each frame of the three-dimensional image includes a user image and a background image, and each pixel may be a user. Part of it can also be part of the background.
  • the pixel points representing the same position of the user's body and its extension are the same, and the color parameters r, g, and b are the same. Since the distance between the image sensor and the user at different positions is different, the primary position parameter directly acquired by each image sensor is the position coordinate of the user's body and its extension relative to the image sensor, so the coordinate transformation will be different.
  • the primary position parameters acquired by the positional image sensor are converted to positional parameters in a three-dimensional coordinate system established within the enclosed space.
  • the parameter obtaining unit 2022 includes a sensor coordinate acquiring unit 20221, a relative coordinate acquiring unit 20222, and a coordinate correcting unit 20223.
  • the sensor coordinate acquiring unit 20221 acquires a center point of the image sensor that collects the three-dimensional image of the frame (ie, a depth image sensor 2012 and RGB arranged side by side).
  • the relative coordinate acquisition unit 20222 establishes the second point with the center point of the image sensor as the second origin a two-dimensional coordinate system having the same direction of the X-axis, the Y-axis, and the Z-axis as the three-dimensional coordinate system, and acquiring coordinates of each pixel in the second three-dimensional coordinate system from the three-dimensional image;
  • the coordinate correction unit 20223 Calculating and correcting each pixel of the three-dimensional image according to coordinates of the image sensor center point in the three-dimensional coordinate system and coordinates of each pixel in the three-dimensional image in the second three-dimensional coordinate system; The coordinates in the three-dimensional coordinate system, thereby obtaining the positional parameters of each pixel of the user and its extension.
  • each frame of the 3D image includes and includes only one user's image. If the color parameters of the N pixels belonging to different 3D images and the same positional parameters are the same, and N is greater than 0.9* M is less than or equal to M, and the background removing unit 2023 determines that the N pixels are background pixels, and removes the N background pixels from the M-frame 3D image to obtain an M-frame backgroundless 3D image, that is, the User's image.
  • the position of the pixel is determined as the background, so that The pixel is removed from the corresponding 3D image.
  • the target object coordinate calculation unit 2024 if the target object is all of the user and its extension, the set of position parameters of all the pixels in the M frame without the background 3D image is the coordinates of the user and its extension. Set; in the coordinate set, the position parameter of the pixel with the largest parameter z is defined as the coordinates of the user. In the continuously acquired 3D image, after the background pixel is removed, the remaining pixel points represent the overall trajectory of the user. If the three-dimensional image of the M frame is continuously captured, each frame of the three-dimensional image includes images of multiple users, and it is necessary to first capture a three-dimensional image of all or part of one user in each M-frame three-dimensional image.
  • a set of coordinates of the user's part such as a head, a shoulder, an elbow, a wrist, a hand, etc.
  • the depth image sensor 2012 and the RGB image sensor 2013 are each provided with a lens. If the central axes of the two lenses are vertically horizontally arranged, the two lenses will look down on the goods and users in the closed space. Under normal circumstances, the two lenses can capture the position coordinate set of the user's head and shoulder. When the user reaches out, the position coordinate set of the user's arm, elbow, wrist and hand can also be captured.
  • the user's hand can be associated with the head position, that is, The position of a certain hand can be obtained in real time, and at the same time, it can be determined which user the hand belongs to.
  • the field of view of the image sensor 2011 can also cover a part of the space outside the entrance.
  • the image of the user can be acquired by the image sensor 2011.
  • real-time location of a user of known identity and a part of his body in the enclosed space 1 can be monitored in real time.
  • the data processing device 7 can obtain the identity information thereof, and the image sensor 2011 starts to locate and scan the user location in real time when the code scanning device 1021 reads the code, and monitors whether the user and the user are A shelf matches.
  • the image sensor 2011 cannot obtain the real-time three-dimensional image of the user, the user can be deemed to have finished shopping and settled.
  • the embodiment relates to a goods sensing system 300 based on weight monitoring, which is used to sense the pick-and-place state of each item in real time, and the pick-and-place state includes a product rest state, a taken-out state, and a put-back state.
  • the weight sensing based product sensing system 300 includes a goods database generating unit 301, a weight value collecting unit 302, a pick and place state determining unit 303, and a goods database updating unit 304.
  • the above four units are functional modules in the data processing device 7, and cooperate with the shelf 1 provided with the weight sensing device 6, and can monitor the real-time weight sensing value of each shelf 5 to determine whether the goods are taken or placed. return. When any type of item is taken or put back, the item perception system 300 obtains the type and quantity of the item that was taken or returned.
  • the goods database generating unit 301 is configured to generate a goods database, where the goods database includes the goods information of each item and the weight sensing value of each board for placing the goods, the item information includes the type of the item, the weight value of the item, and The number of the shelf and the shelf number corresponding to the goods, including the number, model, net content and unit price of the goods.
  • the goods database generating unit 301 includes an initializing unit 3011, an information entering unit 3012, and an inductance value initializing unit 3013.
  • the initialization unit 3011 is configured to perform initialization processing on a goods database, and establish a goods database in the memory of the data processing device 7.
  • the information input unit 3012 is configured to record the weight value and the product information of each item, store it in the goods database, and input the weight value of each item on the unmanned supermarket shelf by using a keyboard or a scanner.
  • the sensing value initializing unit 3013 is configured to collect the weight sensing value after each shelf is placed and store it in the goods database.
  • the goods information is entered into the data processing device 7 and stored in the goods database.
  • the goods database Taking a brand of beverage as an example, there are 8 bottles of a certain brand of beverage on a certain shelf. The weight of the shelf is 100 grams, and the weight of each bottle is 200 grams.
  • the weight value collection unit 302 is respectively connected to the weight sensing device 6 in each of the shelf plates 5 through the data lines, and is used to collect real-time weight sensing values of each of the shelf plates 5 in real time, preferably, the acquisition time interval is 0.1-0.2 seconds.
  • the real-time weight sensing value is a sensing value of the weight sensor, which represents the weight of each board before the goods are placed on the shelf 5; after the goods are placed on the shelf 5, the shelf and the shelf are represented The total weight of the goods on the board; the real-time weight sensing value changes when the goods are removed or placed back to the shelf 5.
  • Y (goods weight value) k * X (sensor value) + b
  • the values of the three sets of parameters k, b are calculated and stored, and the parameter set in which the deviation is small is selected.
  • the sensor value of the weight sensing device 6 collected in real time, combined with the values of the parameters k and b, can calculate the total weight of the existing goods on each shelf.
  • the pick-and-place state determining unit 303 is configured to determine whether the weight sensing value of each shelf changes. If it is smaller, it is determined that the goods on the shelf are removed; if it is larger, it is determined that the article is placed on the shelf. If it is completely unchanged, the goods on the shelf are completely unchanged, and the weight value collection unit 302 performs real-time acquisition again.
  • the pick and place state determination unit 303 includes a weight difference calculation unit 3031, a weight difference determination unit 3032, and a shelf information recording unit 3033.
  • the weight difference calculation unit 3031 calculates the difference between the real-time weight sensing value of each shelf collected in real time and the weight sensing value of the same shelf stored in the goods database, and records the weight difference of each shelf. For example, in the foregoing example, if the weight of the shelf on which the aforementioned branded beverage is placed changes, it becomes 1300 g or 1900 g, and the difference in weight is recorded as -400 g or 200 g, respectively.
  • the weight difference determining unit 3032 compares the weight difference of at least one board with 0; when the weight difference of one board is less than 0, it is determined that the goods on the board are removed; when the weight difference of one board When it is greater than 0, it is determined that an item on the shelf is placed, and at this time, it is not determined whether the item is a product that the user has previously taken out from the shelf, or may be a user's personal belongings.
  • the weight difference is -400 grams, and it can be determined that the goods are taken away; the weight difference is 200 grams, that is, it can be determined that the articles are placed on the shelf.
  • the shelf information recording unit 3033 records the shelf number of the shelf and the difference in weight of the shelf. For example, if the weight difference in the foregoing example is -400 grams, it is known that the weight of the shelf is reduced, and the number (1-12) of the shelf is recorded.
  • the weight difference in the foregoing example is 200 grams, it is known that the weight sensing value in the initial state of the shelf is 1700 grams, and the article placed on the shelf is inevitably not the original shelf, so it is likely Originally belonging to other products on the shelf or the user's personal belongings, an alarm signal can be selectively generated at this time to remind the management personnel or the user, if necessary, the shelf number of the shelf can be displayed on a certain display. For managers or users to deal with in a timely manner.
  • the pick-and-place state judging unit 303 further includes a stock type judging unit 3034 and a merchandise quantity calculating unit 3035.
  • the item type determining unit 3034 determines the type of the taken item based on the shelf number and the item information corresponding to the shelf stored in the item database. For example, the number (1-12) of the shelf is known. If only one item is placed on each shelf, it can be judged that the product type is a certain herbal tea, and other product information, such as the weight value of the product, can also be found. (200 g), net content (195 ml), origin (Guangdong), unit price (5 yuan), etc. If the shelf is placed in a variety of goods, the type and quantity of the goods to be taken can only be initially determined based on the weight difference.
  • the item quantity calculating unit 3035 calculates the absolute value of the weight difference of one board and the rack stored in the item database.
  • the ratio of the weight value of a single item on the board is rounded off by rounding off, and the obtained integer is the quantity of the goods taken.
  • the weight difference in the foregoing example is -400 grams, the absolute value of which is 400 grams, and the ratio of the weight value of the article (200 grams) is 2, so the ratio is the amount of goods taken. Since there may be a small weight difference between multiple items of the same kind, the ratio after direct calculation is not necessarily an integer, and may be close to an integer, so the ratio needs to be rounded by rounding. In order to determine the type and quantity of goods to be taken.
