技术领域technical field
本发明涉及库存管理技术领域，尤其涉及一种基于策略模块的库存管理系统。The invention relates to the technical field of inventory management, in particular to an inventory management system based on a strategy module.
背景技术Background technique
库存管理是对制造业或服务业生产、经营全过程的各种物品，产成品以及其他资源进行管理和控制，使其储备保持在经济合理的水平上。在库存中，货品的流动速度、流动量和流动周期大不相同。因此，不同货品应采取与其相应特点的库存管理模式，这利于资源共享、节约库存管理成本以及库存优化。根据目前的调研发现，现有的库存管理存在资源浪费、管理成本高等诸多技术问题。Inventory management is the management and control of various items, finished products and other resources in the whole process of manufacturing or service industry production and operation, so as to keep their reserves at an economically reasonable level. In inventory, the flow speed, flow volume and flow cycle of goods are very different. Therefore, different goods should adopt an inventory management model corresponding to its characteristics, which is conducive to resource sharing, saving inventory management costs, and inventory optimization. According to the current investigation, it is found that the existing inventory management has many technical problems such as waste of resources and high management costs.
CN107833363A公开的基于图像识别的自助售货机自动库存管理系统和方法。该系统包括设有自动升降台的自助售货机，自动升降台设有能拍到补货位或收获位货到最外端货位上商品的摄像装置。每个售卖位置的自助售货机、摄像装置和自动升降台设有一本地控制系统，各本地控制系统可通过因特网连接云端服务系统；当摄像装置抓拍一自助售货机补货位或售货为的最外端货品的图像后，该图像被识别后更新自助售货机的在售商品数据库，即作为自助售货机的最新库存。CN107833363A discloses an automatic inventory management system and method for self-service vending machines based on image recognition. The system includes a self-service vending machine equipped with an automatic lifting platform, and the automatic lifting platform is provided with a camera device capable of photographing goods on the outermost storage space from the replenishment position or the harvest position. The self-service vending machine, camera device and automatic lifting platform in each sales position are equipped with a local control system, and each local control system can be connected to the cloud service system through the Internet; After the image of the external goods is identified, the image is updated to update the product database of the self-service vending machine, that is, as the latest inventory of the self-service vending machine.
CN106295165A公开的一种基于图像识别的防发药差错系统和方法。系统包括图像采集单元，用于获取药品的即时图像信息；数据库单元，用于存储药品图像信息，所述数据库单元包括即时图像数据库和存储预存图像数据可；图像识别对比单元，用于识别并对比所述即时图像信息和所述预存数据库中的预存图像信息；HIS接口，用于与医院HIS系统连接，获取药品处方信息，报警与确认单元，用于根据即时图像与预存图像的对比结果，发送报警信号或验证通过信号；控制单元，连接所述图像识别对比单元，HIS接口和报警与确认单元。本系统可有效降低发药差错率，客观准确，不影响发发药工作效率。CN106295165A discloses a system and method for preventing drug dispensing errors based on image recognition. The system includes an image acquisition unit for acquiring instant image information of medicines; a database unit for storing medicine image information, said database unit including an instant image database and storing pre-stored image data; an image recognition comparison unit for identifying and comparing The instant image information and the pre-stored image information in the pre-stored database; the HIS interface is used to connect with the hospital HIS system to obtain drug prescription information, and the alarm and confirmation unit is used to send An alarm signal or a verification pass signal; a control unit connected to the image recognition and comparison unit, the HIS interface and the alarm and confirmation unit. This system can effectively reduce the error rate of dispensing medicine, is objective and accurate, and does not affect the efficiency of dispensing medicine.
CN105531715A的中国专利文献公开了检测物品交互和移动，其中，通过比对拿取货品之前与拿取货品之后的图像来确定库存的更新和购物清单。该方法存在的问题在于，一旦用户取走了物品，但又送回到不恰当的位置时，那么购物清单与库存更新是不准确的。另外，当用户在类型相近似且摆放位置相近似的区域做反复对比时，会对拍照和计算带来挑战，倘若用户以双手同时拿取物品，又放回一件物品至错误位置时，购物清单与库存更新经常都会出现差错。其省略了结算环节，但由此也引发了其他问题。因此，这种自动购物方式存在改进空间。Chinese patent document CN105531715A discloses detecting item interaction and movement, wherein inventory updates and shopping lists are determined by comparing images before and after picking up the item. The problem with this approach is that once the user picks up the item and returns it to the wrong location, the shopping list and inventory updates are inaccurate. In addition, when the user makes repeated comparisons between areas of similar types and similar placement positions, it will bring challenges to photography and calculation. Shopping lists and inventory updates often go wrong. It omits the settlement link, but this also raises other problems. Therefore, there is room for improvement in this automated shopping method.
CN107077659A提供了一种智能库存管理系统、服务器、方法、终端和程序产品，用于降低库存管理的复杂程度；其包括：智能机器终端拍摄物品，并将拍摄到的图像发送到智能库存管理服务器；所述智能库存管理服务器根据所述智能机器终端拍摄到的图像识别确定所述图像中的物品及存量；并将所述物体识别模块识别出的物品及存量信息入库。其虽然利用物体识别技术，减少了人工录入的工作量，提高了物品信息入库的准确性，降低了库存管理的复杂程度；但是不能实时地准确评估库存变化。除非有人工介入统计与盘点，否则库存数量仍然是混乱不堪的。CN107077659A provides an intelligent inventory management system, server, method, terminal and program product, which are used to reduce the complexity of inventory management; it includes: an intelligent machine terminal photographs items, and sends the captured images to an intelligent inventory management server; The intelligent inventory management server recognizes and determines the items and inventory in the image according to the image captured by the intelligent machine terminal; and puts the item and inventory information identified by the object recognition module into the warehouse. Although it uses object recognition technology to reduce the workload of manual entry, improve the accuracy of item information storage, and reduce the complexity of inventory management; but it cannot accurately evaluate inventory changes in real time. Unless there is manual intervention in statistics and inventory, the inventory quantity is still chaotic.
CN104361039A提供了一种基于Qt开发的嵌入式智能冰箱的辅助方法，其包括以下步骤：步骤1、显示过期提醒预览和留言信息；步骤2、食材库存管理，以数据和用户操作为基础，查看当前库存中的所有食材详细信息，并且对食材信息进行编辑和删除的统一管理；并对所有食材进行分类管理，根据生产日期、剩余保质期和过期日期进行排序，以查看各个食材信息；步骤3、过期提醒，通过对库存上的食材信息的剩余保质期进行统计，对剩余保质期少于5天的食材给予直观的信息预览，具体显示食材过期日期和剩余保质期，并实时显示和更新；步骤4、食谱的查询和食谱的推荐，提供海量食谱数据，以及提供各式美味佳肴的制作方法，并根据现有食材或自定义食材进行搜索，获取特定的食谱；根据库存食材或者当前时令季节和健康营养信息，推荐不同口味和功效的食谱；步骤5、购物清单，将现有食材或者将自定义食材信息添加至购物清单，对该购物清单中的食材进行的统计和管理，并且在数据挖掘的基础上提供缺货提醒列表，提供购物的选择；步骤6、食材识别和存取，对食材进行识别并存储。该技术方案不能实时统计库存消耗，在频繁取用食品的厨房及厨房库房内不能起到有效管理库存的效果。CN104361039A provides an auxiliary method for an embedded smart refrigerator developed based on Qt, which includes the following steps: step 1, displaying expired reminder preview and message information; step 2, material inventory management, based on data and user operations, check the current Detailed information of all ingredients in the inventory, and unified management of editing and deletion of ingredient information; and classification management of all ingredients, sorting according to production date, remaining shelf life and expiration date to view the information of each ingredient; Step 3, Expiration Reminder, through statistics on the remaining shelf life of the ingredients in the inventory, an intuitive information preview is provided for the ingredients with a remaining shelf life of less than 5 days, and the expiration date and remaining shelf life of the ingredients are displayed in detail, and displayed and updated in real time; Step 4, Recipe Query and recipe recommendation, provide massive recipe data, and provide a variety of delicious dishes, and search based on existing ingredients or custom ingredients to obtain specific recipes; based on stock ingredients or current seasonal seasons and health nutrition information, Recommend recipes with different tastes and functions; step 5, shopping list, add existing ingredients or custom ingredients information to the shopping list, perform statistics and management on the ingredients in the shopping list, and provide information on the basis of data mining The out-of-stock reminder list provides shopping options; step 6, ingredient identification and access, identifies and stores the ingredients. This technical solution cannot count inventory consumption in real time, and cannot effectively manage inventory in kitchens and kitchen warehouses where food is frequently used.