  • the quality of the user is relatively high, and each time the item is returned, the item can be correctly put back to the original shelf of the item. Or, on the wall of the unmanned supermarket, the user is reminded that the misplaced goods will cause the shopping record to be wrong, and the payment amount will exceed the actual consumption amount, forcing all users to correctly return the goods to the original goods every time the goods are returned.
  • the item type judging unit 3034 judges the type of the item to be returned based on the rack number and the item information corresponding to the rack.
  • the item quantity calculation unit 3035 calculates a ratio of the absolute value of the weight difference of the shelf plate to the item weight value of the article corresponding to the shelf plate, and rounds the ratio by the rounding method, and the obtained integer is returned. The quantity of the goods.
  • the goods database updating unit 304 is configured to store the real-time weight sensing value to the goods database to form a new weight sensing value, to update the weight sensing value of each shelf in the goods database, to be called and called next time. .
  • the beneficial effect of the weight monitoring based product sensing system 300 in this embodiment is that a weight sensing based product sensing solution is provided, which can monitor the real-time weight sensing value of the goods on the shelf in real time, and sense the weight change of each board in real time. It is inferred from the weight change of all the shelves on the shelf which kind of goods are taken or put back, and the type and quantity of the goods taken or returned are judged.
  • the embodiment further includes a shopping user judgment system 500, which is a function module in the data processing device 7, and when any type of goods is taken away or put back, according to the identity information of the user and The user's real-time location obtains the identity of the user who took or returned the item.
  • the shopping user judgment system 500 includes a goods information storage unit 501, a shelf coordinate storage unit 502, a shelf and user matching determination unit 503, and a goods and user matching determination unit 504.
  • the goods database generated or updated by the goods database generating unit 301 and the goods database updating unit 304 in the weight sensing-based goods sensing system 300 are all stored in the goods information storage unit 501, and the goods database includes each item information.
  • the object positioning system 200 establishes a three-dimensional coordinate system in the closed space. Since the position of the shelf 2 and the shelf 5 is determined, the coordinates of each shelf 2 and each shelf 5 can be obtained after the coordinate system is established, and the shelf coordinate set is obtained. And the shelf coordinate set is stored in the shelf coordinate storage unit 502, and the height of the shelf space above the shelf plate for placing the goods (for example, 30 CM) is set, and the coordinate set of the shelf space can be obtained.
  • the user coordinate obtaining unit 202 can acquire the real-time coordinate set of the hand of each known identity user.
  • the shelf and the user match the judgment.
  • the unit 503 determines that the shelf is matched with the user, and the user can be considered to extend the hand into the shelf space above the shelf; if the weight of the shelf increases, the article is placed on the shelf. At the same time, the weight sensing value of the shelf plate becomes smaller, indicating that the goods on the shelf are taken away by the user.
  • the item and user matching judging unit 504 determines that the item matches the user, the item At this point in time, the user is removed from the shelf or placed on the shelf to determine the identity of the user who took the item or returned the item.
  • the embodiment further includes a shopping information recording unit 600, which is a function module in the data processing device 7, and generates at least one shopping database according to the identity information of each user, to record that each user takes at least The type and quantity of a good.
  • the shopping information recording unit 600 includes a shopping database generating unit 601 and a shopping database updating unit 602.
  • the identity obtaining unit 1022 acquires the identity information of the user, and the shopping database generating unit 601 generates a shopping database of the user in the data processing device 7 according to the identity information of the user, initially.
  • the shopping database in the state does not have any shopping information.
  • the shopping database updating unit 602 generates a set of shopping information according to the type and quantity of the taken goods and the identity information of the user who takes the goods, and stores them in the shopping database of the user, where the shopping information includes the types of goods that are taken away at the moment. And the quantity, as well as the goods information of the goods, such as the name, model, net content and unit price of the goods, and so on.
  • the shopping database includes a plurality of sets of shopping information, and the mobile communication terminal carried by the user and the data processing device 7 are connected by wireless communication and exchange data, so the shopping database
  • the shopping information in the user can also be displayed on the APP interface of the user's mobile communication terminal to form the user's electronic shopping cart.
  • the weight-sensing product sensing unit 300 monitors that the real-time weight sensing value of a certain shelf 5 is increased, the weight difference of the shelf is greater than 0, indicating that an item is placed on the shelf. On the board, you can determine whether the item is purchased.
  • the embodiment further includes a goods category inference unit 305, which queries each shopping information in the customer's shopping database to determine whether the weight value of the purchased goods matches the weight difference of the shelf, that is, whether there is a Or the total weight of the purchased items is the same as the weight difference of the shelf. If so, the possible types and quantities of the item can be inferred. For example, if the weight difference of the shelf is 200 grams, and there are only two 100 grams of the goods A in the purchased goods, it can be preliminarily determined that the articles returned to the shelf are 2 items A.
  • an image sensing-based goods sensing system can also be provided, which uses multiple cameras to face the space in front of the shelf, monitors the process of each item being removed or put back, and cooperates with the weight sensing-based goods sensing system. Work to further determine the type and quantity of goods that are taken or returned.
  • the goods sensing system may further determine whether the type of the returned goods is consistent with the original product type of the shelf on which the real-time weight sensing value is increased. If not, an alarm signal may be selectively generated to remind the management personnel or user.
  • the weight-aware goods sensing unit 300 cannot judge the returned goods category, it can be confirmed that the items returned to the shelf are not the existing goods of the shelf, and may be the user's own items, such as an umbrella, a mobile phone, etc. At this time, an alarm signal can be selectively generated, and if necessary, the shelf number of the shelf can be displayed on a display to remind the administrator or the user.
  • the embodiment further includes a settlement system 700, which is a function module in the data processing device 7, for setting a fee according to the type and quantity of all the goods in the user's shopping database.
  • a settlement system 700 which is a function module in the data processing device 7, for setting a fee according to the type and quantity of all the goods in the user's shopping database.
  • the settlement system 700 includes a total amount calculation unit 701 and a payment unit 702.
  • the total amount calculation unit 701 calculates the total amount according to the type and quantity of all the goods in the user's shopping database, and the unit price of each type of goods is pre-existing as the item information as the item data processing device 7 Therefore, the sum of the product of the unit price and quantity of a plurality of goods is the total amount that the user needs to pay.
  • the user may enjoy the discount of the goods or use the coupon, the vouchers, etc.
  • the total amount that the user needs to pay is the amount of the sum of the product of the unit price and the quantity of the plurality of goods minus the coupon and / or the amount of the voucher and / or the amount of the discount.
  • the payment unit 702 is a payment software or third-party payment software that is provided by the settlement system 700, and can be debited from the bank account or the electronic account of the user, and the amount of the deduction is the same as the total amount that the user needs to pay.
  • the embodiment further provides a method for sensing goods based on weight monitoring, that is, the implementation method of the foregoing weight sensing based product sensing system 300, as shown in FIG. 12, including the following steps S101) to S108).
  • S101) a goods database generating step, configured to generate a goods database; the goods database includes product information of each item and a weight sensing value of each board for placing the goods, the item information including the type of the goods, the single item The weight value of the product and the number of the shelf corresponding to the product.
  • the S101) database generating step specifically includes the following steps S1011) to S1013).
  • S1011) an initialization step for initializing a product database
  • S1012) an information entry step for entering a weight value and product information of each item and storing it in the goods database
  • S1013 initializing the weight sensing value
  • the step is to collect the weight sensing value in the initial state of each shelf and store it in the goods database.
  • a certain shelf has a weight of 100 grams, and 8 bottles of a certain brand of beverage are placed on the shelf. Each bottle has a weight of 200 grams, and the inductive weight value after the initial initialization of the shelf is 1700 grams.
  • the product name (a certain herbal tea), net content (195ml), origin (Guangdong), price (5 yuan), single product weight value (200g), shelf number (1), shelf number (1) 12), product number (025) and the like are also stored in the goods database.
  • the weight value collecting step is configured to collect real-time weight sensing values of each board in real time, and the weight sensing value is a real-time weight value of the shelf and the goods on the shelf.
  • the time interval for collecting the real-time weight sensing value is 0.1-0.5 seconds.
  • a pick-and-place state determining step for determining whether a weight sensing value of each shelf changes, and if it is smaller, determining that the article on the shelf is removed; if it is larger, determining that an item is placed on the shelf On the board. If it is completely unchanged, it means that the goods on the shelf have not changed at all, and return to S102) the weight value collection step to re-acquire the real-time acquisition.
  • the S103) pick-and-place state determination step includes the following steps S1031 to S1033).
  • S1031) a weight difference calculation step, configured to calculate a difference between a real-time weight sensing value of each shelf collected in real time and a weight sensing value of the same shelf stored in the goods database, and record the weight of each shelf Difference. For example, in the foregoing example, if the weight of the shelf on which the aforementioned branded beverage is placed changes, it becomes 1300 g or 1900 g, and the difference in weight is recorded as -400 g or 200 g, respectively.
  • the weight difference judging step is for comparing the weight difference of at least one board with 0; when the weight difference of one board is less than 0, it is determined that the goods on the board are removed; when a board When the weight difference is greater than 0, it is determined that an item on the shelf is placed. At this time, it is not determined whether the item is a product that the user previously removed from the shelf, or may be a user's personal belongings.
  • the weight difference is -400 grams, that is, it can be determined that the goods are taken away; the weight difference is 200 grams, that is, it can be determined that the articles are placed on the shelf.
  • the information recording step when the weight sensing value of the shelf changes, the weight difference of the shelf is greater than 0 or less than 0, for recording the shelf number of the shelf and the weight of the shelf.
  • the difference for example, if the weight difference in the foregoing example is -400 grams, it is known that the weight of the shelf is reduced, and the number (1-12) of the shelf is recorded. If the weight difference in the foregoing example is 200 g, it is known that the weight sensing value in the initial state of the shelf is 1700 g, and the article placed on the shelf is inevitably not the original shelf, so it is likely It is originally the goods belonging to other shelves or the user's own items, such as umbrellas, mobile phones, etc. At this time, an alarm signal can be selectively generated to remind the management personnel or users.
  • the S103) pick-and-place state determining step may further include the following steps S1034) to S1035).
  • S1034) a product type class determining step, when the weight difference of a board is less than 0, determining the type of the item to be taken according to the shelf number and the item information corresponding to the shelf plate stored in the goods database, for example The number of the shelf (1-12) is known. Since only one item is placed on each shelf, it can be judged that the product type is (a certain herbal tea), and other goods information, such as a single product, can also be found. Weight value (200 g), net content (195 ml), origin (Guangdong), price (5 yuan), etc.
  • the integer is the quantity of goods that are taken.
  • the weight difference in the foregoing example is -400 grams, and its absolute value is 400 grams, and the ratio to the single product weight value (200 grams) is 2, so the ratio is the quantity of goods taken. Since there may be a weight difference between the goods, not all goods are absolute standard parts. There is also a certain weight difference between the same type of goods. Therefore, the ratio after calculation is not necessarily an integer, so it is necessary to use
  • the rounding method rounds the ratio so that the type and quantity of the goods to be taken can be judged.
  • a goods database update step configured to store the real-time weight sensing value to the goods database, to form a new weight sensing value, to update the weight sensing value of each shelf in the goods database; return S102) weight value
  • the acquisition step when the weight sensing value of a certain shelf changes, the above steps are repeated again.
  • the new real-time weight sensing value is newly stored in the goods database to replace the original weight sensing value for the next judgment.
  • the method for sensing goods based on weight monitoring may further include the following steps: S105) a user identification step for identifying identity information of each user; and S106) a user positioning step for acquiring each user a real-time location of the closed space; S107) a shopping user determining step, when any item is taken away or put back, used to determine the identity of the user who removes or returns the item based on the user's identity information and its real-time location, If any of the shelf weight sensing values change, and the coordinate set of the shelf space above the shelf overlaps with a user hand coordinate set, it is determined that the user removes the goods from the shelf or puts the goods back to the The shelf board performs a shopping behavior; S108) the shopping information recording step generates a shopping database according to the identity information of each user, and records the type and quantity of the goods taken by each user whenever a shopping behavior occurs.
  • the shopping information recording step includes S1081) a shopping database generating step of generating a shopping database of the user according to the identity information of the user when the identity of the user is identified; and S1082) shopping database
  • the updating step when the goods are taken away, generates shopping information according to the type and quantity of the taken goods and the identity information of the user who takes the goods, and stores them in the user's shopping database; when the goods are put back, according to The return information is generated by the type and quantity of the returned goods and the identity information of the user who put the goods back, and the shopping information corresponding to the return information is deleted from the shopping database of the user.
  • each user has a corresponding shopping database.
  • the goods information of the goods and the quantity taken away are written as the shopping information into the shopping database of the user.
  • the item information of the item and the returned quantity generate return information, and the shopping information corresponding to the return information is deleted from the user's shopping database.