此外，为了准确管理厨房库存，大型酒店和餐厅一般有专人来管理库存(即库存管理员)，仅当餐厅提供订单(相当于本发明下文所述的取食信息)之时，库存管理员才会根据订单(取食信息)向相关人员提供相关食品。此后，由库存管理员以手动方式检查订单与食品之间的对应关系。这种方式不仅效率低下，而且由于食品种类极其庞杂，经常出现大量丢失情况。In addition, in order to accurately manage the kitchen inventory, large hotels and restaurants generally have special personnel to manage the inventory (i.e. the inventory manager). Relevant food will be provided to relevant personnel according to the order (feeding information). Thereafter, the correspondence between the order and the food is manually checked by the inventory manager. This method is not only inefficient, but also due to the extremely large variety of food, a large number of losses often occur.
公开号为CN104637198A的中国专利文献公开了一种具有自主跟踪功能的智能结算购物车系统，由MCU微控制器，可控直流电机，压力称重传感器，RFID阅读器，摄像头，无线收发器，触摸显示屏，条码扫描器，银联刷卡器构成自主跟踪和自助结算两大子系统，其特征在于：MCU微控制器1通过压力称重传感器感应的车体重量控制可控直流电机的驱动力大小，以适当速度移动购物车；通过条码扫描器自行扫描物品，触摸显示屏实时显示物品信息和当前所购物品总价，无线收发器实现MCU微控制器与超市后台服务器关于物品信息的实时交互，消费者通过银联刷卡器自行刷卡结算。在该系统中，RFID射频卡作为购物车跟踪的信号源，与购物车建立点到点的单线联系；摄像头随时拍摄购物车周围环境，通过路径识别算法自主规避障碍物，选择跟踪路径；由驱动电机驱动的驱动轮可以左右偏转，根据路径识别算法提供的路径信息，由MCU微控制器控制驱动轮的转向。The Chinese patent document with publication number CN104637198A discloses an intelligent settlement shopping cart system with autonomous tracking function, which consists of MCU microcontroller, controllable DC motor, pressure load cell, RFID reader, camera, wireless transceiver, touch The display screen, barcode scanner, and UnionPay card reader constitute two subsystems of self-tracking and self-service settlement, which are characterized in that: MCU microcontroller 1 controls the driving force of the controllable DC motor through the weight of the car body sensed by the pressure load cell, Move the shopping cart at an appropriate speed; scan the items by itself through the barcode scanner, touch the display screen to display the item information and the total price of the currently purchased items in real time, and the wireless transceiver realizes the real-time interaction between the MCU microcontroller and the supermarket background server on the item information, consumption Those who pay by swiping their cards through the UnionPay card reader. In this system, the RFID radio frequency card is used as the signal source of the shopping cart tracking, establishing a point-to-point single-line connection with the shopping cart; the camera shoots the surrounding environment of the shopping cart at any time, autonomously avoids obstacles through the path recognition algorithm, and selects the tracking path; The driving wheel driven by the motor can deflect left and right, and the steering of the driving wheel is controlled by the MCU microcontroller according to the path information provided by the path recognition algorithm.
公告号为CN202904765U的中国专利文献提供一种商场自助智能购物车，包括车架，安装在车架下方的车轮，安装在车架上方的车篮、推杆，推杆下端连接车篮底部的外侧面，其之间的夹角为40-60度，车篮上端和推杆之间安装触摸显示屏，触摸显示屏左侧安装扫描仪、右侧安装刷卡槽，车篮上端安装自动开合感应门。其有益效果是，车篮上端安装自动开合感应门，自动开合感应门上安装感应仪可以感应到所放入的物品，避免在购物过程中错买或多买的麻烦。The Chinese patent literature with the notification number CN202904765U provides a self-service intelligent shopping cart in a shopping mall, including a vehicle frame, a wheel installed below the vehicle frame, a vehicle basket installed above the vehicle frame, and a push rod, and the lower end of the push rod is connected to the outside of the bottom of the vehicle basket. On the side, the angle between them is 40-60 degrees, a touch screen is installed between the upper end of the basket and the push rod, a scanner is installed on the left side of the touch screen, a card slot is installed on the right side, and an automatic opening and closing sensor is installed on the upper end of the basket Door. The beneficial effect is that an automatic opening and closing induction door is installed on the upper end of the car basket, and an induction device is installed on the automatic opening and closing induction door to sense the items put in, so as to avoid the trouble of buying wrongly or buying more in the shopping process.
通过研究以上技术方案，本领域技术人员即使将其结合，也无法得到令人满意的针对如何实现资源共享和节约库存管理成本的库存管理方案。After studying the above technical solutions, even if those skilled in the art combine them, they cannot obtain a satisfactory inventory management solution for how to realize resource sharing and save inventory management costs.
发明内容Contents of the invention
有鉴于前述技术问题，本发明致力于提供一种基于策略模块的库存管理系统。因为目前绝大多数仓储式超市已经配备了视频监控管理系统，而且监控系统的精度越来越好，能够达到毫米级别的图像精度，而这种低成本图像识别解决方案仍然在高速发展。In view of the foregoing technical problems, the present invention is dedicated to providing an inventory management system based on a strategy module. Because at present, most warehouse supermarkets have been equipped with video surveillance management systems, and the accuracy of the surveillance systems is getting better and better, reaching millimeter-level image accuracy. However, this low-cost image recognition solution is still developing at a high speed.
有鉴于此，本发明提供一种基于图像识别的库存管理系统，包括：图像采集单元，用于采集库存区内存取机构的动态图像和/或静态图像；图像识别单元，基于所述动态和/或静态图像比较来确定所述存取机构持有物品的状态；计算设备，基于所述特征参数生成库存信息；策略单元，基于所述库存信息生成库存管理策略；所述图像识别单元响应于所述存取机构持有货品的状态而识别在所述存取机构的所述绝对位置周围的和/或处于预定相对位置的货架的至少一个库存位置的变化，所述计算设备判断所述货品与所述库存位置的变化之间的对应关系，生成所述库存信息；所述计算设备在一定周期内将每种货品的库存信息记录在每种货品的历史信息中，并且基于所述历史信息和所述库存信息进行分析后得出每种货品的库存状态信息，所述策略单元基于所述库存状态信息触发调整所述图像采集单元的采集方案和/或调整所述图像识别单元的识别方案。In view of this, the present invention provides an inventory management system based on image recognition, including: an image acquisition unit for acquiring dynamic images and/or static images of access mechanisms in the inventory area; an image recognition unit based on the dynamic and/or or static image comparison to determine the status of the items held by the access mechanism; the computing device generates inventory information based on the characteristic parameters; the strategy unit generates inventory management strategies based on the inventory information; the image recognition unit responds to the A change in at least one inventory position of a shelf around the absolute position of the access mechanism and/or at a predetermined relative position is identified based on the status of the item held by the access mechanism, and the computing device determines that the item is related to The corresponding relationship between the changes of the inventory position generates the inventory information; the computing device records the inventory information of each item in the historical information of each item within a certain period, and based on the historical information and After analyzing the inventory information, the inventory status information of each item is obtained, and the policy unit triggers adjustment of the acquisition scheme of the image acquisition unit and/or adjustment of the recognition scheme of the image recognition unit based on the inventory status information.
根据一种优选的实施方式，所述策略单元能够将所述相对位置和/或绝对位置对所述库存位置的变化与所述存取机构进行归类分析，并且将所述存取机构和与所述存取机构互动的货架关联起来，以使得随时随地依据所述货品与所述库存位置的变化动态地调整所述图像采集单元对所述存取机构的图像采集方案和/或调整所述图像识别单元的识别方案。According to a preferred embodiment, the policy unit can classify and analyze the relative position and/or absolute position change to the inventory position with the access mechanism, and compare the access mechanism with the The shelves interacting with the access mechanism are associated so that the image acquisition scheme of the image acquisition unit for the access mechanism can be dynamically adjusted anytime and anywhere according to the change of the goods and the inventory position and/or the adjustment of the The recognition scheme of the image recognition unit.