  • the real-time weight value corresponding to the shelf (1-12) in the goods database has been updated to 1300 grams, and the user's shopping database stores two bottles of beverage (a certain herbal tea).
  • Product information and quantity If the real-time weight sensing value of the shelf board (1-12) is 1500 grams, and the weight difference of the shelf board (1-12) is 200 grams, perform the S103) pick-and-place state determination step to determine the item. It is placed on the shelf, and the S104) database update step is performed to update the real-time weight value corresponding to the shelf (1-12) in the goods database to 1500 grams.
  • a certain herbal tea such as product information and quantity
  • the data processing device 7 determines that the user has left the unmanned supermarket (closed space 1) range, and the settlement system 700 records according to the user's shopping database. All data information is automatically completed for user settlement and payment.
  • the utility model has the beneficial effects of providing a goods sensing system and a sensing method based on weight monitoring, which can monitor the real-time weight sensing value of the goods on the shelf in real time, and sense the weight change of each board in real time, and all the shelves on the shelf.
  • the weight change infers which type of item has been taken or put back, and can determine the type and quantity of the item that was taken or returned.
  • the identity of the user who takes the goods back or put back can be further determined, and a shopping database is generated, and the type and quantity of the goods taken by the user are recorded, so that the customer can directly settle the payment after the shopping is over.

Abstract

一种基于重量检测的货品感知系统，包括货品数据库生成单元（301）、重量值采集单元（302）、取放状态判断单元（303）以及货品数据库更新单元（304），一种货品感知方法，包括如下步骤：货品数据库生成步骤（S101）、重量值采集步骤（S102）、取放状态判断步骤（S103）以及货品数据库更新步骤（S104），可以实时监测货架上货品的实时重量感应值，实时感知每一架板的重量变化，由货架上所有架板的重量变化推断出有哪一种货品被取走或被放回，可以判断被取走或被放回货品的种类和数量。

Description

基于重量监测的货品感知系统及货品感知方法 技术领域
本发明涉及一种用于零售业的货品感知技术，具体地说，涉及一种基于重量监测的货品感知系统及感知方法。
背景技术
传统零售业的购物方式，每一家超市货便利店需要有专门的销售人员和收款人员，人力成本较高。随着电子支付技术、身份感知技术及云计算技术的发展，无人超市项目在技术上具备很高的可行性。在无人超市项目中，急需解决的一个基本问题就是用户选购货品的判断和记录问题，具体地说，服务器需要准确判定用户从货架上取走货品的种类、取走货品的数量及单价等，以便自动为用户实现结算。
现有技术中，有人采用RFID技术感知用户选购的货品，这种方式需要在每一个货品上设置RFID标签，在门禁处设置RFID阅读器，当用户走出门禁时就可以记录其消费内容。这一方案的不足之处在于，首先，硬件成本较高，每一RFID标签的价格大约在0.5-1元左右，标签会提升每一种商品的成本，降低超市的竞争力，对于成本为5元的货品来说，加装RFID标签会提升其成本的10-20％；其次，货品感知存在被屏蔽、被去除的可能性，从而出现用户蒙蔽RFID阅读器的现象，导致货品丢失；再次，该方案中只有在超市门禁处才能实现结算，如果有用户在离店前将可食用的货品吃掉，将包装留在超市里，RFID阅读器也无法感知和确定用户的真实消费金额。也就是说，这一方案高度依靠用户的自律性和道德水平，而不是用技术手段加以约束，这样的无人超市在经营过程中的风险较大。
发明内容
本发明的目的在于，提供一种基于重量监测的货品感知技术，可以解决现有技术存在的货品取放状态的感知精准度差、监控误差较大、成本较高、货品容易丢失的技术问题。
为实现上述目的，本发明提供一种基于重量监测的货品感知系统，包括：货品数据库生成单元，用以生成一货品数据库；重量值采集单元，用以实时采集每一架板的实时重量感应值；取放状态判断单元，用以判断每一架板的重量感应值是否发生变化，若变小，判定该架板上有货品被取走；若变大，判定有物品被放置于该架板上；以及货品数据库更新单元，用以存储所述实时重量感应值至所述货品数据库，以更新所述货品数据库中每一架板的重量感应值。
进一步地，在不同实施例中，所述基于重量监测的货品感知系统还包括货架，每一货架包括至少一架板，每一架板上放置有至少一货品；以及重量感应装置，被设置于每一架板下方，且被连接至所述重量值采集单元。
进一步地，在不同实施例中，所述货品数据库生成单元包括初始化单元，用以对一货品数据库进行初始化处理；信息录入单元，用以录入每一货品的重量值及货品信息，并将其存储至所述货品数据库；以及感应值初始化单元，用以采集每一架板被放置货品后的重量感应值，并将其存储至所述货品数据库。
进一步地，在不同实施例中，所述取放状态判断单元包括重量差值计算单元，用以计算实时采集的每一架板的实时重量感应值与所述货品数据库内存储的同一架板的重量感应值的差值，记录为每一架板的重量差值；重量差值判断单元，用以将至少一架板的重量差值与0对比；当一架板的重量差值小于0时，判定该架板上有货品被取走；当一架板的重量差值大于0时，判定该架板上有物品被放置；以及架板信息记录单元，当一架板的重量差值大于0或小于0时，用以记录该架板的架板编号以及该架板的重量差值。
进一步地，在不同实施例中，当同一架板上所有货品种类相同且重量相同时，所述取放状态判断单元还包括：货品种类判断单元，用以根据该架板编号及该架板对应的货品信息判断被取走货品的种类；以及货品数量计算单元，用以计算一架板的重量差值的绝对值与该架板对应的货品的单品重量值的比值，利用四舍五入法对该比值进行取整处理，获得的整数即为被取走货品的数量。
进一步地，在不同实施例中，所述基于重量监测的货品感知系统还包括购物用户判断系统，用以判断取走或放回货品的用户身份；以及购物信息记录单元，用以记录每一用户取走的货品的种类及数量。
进一步地，在不同实施例中，所述购物信息记录单元包括购物数据库生成单元，当一用户的身份被识别时，用以根据所述用户的身份信息生成该用户的购物数据库；以及购物数据库更新单元，当货品被取走时，根据被取走货品的种类及数量以及取走货品的用户的身份信息生成购物信息，且存储至该用户的购物数据库中；当货品被放回时，根据被放回货品的种类及数量以及放回货品的用户的身份信息生成归还信息，从该用户的购物数据库中删除与所述归还信息相应的购物信息。
为实现上述目的，本发明还提供一种基于重量监测的货品感知方法，包括如下步骤：货品数据库生成步骤，用以生成一货品数据库；重量值采集步骤，用以实时采集每一架板的实时重量感应值；取放状态判断步骤，用以判断每一架板的重量感应值是否发生变化，若变小，判定该架板上有货品被取走；若变大，判定有物品被放置于该架板上；以及货品数据库更新步骤，用以存储所述实时重量感应值至所述货品数据库，以更新所述货品数据库中每一架板的重量感应值；返回所述重量值采集步骤。
进一步地，在不同实施例中，在所述数据库生成步骤之前，还可以包括：货架设置步骤，至少一货品被放置于至少一货架的至少一架板上；同一架板上的同种货品具有相同的重量值，每一重量值仅对应一种货品；以及传感器设置步骤，每一架板下方设置一重量传感器，且被连接至所述重量值采集单元。
进一步地，在不同实施例中，所述货品数据库生成步骤具体包括如下步骤：初始化步骤，用以对一货品数据库进行初始化处理；信息录入步骤，用以录入每一货品的重量值及货品信息，并将其存储至所述货品数据库；以及重量感应值初始化步骤，用以采集每一架板被放置货品后的重量感应值，并将其存储至所述货品数据库。
进一步地，在不同实施例中，所述取放状态判断步骤具体包括如下步骤：重量差值计算步骤，用以计算实时采集的每一架板的实时重量感应值与所述货品数据库内存储的同一架板的重量感应值的差值，记录为每一架板的重量差值；重量差值判断步骤，用以将至少一 架板的重量差值与0对比；当一架板的重量差值小于0时，判定该架板上有货品被取走；当一架板的重量差值大于0时，判定该架板上有物品被放置；以及信息记录步骤，当一架板的重量差值大于0或小于0时，用以记录该架板的架板编号以及该架板的重量差值。
进一步地，在不同实施例中，当同一架板上所有货品种类相同且重量相同时，所述取放状态判断步骤还包括如下步骤：货品种类判断步骤，用以根据该架板编号及该架板对应的货品信息判断被取走货品的种类；以及货品数量计算步骤，用以计算一架板的重量差值的绝对值与该架板对应的货品的单品重量值的比值，利用四舍五入法对该比值进行取整处理，获得的整数即为被取走货品的数量。
进一步地，在不同实施例中，所述基于重量监测的货品感知方法，还包括如下步骤：购物用户判断步骤，用以判断取走或放回货品的用户身份；以及购物信息记录步骤，用以记录每一用户取走的货品的种类及数量。
进一步地，在不同实施例中，所述购物信息记录步骤包括购物数据库生成步骤，当一用户的身份被识别时，用以根据所述用户的身份信息生成该用户的购物数据库；以及购物数据库更新步骤，当货品被取走时，根据被取走货品的种类及数量以及取走货品的用户的身份信息生成购物信息，且存储至该用户的购物数据库中；当货品被放回时，根据被放回货品的种类及数量以及放回货品的用户的身份信息生成归还信息，从该用户的购物数据库中删除与所述归还信息相应的购物信息。
本发明的有益效果在于，提供一种基于重量监测的货品感知系统及感知方法，可以实时监测货架上货品的实时重量感应值，实时感知每一架板的重量变化，由货架上所有架板的重量变化推断出有哪一种货品被取走或被放回，可以判断被取走或被放回货品的种类和数量。再结合用户的实时位置及预设的每一货品的摆放位置，本发明还可以进一步判断取走或放回货品的用户的身份，并生成购物数据库，记录用户取走货品的种类和数量，以便购物结束后客户可以直接进行结算。
附图说明
图1为本发明实施例所述的无人超市俯视图；
图2为本发明实施例所述货架的整体结构示意图；
图3为本发明实施例所述的托盘及架板的结构示意图；
图4为本发明实施例所述的架板的结构示意图；
图5为本发明实施例所述用户身份识别系统的结构框图；
图6为本发明实施例所述用户定位系统的结构框图；
图7为本发明实施例所述影像传感器在封闭空间内的分布图；
图8为本发明实施例所述基于重量监测的货品感知单元的结构框图；
图9为本发明实施例所述购物用户判断系统的结构框图；
图10为本发明实施例所述购物数据库系统的结构框图；
图11为本发明实施例所述结算系统的结构框图；
图12为本发明所述基于重量监测的货品感知方法的流程图；
图13为本发明所述数据库生成步骤的流程图；
图14为本发明所述取放状态判断步骤的流程图；
图15为本发明所述购物信息记录步骤的流程图。
图中各个部件标号如下：
1封闭空间，2货架，3支架，4托盘，5架板，6重量感应装置，7数据处理设备；
51架板基板，52架板挡板，53挡板缺口，54架板卡槽；
100用户身份识别系统，101门禁装置，102身份识别装置；1021扫码装置，1022身份获取单元，103用户入口，104用户出口；
200目标物定位系统，201三维影像采集装置，202目标物坐标获取单元；
2011影像传感器，2012深度图像传感器，2013RGB图像传感器，2014三维影像整合单元；
2021坐标系建立单元，2022参数获取单元，2023背景去除单元，2024目标物坐标计算单元；
20221传感器坐标获取单元，20222相对坐标获取单元，20223坐标修正单元；
300基于重量监测的货品感知系统，301货品数据库生成单元，302重量值采集单元，303取放状态判断单元，304货品数据库更新单元，305货品种类推断单元；
3011初始化单元，3012信息录入单元，3013感应值初始化单元；
3031重量差值计算单元，3032重量差值判断单元，3033架板信息记录单元；3034货品种类判断单元，3035货品数量计算单元；
500购物用户判断系统，501货品信息存储单元，502架板坐标存储单元，503架板与用户匹配判断单元，504货品与用户匹配判断单元；
600购物数据库系统，601购物数据库生成单元，602购物数据库更新单元；
700结算系统，701总金额计算单元，702支付单元。
具体实施方式
以下参考说明书附图完整介绍本发明的优选实施例，使其技术内容更加清楚和便于理解。本发明可以通过许多不同形式的实施例来得以体现，其保护范围并非仅限于文中提到的实施例。
在附图中，结构相同的部件以相同数字标号表示，各处结构或功能相似的部件以相似数字标号表示。本发明所提到的方向用语，例如，上、下、前、后、左、右、内、外、上表面、下表面、侧面、顶部、底部、前端、后端、末端等，仅是附图中的方向，只是用来解释和说明本发明，而不是用来限定本发明的保护范围。
当某些部件被描述为“在”另一部件“上”时，所述部件可以直接置于所述另一部件上；也可以存在一中间部件，所述部件置于所述中间部件上，且所述中间部件置于另一部件上。当一个部件被描述为“安装至”或“连接至”另一部件时，二者可以理解为直接“安装”或“连接”，或者一个部件通过一中间部件间接“安装至”或“连接至”另一个部件。
本实施例涉及一种基于重量监测的货品感知系统，是一种用于无人超市的无人售货系统中的一部分。如图1～3所示，所述无人售货系统包括一封闭空间1，其内设有多个货架2，每一货架2包括支架3及可拆卸式安装在支架3上的多个托盘4，多个托盘4在不同高度彼此平行或者在同一高度彼此平齐。每一托盘4上设有多个并列设置的架板5，每一架板5上放置有至少一种货品。本实施例架板5上放置的货品需要便于用户取走或放回，因此，以架板5朝向用户的一端作为架板5的前端。
每一架板5与托盘4之间都设置有一个重量感应装置6，优选长方体形状重量传感器，其一端的下表面连接至托盘4，其另一端的上表面连接至架板5，每一个重量感应装置 6实时获取其上方的架板5及被放置在架板5上表面的的重量值，且及时感知所述重量值的变化。
本实施例中，每一架板5皆为一个敞口的盒体，可以被放置有一种或多种货品，所述货品为标准货品，同一种类的货品的外观和重量都相同或近似。放置于同一架板5的同种类货品具有相同的重量值，不同种类货品具有不同的重量值，每一重量值仅对应一类货品。重量感应装置6可以精准的获取架板5及其上表面货品的实时重量感应值，精确感知每个架板5的每一次重量值变化量，包括增加量或减小量。当有某一被用户取走时，该货品所处架板5下方的重量感应装置6采集的重量值数据就会变小，当有某一货品被放回时，该货品所处架板5下方的重量感应装置6采集的重量值数据就会变大，重量感应装置6可以获取比较精确的重量变化值。
如图4所示，本实施例中，架板5包括架板基板51、架板挡板52以及挡板缺口53。架板5整体近似为一长方体，但前端高度较低，架板基板51为矩形，用以放置货品。架板挡板52为矩形或梯形或楔形，用于隔离不同种类货品，防止货品混淆，保证货品不会滑落，确保每个架板基板上货品重量值发生变化时，重量感应装置3可以感应精准。
本实施例包括三个彼此相连的架板挡板52，连接至51的左右两侧及后部边缘处。设于架板基板51左右两侧的架板挡板52为梯形或楔形，其前端部分的高度较低，便于用户取放货品；设于架板基板51后部的架板挡板52为矩形，防止货品滑落，也防止不同架板基板上的货品互相干扰，影响货品重量值的监测。为尽量减少空间的浪费，架板挡板52尽量与架板基板51保持垂直。
架板挡板52连接至架板基板51的边缘处，且突出于架板基板51的上表面。挡板缺口53形成于两个相对设置的架板挡板52之间，挡板缺口53设置于架板基板51的前部，朝向货架前方的用户，用户的手部可以由此挡板缺口53进入架板基板上方放置货品的空间，便于用户取放货品。
本实施例还包括数据处理设备7，如服务器或计算机等，数据处理设备7内部设有多个数据处理软件，具有多个功能模块，可以通过数据线连接至多个硬件，以软硬件结合方式实现多种功能。
如图1、图5所示，本实施例还包括用户身份识别系统100，用以识别每一用户的身份信息。用户身份识别系统100包括门禁装置101及身份识别装置102，本实施例所述封闭空间1不是绝对密封空间，而是相对封闭的空间，封闭空间1设有出入口，优选一个用户入口103及一个用户出口104，所有用户由用户入口103进入此封闭空间1，由用户出口104离开此封闭空间1。
如图1、图5所示，封闭空间1的每一出入口处都设置有门禁装置101，优选一自动闸机。身份识别装置102用以获取用户的身份信息，包括连接至数据处理设备7的扫码装置1021以及数据处理设备7内的身份获取单元1022。扫码装置1021设置于用户入口103处的门禁装置101的内部或外部，优选设于自动闸机的外表面，用以扫描身份识别码，优选一二维码；身份获取单元1022为数据处理设备7中的一个功能模块，可以根据所述身份识别码获取用户的身份信息。用户出口104处的门禁装置101无需设置身份识别装置102。
本实施例中，每个用户将与无人超市配套使用的专用应用软件(APP)下载到移动通信终端(手机、平板电脑等)中，在应用软件(APP)中注册账号，关联至支付软件；或者，每个用户将支付软件(如微信/支付宝)下载到移动通信终端中，在支付软件中嵌入与无人超市配套使用的小程序，在支付软件中注册账号，专用应用软件(APP)或支付软件内设有用户注册信息及电子支付信息，包括用户身份信息、银行账号信息、支付密码等。注册完成后，用户身份信息会存储于数据处理设备7的用户数据库中。
移动通信终端中的应用软件(APP)可以生成一二维码，该二维码内存储有用户的身份信息等，当某一用户需要从外部进入封闭空间1时，将应用软件生成的二维码正对扫码装置1021的扫描端，扫码后扫码装置1021对此二维码进行解码处理，将解码结果传送至数据处理设备7，如果二维码是可识别的，且识别出的身份信息与预先存储在用户数据库的身份信息相匹配，确定该用户身份合法，门禁装置101打开允许该用户进入封闭空间1，用户入口103处的门禁装置101设有感应装置，如红外传感器等，当该用户进入封闭空间1之后，门禁装置101感知到有人走过门禁，然后自动关闭。当用户购物结束需要离开封闭空间1时，用户出口104处的门禁装置101感应到有人从封闭空间1内部靠近门禁装置101时，该 门禁装置会自动打开，待用户离开封闭空间1后，门禁装置101感知到有人走过门禁，然后自动关闭。
身份获取单元1022根据所述身份识别码获取用户的身份信息后，数据处理设备7可以生成该用户的购物数据库，在用户购物过程中根据用户每一次购物行为获取购物信息更新该购物数据库。由于用户随身携带的移动通信终端通过应用软件(APP)与数据处理设备7进行实时数据交换，用户的购物数据库也可以显示在移动通信终端中的应用软件(APP)中，形成购物车界面，以便用户了解自己的购物记录及后续结算。
如图6所示，本实施例还包括目标物定位系统200，用以获取每一目标物在封闭空间1的实时位置，所述目标物为用户及其延伸部的全部或局部，用以获取用户整体或局部(如头部、手部等)的坐标集。目标物定位系统200包括连接至数据处理设备7的三维影像采集装置201以及设于数据处理设备7内的目标物坐标获取单元202。
如图7所示，三维影像采集装置201包括至少一影像传感器2011，用以实时采集至少一帧三维影像，影像传感器2011平均分布于封闭空间1顶部，其镜头朝向下方，镜头中轴线可以与水平面垂直也可以有一定的倾角，影像传感器2011的视野范围覆盖封闭空间1的全部底面。用户在无人超市内行动或购物时，始终处于影像传感器的监视之下，此时影像传感器采集到的三维影像中包括用户影像，所述用户影像是指该用户身体及其延伸部的全部或局部。如果该封闭空间内空无一人，每一时刻下的三维影像都与前一时刻下相同，可以判断该时刻下的三维影像都为背景，不包括任何用户影像。