根据一种优选的实施方式，所述系统还包括RFID单元，用于标记和/或扫描所述货品；所述计算设备能够将经RFID标记的货品的图像属性与所述RFID标记的货品的基础信息关联存储于存储单元中；所述图像采集单元能够在所述RFID扫描所述货品之前，记录所述货品的图像信息；所述计算设备能够基于所述图像识别单元识别的所述图像信息的特征参数与经RFID标记的货品的图像属性进行信息匹配；当匹配成功时，所述存储单元自动注册所述货品的相关信息和/或RFID自动扫描所述货品的标签；当匹配失败时，报警单元提示用户注册所述货品的相关信息。According to a preferred embodiment, the system further includes an RFID unit for marking and/or scanning the goods; the computing device can combine the image attributes of the RFID-marked goods with the basis The information is associated and stored in the storage unit; the image acquisition unit can record the image information of the goods before the RFID scans the goods; the computing device can be based on the image information identified by the image recognition unit The feature parameters are matched with the image attributes of the goods marked by RFID; when the matching is successful, the storage unit automatically registers the relevant information of the goods and/or the RFID automatically scans the labels of the goods; when the matching fails, the alarm The unit prompts the user to register information about the item.
根据一种优选的实施方式，所述图像采集单元包括第一图像采集装置，用于采集第一图像，并由所述图像识别单元基于所述第一图像来确定至少一个存取机构在货架所在区域内的绝对位置以及所述存取机构相对于至少一个载有至少一种物品的货架的相对位置；第二图像采集装置，用于探测至少一个存取机构的手部的第二图像，所述第二图像是在该存取机构的手进入货架的至少一个库存位置之前拍摄的；第三图像采集装置，用于探测至少一个存取机构的手部的第三图像，所述第三图像是在该存取机构的手从该货架的至少一个库存位置移出之后拍摄的；所述图像识别单元基于第二图像与第三图像的比较来确定相应存取机构持有物品的状态，响应于所述存取机构持有物品的状态而识别在所述存取机构的所述绝对位置周围的、处于预定相对位置的货架的至少一个库存位置的变化，并由此判断所述物品与所述库存位置的变化之间的对应关系。According to a preferred embodiment, the image acquisition unit includes a first image acquisition device, configured to acquire a first image, and the image recognition unit determines where the at least one access mechanism is located on the shelf based on the first image. The absolute position in the area and the relative position of the access mechanism relative to at least one shelf carrying at least one item; the second image acquisition device is used to detect the second image of the hand of the at least one access mechanism, so The second image is taken before the access mechanism's hand enters at least one storage position of the shelf; the third image acquisition device is used to detect the third image of the at least one access mechanism's hand, and the third image is taken after the access mechanism's hand has been removed from at least one inventory location of the shelf; the image recognition unit determines the status of the item held by the corresponding access mechanism based on a comparison of the second image and the third image, in response to The access mechanism holds the state of the item to identify a change in at least one inventory position of a shelf in a predetermined relative position around the absolute position of the access mechanism, and thereby judges that the item is related to the Correspondence between changes in inventory location.
绝对位置是指针对应用该库存管理系统的超市或仓库所建立的坐标系内的位置，其坐标原点例如可以是超市或仓库占地面的一个角落例如东南角，也可以是某结算柜台所在的位置。相对位置是指超市内的货架之间的彼此相对位置，也可以是存取机构或人员与货架之间的相对位置。The absolute position refers to the position in the coordinate system established for the supermarket or warehouse where the inventory management system is applied. The origin of the coordinates can be, for example, a corner of the supermarket or warehouse, such as the southeast corner, or the position of a certain settlement counter. . The relative position refers to the relative position between the shelves in the supermarket, and it can also be the relative position between the access mechanism or personnel and the shelf.
考虑到人员或存取机构在绝大多数情况下都仅能操作其可存取的处于近旁的货架(典型情况下是2米左右范围内的货架)。在本发明中，同时采取相对位置与绝对位置对库存位置变化和人员/存取机构进行归类分析，使得超市随时随地依据“变化发生地”来动态划分需要进行分析与计算的区域，能够准确地将货架与当前与其互动的人员或存取机构彼此关联起来，解决大量动态人员与动态存取机构同时进行购物或库存整理时的困难。换而言之，通过本发明先根据位置将库存变化与人员或存取机构进行对应，这对大型超市库存管理的实时性有着决定性的作用。对于拥有成千上万库存位置的超市而言，由于把“库存变化”与“绝对位置”和“相对位置”率先进行了关联，从而大大降低了图像识别的运算量，由此能够在不增设大量计算设备的情况下完成实时库存分析。也由此很大程度上避免了库存数据的混乱无序。Considering that personnel or access institutions can only operate nearby shelves that they can access (typically, shelves within a range of about 2 meters) in most cases. In the present invention, both the relative position and the absolute position are used to classify and analyze the change of inventory position and personnel/access mechanism, so that the supermarket can dynamically divide the area that needs to be analyzed and calculated according to the "place where the change occurs" anytime and anywhere, and can accurately It can accurately associate the shelves with the people or access institutions currently interacting with each other, and solve the difficulties when a large number of dynamic personnel and dynamic access institutions are shopping or sorting inventory at the same time. In other words, through the present invention, inventory changes are firstly matched with personnel or access institutions according to location, which plays a decisive role in the real-time performance of inventory management in large supermarkets. For supermarkets with tens of thousands of inventory locations, since the "inventory change" is first associated with "absolute position" and "relative position", the computational load of image recognition is greatly reduced, and thus it can be realized without adding Complete real-time inventory analysis with a large number of computing devices. This also largely avoids the chaos of inventory data.