每一影像传感器2011包括并列设置的深度图像传感器2012及RGB图像传感器2013以及三维影像整合单元2014，深度图像传感器2012连续采集多帧深度图像，RGB图像传感器2013连续采集多帧RGB图像，三维影像整合单元2014将同一时刻采集到的一帧深度图像及一帧RGB图像结合为一帧三维影像。
上述两个传感器同步采集(同时采集且采集频率相同)影像传感器2011每秒可以获取同样帧数的RGB图像及深度图像，三维影像整合单元2014每秒可以连续获得多帧三维影像并传送至数据处理设备7的目标物坐标获取单元202。
目标物坐标获取单元202为数据处理设备7中的一个功能模块，在所述封闭空间内建立三维坐标系，根据连续多帧包括用户影像的三维影像实时获取所述用户在所述三维坐标系下的坐标集或坐标。目标物坐标获取单元202包括坐标系建立单元2021、参数获取单元2022、背景去除单元2023以及目标物坐标计算单元2024。坐标系建立单元2021在所述封闭空间内建立三维坐标系，优选地，选择封闭空间底面(无人超市的地面)的中心点作为坐标系原点，在水平方向设置X轴、Y轴，在竖直方向设置Z轴。
由于用户身体的全部或局部在三维坐标系下占用较大的空间，因此可以用一个坐标集代表用户的位置，如果考虑到位置精确控制和计算方便，也可以用该坐标集中某一个特定的点的坐标代表用户的位置，例如可以采用该用户坐标集中最高的一个点(Z轴数值最大的点)的坐标来表示用户位置。
参数获取单元2022对连续多帧包括用户影像的三维影像进行处理，获取每一帧三维影像的每一像素点的位置参数和色彩参数；所述位置参数为x、y、z，代表该像素点在所述三维坐标系下的位置坐标；所述色彩参数为r、g、b，分别代表该像素点的三原色强度。当某一用户行进至任一影像传感器的视野内之后，数据处理设备7都每秒可以获取多帧三维影像，每一帧三维影像中都包括用户影像和背景影像，每一像素点可能是用户的一部分也可以是背景的一部分。
在不同的影像传感器采集到三维影像中，表示用户身体及其延伸部的同样位置的像素点，其色彩参数r、g、b都是相同的。由于不同位置的影像传感器与用户的距离不同，每一影像传感器直接采集的初级位置参数都是用户身体及其延伸部上的一点相对于该影像传感器的位置坐标，因此要进行坐标变换，将不同位置的影像传感器采集的初级位置参数都转换为在所述封闭空间内建立的三维坐标系下的位置参数。
参数获取单元2022包括传感器坐标获取单元20221、相对坐标获取单元20222以及坐标修正单元20223，传感器坐标获取单元20221获取采集该帧三维影像的影像传感器的中心点(即并列设置的深度图像传感器2012及RGB图像传感器2013的镜头中心点连线的中分点)在所述封闭空间内建立的所述三维坐标系下的坐标；相对坐标获取单元20222以所述影像传感器的中心点为第二原点建立第二三维坐标系，其X轴、Y轴及Z轴的方向与所述三 维坐标系相同，从所述三维影像获取每一像素点在所述第二三维坐标系下的坐标；坐标修正单元20223用以根据所述影像传感器中心点在所述三维坐标系下的坐标及所述三维影像中每一像素点在第二三维坐标系下的坐标，计算并修正所述三维影像的每一像素点在所述三维坐标系下的坐标，从而获得用户及其延伸部的每一像素点的位置参数。
在连续采集的M帧三维影像中，每一帧三维影像包括且仅包括一个用户的影像，若分属于不同三维影像、位置参数相同的N个像素点的色彩参数相同时，且N大于0.9*M且小于或等于M，背景去除单元2023判定该N个像素点为背景像素点，从所述M帧三维影像中去除N个所述背景像素点，获得M帧无背景三维影像，即为该用户的影像。在连续获取的三维影像中，如果分属于不同三维影像的、位置参数相同的像素点的色彩参数相同，或者大部分(如90％)相同，即可认定像素点的位置为背景，从而可以将该像素点从相应的三维影像中去除。
在目标物坐标计算单元2024中，若目标物为用户及其延伸部全部，所述M帧无背景三维影像中所有像素点的位置参数的集合即为所述用户及其延伸部的全部的坐标集；在所述坐标集中，参数z最大的像素点的位置参数被定义为用户的坐标。在连续获取的三维影像中，去除背景像素点后，剩下的像素点即可代表该用户整体的行进轨迹。若连续采集的M帧三维影像中，每一帧三维影像包括多个用户的影像，需要先在每一M帧三维影像截取只含一个用户全部或部分的三维影像。
若目标物为用户及其延伸部的局部，可以获取所述用户局部的坐标集，如头部、肩部、肘部、腕部、手部等。深度图像传感器2012及RGB图像传感器2013分别设有一个镜头，如果将两个镜头的中轴线垂直水平面设置，两个镜头就会俯视封闭空间内的货品及用户。正常情况下，两个镜头可以捕捉到用户头部及肩部的位置坐标集，当用户伸出手时，也可以捕捉到用户臂部、肘部、腕部、手部的位置坐标集。如果将某一时刻下该用户的头部、肩部、肘部、腕部、手部都连成一条折线或曲线，即可将用户的手部与头部位置建立对应关系，也就是说，可以实时获取到某一手部的位置，同时可以判断出该手部属于哪一用户。
进一步地，影像传感器2011的视野范围也可以覆盖出入口外部的部分空间，当用户在出入口外部时，该用户的影像就可以被影像传感器2011获取到。用户使用所述无人售 货系统的全部过程，包括出入口处身份识别过程、进入封闭空间1的过程、在封闭空间1内行走或驻留过程、离开封闭空间1过程，全部处于影像传感器2011的监控下，可以实时监控已知身份的某一用户及其身体的一部分在封闭空间1内的实时位置。扫码装置1021读取用户的二维码时，数据处理设备7即可获取其身份信息，影像传感器2011从扫码装置1021读码时开始定位及实时跟踪该用户位置，监控该用户是否与某一货架匹配。当影像传感器2011无法获取该用户的实时三维影像时，可以认定该用户购物结束，从而对其进行结算。
本实施例涉及一种基于重量监测的货品感知系统300，用以实时感知每一种货品的取放状态，所述取放状态包括货品静置状态、被取走状态及被放回状态。图8所示，基于重量监测的货品感知系统300包括货品数据库生成单元301、重量值采集单元302、取放状态判断单元303以及货品数据库更新单元304。上述四个单元为数据处理设备7中的功能模块，与设有重量感应装置6的货架1配合工作，可以监控每一架板5的实时重量感应值，判断是否有货品被取走或被放回。当任一种类货品被取走或被放回时，货品感知系统300获取被取走或被放回的货品的种类及数量。
货品数据库生成单元301用以生成一货品数据库；货品数据库包括每一货品的货品信息及用以放置货品的每一架板的重量感应值，所述货品信息包括货品的种类、单品重量值以及货品对应的架板编号与货架编号，还包括货品的编号货品名、型号、净含量及单价等。
货品数据库生成单元301包括初始化单元3011、信息录入单元3012以及感应值初始化单元3013。初始化单元3011用以对一货品数据库进行初始化处理，在数据处理设备7的存储器中建立货品数据库。信息录入单元3012用以录入每一货品的重量值及货品信息，并将其存储至所述货品数据库，利用键盘或扫码器将无人超市货架上的每一种货品的重量值都录入所述货品数据库。感应值初始化单元3013用以采集每一架板被放置货品后的重量感应值，并将其存储至所述货品数据库。
在无人超市布置过程中，优选地，在每一架板5上摆放种类相同、重量相同的多个货品之后，货品信息被录入至数据处理设备7，并存储于货品数据库中。以某品牌饮料为示例，某一架板上摆放有8瓶某品牌饮料，架板的重量为100克，每瓶饮料重量为200克，在初始化后货品数据库中该架板的感应重量值为1700克，该品牌饮料对应的产品名称(某凉 茶)、净含量(195ml)、产地(广东)、单价(5元)、单品重量值(200克)、货架编号(1)、架板编号(1-12)、商品编号(025)等信息也被存储在所述货品数据库内。
重量值采集单元302通过数据线分别连接至每一架板5内的重量感应装置6，用以实时采集每一架板5的实时重量感应值，优选地，采集时间间隔为0.1-0.2秒。所述实时重量感应值为重量传感器的感应数值，在货品被摆放至架板5之前，代表每一架板的重量；在货品被摆放至架板5之后，代表该架板及该架板上货品的总重量值；当有货品被取走或被放回至架板5时，实时重量感应值会发生变化。
为了减小误差，在架板5上正式摆放货品之前，需要先进行校准处理，用多种不同重量的标准砝码计算重量传感器的感应值X与架板上方放置物品的实际重量值Y之间的对应关系。例如，先将架板空置，获取重量感应装置6(重量传感器)的感应值X0，此时架板上货品重量Y0＝0克；再用重量值为500克、1000克的标准砝码分别放置在架板上，获取重量感应装置6(重量传感器)的感应值X1、X2，对应的架板上货品重量Y1＝500克，Y2＝1000克。利用公式Y(货品重量值)＝k*X(传感器值)+b，计算并存储三组参数k、b的数值，选择其中偏差较小的参数组。在后续的实时监控过程中，重量感应装置6(重量传感器)每次实时采集到的传感器值，结合参数k、b的数值，即可以计算出每一架板上既有货品的总重量。
取放状态判断单元303用以判断每一架板的重量感应值是否发生变化，若变小，判定该架板上有货品被取走；若变大，判定有物品被放置于该架板上；若完全不变，说明该架板上的货品完全没有变化，重量值采集单元302重新进行实时采集。取放状态判断单元303包括重量差值计算单元3031、重量差值判断单元3032以及架板信息记录单元3033。
重量差值计算单元3031计算实时采集的每一架板的实时重量感应值与所述货品数据库内存储的同一架板的重量感应值的差值，记录为每一架板的重量差值。例如，前述示例中，若放置前述某品牌饮料的架板重量发生变化，变为1300克或1900克，分别记录重量差值为-400克或200克。
重量差值判断单元3032将至少一架板的重量差值与0对比；当一架板的重量差值小于0时，判定该架板上有货品被取走；当一架板的重量差值大于0时，判定该架板上有物 品被放置，此时不能确定该物品是否为用户之前从货架上取走的货品，也可能是用户的随身物品。例如，前述示例中，重量差值为-400克，即可认定有货品被取走；重量差值为200克，即可以认定有物品被放置在货架上。
当一架板的重量差值大于0或小于0时，架板信息记录单元3033记录该架板的架板编号以及该架板的重量差值。例如，若前述示例中的重量差值-400克，已知该架板重量减少，记录该架板的编号(1-12)。若前述示例中的重量差值200克，已知该架板初始状态下的重量感应值为1700克，此时被放置在该架板上的物品必然不是原货架上的商品，因此很可能是原属于其他架板上的商品或者是用户的随身物品，此时可选择地生成一个报警信号，提醒管理人员或用户，必要时，可以将该架板的架板编号显示在某一显示器上，以便管理人员或用户及时处理。
取放状态判断单元303还包括货品种类判断单元3034及货品数量计算单元3035。当一架板的重量差值小于0时，货品种类判断单元3034根据该架板编号及所述货品数据库内存储的该架板对应的货品信息判断被取走货品的种类。例如，已知该架板的编号(1-12)，如果每一架板上只放置一种货品，可以判断该货品种类为某凉茶，也可以对应找出其他货品信息，如单品重量值(200克)、净含量(195ml)、产地(广东)、单价(5元)等。如果该架板被放置多种货品，只能根据重量差值初步判断出被取走货品可能的种类及数量。
当一架板的重量差值小于0时，如果每一架板上只放置一种货品，货品数量计算单元3035计算一架板的重量差值的绝对值与所述货品数据库内存储的该架板上单一货品重量值的比值，利用四舍五入法对该比值进行取整处理，获得的整数即为被取走货品的数量。例如，前述示例中的重量差值-400克，其绝对值为400克，与单品重量值(200克)的比值为2，因此该比值即为被取走货品的数量。由于同种类的多个货品之间也可能存在较小的重量差值，直接计算之后的比值不一定为整数，可能为趋近于某个整数，因此需要利用四舍五入法对该比值进行取整处理，从而可以判断出被取走货品的种类及数量。
在理想状态下，用户素质都比较高，每一次放回货品时都能将该货品正确放回至该货品原属货架。或者，在无人超市墙壁上提醒用户，错放货品会导致购物记录出错，支付金额会超过实际消费金额，迫使所有用户在每一次放回货品时都能将该货品正确放回至该货品 原属货架。当一架板的重量差值大于0时，货品种类判断单元3034根据该架板编号及该架板对应的货品信息判断被放回货品的种类。货品数量计算单元3035计算该架板的重量差值的绝对值与该架板对应的货品的单品重量值的比值，利用四舍五入法对该比值进行取整处理，获得的整数即为被放回货品的数量。
货品数据库更新单元304用以存储所述实时重量感应值至所述货品数据库，形成新的重量感应值，以更新所述货品数据库中每一架板的重量感应值，以待下次调用和判断。
本实施例所述基于重量监测的货品感知系统300的有益效果在于，提供一种基于重量监测的货品感知方案，可以实时监测货架上货品的实时重量感应值，实时感知每一架板的重量变化，由货架上所有架板的重量变化推断出有哪一种货品被取走或被放回，还可以判断被取走或被放回货品的种类和数量。
如图9所示，本实施例还包括购物用户判断系统500，其为数据处理设备7中的功能模块，当任一种类货品被取走或被放回时，根据所述用户的身份信息及所述用户的实时位置获取取走或放回货品的用户身份。购物用户判断系统500包括货品信息存储单元501、架板坐标存储单元502、架板与用户匹配判断单元503以及货品与用户匹配判断单元504。
基于重量监测的货品感知系统300中的货品数据库生成单元301及货品数据库更新单元304生成或更新的货品数据库皆存储于货品信息存储单元501中，所述货品数据库包括每一货品信息。
目标物定位系统200在所述封闭空间内建立三维坐标系，由于货架2及架板5的位置确定，因此建立坐标系后即可获取各个货架2及各个架板5的坐标，将货架坐标集及架板坐标集存储于架板坐标存储单元502中，设置架板上方的用以放置货品的架板空间的高度(如30CM)，即可获取所述架板空间的坐标集。
用户坐标获取单元202可以获取每一已知身份用户的手部的实时坐标集，当一架板上方的架板空间的坐标集与一用户手部坐标集有交集时，架板与用户匹配判断单元503判定该架板与该用户匹配，可以认为该用户将手部伸入至该架板上方的架板空间；如果同时该架板的重量感应值变大，说明有物品放入货架，如果同时该架板的重量感应值变小，说明该货架上有货品被用户取走。
当有货品从一架板上被取走或被放置到一架板上时，且同一时刻下有一用户与该架板匹配，货品与用户匹配判断单元504判定该货品与该用户匹配，该货品在这一时刻被该用户从该架板上取走或放置到该架板上，从而确定取走货品或放回货品的用户的身份。
如图10所示，本实施例还包括购物信息记录单元600，其为数据处理设备7中的功能模块，根据每一用户的身份信息生成至少一购物数据库，用以记录每一用户取走至少一货品的种类及数量。购物信息记录单元600包括购物数据库生成单元601以及购物数据库更新单元602。
当一用户的身份被用户身份识别系统100识别时，身份获取单元1022获取用户的身份信息，购物数据库生成单元601根据所述用户的身份信息在数据处理设备7中生成该用户的购物数据库，初始状态下的购物数据库无任何购物信息。
购物数据库更新单元602根据被取走货品的种类及数量以及取走货品的用户的身份信息生成一组购物信息，并存储至该用户的购物数据库，该购物信息中包括此刻被取走货品的种类及数量，以及该货品的货品信息，如货品名、型号、净含量及单价，等等。用户在封闭空间1内多次取走货品之后，其购物数据库内包括多组购物信息，由于用户随身携带的移动通信终端与数据处理设备7以无线通信方式连接并进行数据交换，因此，购物数据库中的购物信息也可以显示在用户的移动通信终端的APP界面上，形成用户的电子购物车。
当货品与一用户匹配时，若基于重量监测的货品感知单元300监控到某一架板5的实时重量感应值增大，该架板的重量差值大于0，说明有物品被放置于该架板上，可以判断该物品是否为已购货品。
本实施例还包括货品种类推断单元305，在该用户的购物数据库中查询每一购物信息，判断是否有已购货品的重量值与该架板的重量差值相匹配，也即判断是否有一个或多个已购货品的总重量与该架板的重量差值相同。如果是，可以推断出该物品可能的种类及数量。例如，若该架板的重量差值为200克，且已购货品中仅有两个100克的货品A，可以初步判断被放回该架板的物品为2个货品A。如果出现了用户错放现象，有用户将不属于某架板的货品放置在该架板上，货品种类推断单元305可以根据该用户的购物数据库中的购物信息判断该物品可能的种类及数量。由于架板5的空间较小，一般情况下用户不可能错放很多货品， 因此本实施例对于简单的错放现象具有较好的判断能力。在其他实施例中，还可以设置基于影像监控的货品感知系统，用多个摄像头正对货架前方空间，监测每一货品被取走或被放回的过程，与基于重量监控的货品感知系统配合工作，进一步判断被取走或被放回货品的种类及数量。
进一步地，所述货品感知系统还可以判断被放回的货品的种类与实时重量感应值增大的架板上原有货品种类是否一致，如果不一致，可选择地生成一个报警信号，提醒管理人员或用户。
如果基于重量监测的货品感知单元300无法判断被放回货品种类，即可确认被放回架板的物品并非该架板的既有货品，有可能是用户自带的物品，如雨伞、手机等，此时可选择地生成一个报警信号，必要时，可以将该架板的架板编号显示在某一显示器上，以便提醒管理人员或用户。
如图11所示，本实施例还包括结算系统700，其为数据处理设备7中的功能模块，用以根据所述用户的购物数据库中所有货品的种类及数量结算费用。用户购物过程结束后，可以自行从出入口的门禁装置处离开离开封闭空间1。当用户定位系统200的影像传感器2011无法获取该用户的实时三维影像时，可以认定该用户购物结束，结算系统700为该用户结算费用。
结算系统700包括总金额计算单元701及支付单元702。当所述用户离开所述封闭空间时，总金额计算单元701根据所述用户的购物数据库中全部货品的种类及数量计算总金额，由于每一种类货品的单价作为货品信息预存在数据处理设备7中，因此多种货品单价与数量的乘积的总和的金额即为该用户需要支付的总金额。进一步地，在其他实施例中，用户可以享受到货品折扣或使用优惠券、抵用券等，用户需要支付的总金额为多种货品单价与数量的乘积的总和的金额内减去优惠券和/或抵用券金额和/或折扣金额。支付单元702为结算系统700自带的支付软件或第三方支付软件，可以从所述用户的银行账户或电子账户上扣款，扣除的款项金额与该用户需要支付的总金额相同。
本实施例还提供一种基于重量监测的货品感知方法，也就是前述基于重量监测的货品感知系统300的实现方法，如图12所示，包括如下步骤S101)～S108)。
S101)货品数据库生成步骤，用以生成一货品数据库；所述货品数据库包括每一货品的货品信息及用以放置货品的每一架板的重量感应值，所述货品信息包括货品的种类、单品重量值以及货品对应的架板编号。如图13所示，S101)数据库生成步骤具体包括如下步骤S1011)～S1013)。S1011)初始化步骤，用以对一货品数据库进行初始化处理；S1012)信息录入步骤，用以录入每一货品的重量值及货品信息，并将其存储至所述货品数据库；S1013)重量感应值初始化步骤，用以采集每一架板初始状态下的重量感应值，并将其存储至所述货品数据库。以某品牌饮料为示例，某一架板的重量为100克，架板上放置有8瓶某品牌饮料，每瓶饮料重量为200克，同一该架板初始化后的感应重量值为1700克，该品牌饮料对应的产品名称(某凉茶)、净含量(195ml)、产地(广东)、价格(5元)、单一货品重量值(200克)、货架编号(1)、架板编号(1-12)、商品编号(025)等信息也被存储在所述货品数据库内。
S102)重量值采集步骤，用以实时采集每一架板的实时重量感应值，所述重量感应值为该架板及该架板上货品的实时重量值。在S102)重量值采集步骤中，采集实时重量感应值的时间间隔为0.1-0.5秒。
S103)取放状态判断步骤，用以判断每一架板的重量感应值是否发生变化，若变小，判定该架板上有货品被取走；若变大，判定有物品被放置于该架板上。若完全不变，说明该架板上的货品完全没有变化，返回S102)重量值采集步骤，重新进行实时采集。
如图14所示，S103)取放状态判断步骤包括如下步骤S1031)～S1033)。S1031)重量差值计算步骤，用以计算实时采集的每一架板的实时重量感应值与所述货品数据库内存储的同一架板的重量感应值的差值，记录为每一架板的重量差值。例如，前述示例中，若放置前述某品牌饮料的架板重量发生变化，变为1300克或1900克，分别记录重量差值为-400克或200克。S1032)重量差值判断步骤，用以将至少一架板的重量差值与0对比；当一架板的重量差值小于0时，判定该架板上有货品被取走；当一架板的重量差值大于0时，判定该架板上有物品被放置，此时不能确定该物品是否为用户之前从货架上取走的货品，也可以是用户的随身物品。例如，前述示例中，重量差值为-400克，即可以认定有货品被取走；重量差值为200克，即可以认定有物品被放置在货架上。S1033)信息记录步骤，当每次有 架板上的重量感应值发生变化时，该架板的重量差值大于0或小于0，用以记录该架板的架板编号以及该架板的重量差值，例如，若前述示例中的重量差值为-400克，已知该架板重量减少，记录该架板的编号(1-12)。若前述示例中的重量差值为200克，已知该架板初始状态下的重量感应值为1700克，此时被放置在该架板上的物品必然不是原货架上的商品，因此很可能是原属于其他架板上的商品或者是用户自带的物品，如雨伞、手机等，此时可选择地生成一个报警信号，提醒管理人员或用户。
如图14所示，若一架板上有货品被取走，S103)取放状态判断步骤还可以包括如下步骤S1034)～S1035)。S1034)货品种类判断步骤，当一架板的重量差值小于0时，用以根据该架板编号及所述货品数据库内存储的该架板对应的货品信息判断被取走货品的种类，例如，已知该架板的编号(1-12)，由于每一架板上只放置一种货品，因此可以判断该货品种类为(某凉茶)，也可以对应找出其他货品信息，如单一货品重量值(200克)、净含量(195ml)、产地(广东)、价格(5元)等。S1035)货品数量计算步骤，用以计算一架板的重量差值与所述货品数据库存储的该架板对应的货品的单品重量值的比值，利用四舍五入法对该比值进行取整处理，获得的整数即为被取走货品的数量。例如，前述示例中的重量差值-400克，其绝对值为400克，与单一货品重量值(200克)的比值为2，因此该比值即为被取走货品的数量。由于货品之间可能会存在重量差值，并非所有货品都是绝对标准件，同种类的多个货品之间也存在一定的重量差值，因此，计算之后的比值不一定为整数，因此需要利用四舍五入法对该比值进行取整处理，从而可以判断出被取走货品的种类及数量。
S104)货品数据库更新步骤，用以存储所述实时重量感应值至所述货品数据库，形成新的重量感应值，以更新所述货品数据库中每一架板的重量感应值；返回S102)重量值采集步骤，当某一架板的重量感应值发生变动时，再次重复上述步骤。上述步骤S102)～S103)在每次判断完成后，新的实时重量感应值重新存储至货品数据库，以替换原重量感应值，以待下一次的判断。
如图12所示，基于重量监测的货品感知方法，还可以包括如下步骤：S105)用户身份识别步骤，用以识别每一用户的身份信息；S106)用户定位步骤，用以获取每一用户在所述封闭空间的实时位置；S107)购物用户判断步骤，当任一货品被取走或被放回时，用以 根据用户的身份信息及其实时位置判断取走或放回货品的用户身份，若任一架板重量感应值发生变化，且该架板上方的架板空间的坐标集与一用户手部坐标集重合，则判断是该用户从该架板取走货品或放回货品至该架板，完成一次购物行为；S108)购物信息记录步骤，根据每一用户的身份信息生成购物数据库，每当有购物行为发生时，记录每一用户取走的货品的种类及数量。
如图15所示，S108)购物信息记录步骤包括S1081)购物数据库生成步骤，当一用户的身份被识别时，用以根据所述用户的身份信息生成该用户的购物数据库；以及S1082)购物数据库更新步骤，当货品被取走时，根据被取走货品的种类及数量以及取走货品的用户的身份信息生成购物信息，且存储至该用户的购物数据库中；当货品被放回时，根据被放回货品的种类及数量以及放回货品的用户的身份信息生成归还信息，从该用户的购物数据库中删除与所述归还信息相应的购物信息。在数据处理设备中，每一用户都有一个对应的购物数据库，当一种货品被一用户取走时，该货品的货品信息及被取走的数量作为购物信息被写入该用户的购物数据库中，以便购物结束之后的用户结算。当一种货品被一用户归还时，该货品的货品信息及被归还的数量生成归还信息，从该用户的购物数据库中将与归还信息对应的购物信息删除。
在前述示例中，当用户取走两瓶饮料后，货品数据库中架板(1-12)对应的实时重量值已经被更新为1300克，用户的购物数据库中存储两瓶饮料(某凉茶)的货品信息及数量。如果之后数据采集单元102采集架板(1-12)的实时重量感应值为1500克，架板(1-12)的重量差值为200克，执行S103)取放状态判断步骤，判断有物品被放置在该架板上，执行S104)数据库更新步骤，将货品数据库中架板(1-12)对应的实时重量值更新为1500克。执行S107)购物用户判断步骤，判断放置物品的用户的身份；执行S108)购物信息记录步骤，如果该用户的购物数据库中，只有一种200克的商品，可以判断被放回的物品为用户之前取走的一瓶饮料(某凉茶)，将用户的购物数据库中该饮料(某凉茶)的数量由2减少为1。类似地，如果架板(1-12)的重量差值为400克，将用户的购物数据库中该饮料(某凉茶)的数量由1减少为0，或者，将用户的购物数据库中该饮料(某凉茶)的购物记录，如商品信息及数量，全部删除。
当目标物定位系统200的影像传感器2011无法监控到某一用户的三维影像时，数据处理设备7判断该用户已经离开无人超市(封闭空间1)范围，结算系统700根据该用户购物数据库中记录的全部数据信息自动完成用户结算及支付。
本实施例的有益效果在于，提供一种基于重量监测的货品感知系统及感知方法，可以实时监测货架上货品的实时重量感应值，实时感知每一架板的重量变化，由货架上所有架板的重量变化推断出有哪一种货品被取走或被放回，可以判断被取走或被放回货品的种类和数量。本实施例还可以进一步判断取走或放回货品的用户的身份，并生成购物数据库，记录用户取走货品的种类和数量，以便购物结束后客户可以直接进行结算。
以上所述仅是本发明的优选实施方式，使本领域的技术人员更清楚地理解如何实践本发明，这些实施方案并不是限制本发明的范围。对于本技术领域的普通技术人员，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。

Claims (14)

  1. 一种基于重量监测的货品感知系统，其特征在于，包括
    货品数据库生成单元，用以生成一货品数据库；
    重量值采集单元，用以实时采集每一架板的实时重量感应值；
    取放状态判断单元，用以判断每一架板的重量感应值是否发生变化，若变小，判定该架板上有货品被取走；若变大，判定有物品被放置于该架板上；以及
    货品数据库更新单元，用以存储所述实时重量感应值至所述货品数据库，以更新所述货品数据库中每一架板的重量感应值。
  2. 如权利要求1所述的基于重量监测的货品感知系统，其特征在于，还包括货架，每一货架包括至少一架板，每一架板上放置有至少一货品；以及
    重量感应装置，被设置于每一架板下方，且被连接至所述重量值采集单元。
  3. 如权利要求1所述的基于重量监测的货品感知系统，其特征在于，
    所述货品数据库生成单元包括
    初始化单元，用以对一货品数据库进行初始化处理；
    信息录入单元，用以录入每一货品的重量值及货品信息，并将其存储至所述货品数据库；以及
    感应值初始化单元，用以采集每一架板被放置货品后的重量感应值，并将其存储至所述货品数据库。
  4. 如权利要求1所述的基于重量监测的货品感知系统，其特征在于，
    所述取放状态判断单元包括
    重量差值计算单元，用以计算实时采集的每一架板的实时重量感应值与所述货品数据库内存储的同一架板的重量感应值的差值，记录为每一架板的重量差值；
    重量差值判断单元，用以将至少一架板的重量差值与0对比；当一架板的 重量差值小于0时，判定该架板上有货品被取走；当一架板的重量差值大于0时，判定该架板上有物品被放置；以及
    架板信息记录单元，当一架板的重量差值大于0或小于0时，用以记录该架板的架板编号以及该架板的重量差值。
  5. 如权利要求4所述的基于重量监测的货品感知系统，其特征在于，
    当同一架板上所有货品种类相同且重量相同时，
    所述取放状态判断单元还包括
    货品种类判断单元，用以根据该架板编号及该架板对应的货品信息判断被取走货品的种类；以及
    货品数量计算单元，用以计算一架板的重量差值的绝对值与该架板对应的货品的单品重量值的比值，利用四舍五入法对该比值进行取整处理，获得的整数即为被取走货品的数量。
  6. 如权利要求1所述的基于重量监测的货品感知系统，其特征在于，还包括购物用户判断系统，用以判断取走或放回货品的用户身份；以及
    购物信息记录单元，用以记录每一用户取走的货品的种类及数量。
  7. 如权利要求6所述的基于重量监测的货品感知系统，其特征在于，
    所述购物信息记录单元包括
    购物数据库生成单元，当一用户的身份被识别时，用以根据所述用户的身份信息生成该用户的购物数据库；以及
    购物数据库更新单元，当货品被取走时，根据被取走货品的种类及数量以及取走货品的用户的身份信息生成购物信息，且存储至该用户的购物数据库中；当货品被放回时，根据被放回货品的种类及数量以及放回货品的用户的身份信息生成归还信息，从该用户的购物数据库中删除与所述归还信息相应的购物信息。
  8. 一种基于重量监测的货品感知方法，其特征在于，包括如下步骤：
    货品数据库生成步骤，用以生成一货品数据库；
    重量值采集步骤，用以实时采集每一架板的实时重量感应值；
    取放状态判断步骤，用以判断每一架板的重量感应值是否发生变化，若变小，判定该架板上有货品被取走；若变大，判定有物品被放置于该架板上；以及
    货品数据库更新步骤，用以存储所述实时重量感应值至所述货品数据库，以更新所述货品数据库中每一架板的重量感应值；返回所述重量值采集步骤。
  9. 如权利要求8所述的基于重量监测的货品感知方法，其特征在于，
    在所述数据库生成步骤之前，还可以包括：
    货架设置步骤，至少一货品被放置于至少一货架的至少一架板上；同一架板上的同种货品具有相同的重量值，每一重量值仅对应一种货品；以及
    传感器设置步骤，每一架板下方设置一重量传感器，且被连接至所述重量值采集单元。
  10. 如权利要求8所述的基于重量监测的货品感知方法，其特征在于，
    所述货品数据库生成步骤具体包括如下步骤：
    初始化步骤，用以对一货品数据库进行初始化处理；
    信息录入步骤，用以录入每一货品的重量值及货品信息，并将其存储至所述货品数据库；以及
    重量感应值初始化步骤，用以采集每一架板被放置货品后的重量感应值，并将其存储至所述货品数据库。
  11. 如权利要求8所述的基于重量监测的货品感知方法，其特征在于，
    所述取放状态判断步骤具体包括如下步骤：
    重量差值计算步骤，用以计算实时采集的每一架板的实时重量感应值与所述货品数据库内存储的同一架板的重量感应值的差值，记录为每一架板的 重量差值；
    重量差值判断步骤，用以将至少一架板的重量差值与0对比；当一架板的重量差值小于0时，判定该架板上有货品被取走；当一架板的重量差值大于0时，判定该架板上有物品被放置；以及
    信息记录步骤，当一架板的重量差值大于0或小于0时，用以记录该架板的架板编号以及该架板的重量差值。
  12. 如权利要求11所述的基于重量监测的货品感知方法，其特征在于，
    当同一架板上所有货品种类相同且重量相同时，
    所述取放状态判断步骤还包括如下步骤：
    货品种类判断步骤，用以根据该架板编号及该架板对应的货品信息判断被取走货品的种类；以及
    货品数量计算步骤，用以计算一架板的重量差值的绝对值与该架板对应的货品的单品重量值的比值，利用四舍五入法对该比值进行取整处理，获得的整数即为被取走货品的数量。
  13. 如权利要求8所述的基于重量监测的货品感知方法，其特征在于，
    还包括如下步骤：
    购物用户判断步骤，用以判断取走或放回货品的用户身份；以及
    购物信息记录步骤，用以记录每一用户取走的货品的种类及数量。
  14. 如权利要求13所述的基于重量监测的货品感知方法，其特征在于，
    所述购物信息记录步骤包括
    购物数据库生成步骤，当一用户的身份被识别时，用以根据所述用户的身份信息生成该用户的购物数据库；以及
    购物数据库更新步骤，当货品被取走时，根据被取走货品的种类及数量以及取走货品的用户的身份信息生成购物信息，且存储至该用户的购物数据库中；当货品被放回时，根据被放回货品的种类及数量以及放回货品的用 户的身份信息生成归还信息，从该用户的购物数据库中删除与所述归还信息相应的购物信息。
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