通过该方式，不仅可以分析库存位置处的物品的增减情况，还可以分析相应物品是否放回到货架上的正确的库存位置。在这里，存取机构可以是人，也可以是机器设备。对于人而言，图像识别的对象是人的手臂；对于机器设备而言，图像识别的对象是机械手或类似物；从而使得本发明能够灵活应对机器与人并存的超市环境。In this way, it is possible not only to analyze the increase or decrease of items at the stock position, but also to analyze whether the corresponding items are returned to the correct stock position on the shelf. Here, the access mechanism can be a person or a machine device. For people, the object of image recognition is the human arm; for machine equipment, the object of image recognition is a manipulator or the like; thus the present invention can flexibly cope with the supermarket environment where machines and people coexist.
根据一个优选实施方式，方法还包括：使用至少一个第四图像采集装置，其布置于货物暂存单元，用于探测物品进入该货物暂存单元的动作，其中，响应于物品进入该货物暂存单元的动作，由此确认进入该货物暂存单元的所述物品与所述库存位置的变化之间的对应关系。通过该方式，本发明可以在物品放入到货物暂存单元后，确认进入该货物暂存单元的所述物品与所述库存位置的变化之间的对应关系，使得对库存位置的变化的统计更加准确，提高了系统的实用性。货物暂存单元对于人员而言是购物框，对于机器而言是货物存放框。According to a preferred embodiment, the method further includes: using at least one fourth image acquisition device, which is arranged in the temporary cargo storage unit, for detecting the entry of an item into the temporary cargo storage unit, wherein, in response to the entry of the item into the temporary cargo storage unit The action of the unit, thereby confirming the corresponding relationship between the items entering the goods temporary storage unit and the change of the inventory position. In this way, the present invention can confirm the correspondence between the items entering the temporary cargo storage unit and the changes in the inventory position after the items are put into the temporary cargo storage unit, so that the statistics of the changes in the inventory position It is more accurate and improves the practicability of the system. The goods temporary storage unit is a shopping box for personnel, and a goods storage box for machines.
根据一个优选实施方式，所述第四图像采集装置还被配置用于：响应于存取机构的手部进入该货物暂存单元的动作而拍摄手部的第四图像和第五图像，其中，所述第四图像是在该存取机构的手进入该货物暂存单元之前拍摄的，所述第五图像是在该存取机构的手从该货物暂存单元移出之后拍摄的，其中，基于第四图像与第五图像的比较来确定相应存取机构移出物品的状态，响应于存取机构持有物品的状态而识别在该存取机构的绝对位置周围的、处于预定相对位置的货架的至少一个库存位置的变化，并由此判断所述物品的移出与所述库存位置的变化之间的对应关系。这里的物品的移出对应于将已经放入到货物暂存单元中的相应物品从货物暂存单元中拿出，即，在存取机构从外部收到了撤销提取某物品的指示之时，更改货物提取的行动；或者，存取机构响应于自身的光学或RFID识别机构对于错误货物提取的拒绝，而更改货物提取的行动；当然在人员情况下，可以是人员在评估商品之后，退还货物的行为。通过该方式，本发明可以在从货物暂存单元的移出物品之时再一次分析出该过程可能导致的库存位置的变化，使得库存位置能够更加全面、准确地进行更新。According to a preferred embodiment, the fourth image acquisition device is further configured to: take a fourth image and a fifth image of the hand in response to the action of the access mechanism's hand entering the cargo temporary storage unit, wherein, The fourth image is taken before the access mechanism's hand enters the goods temporary storage unit, and the fifth image is taken after the access mechanism's hand moves out of the goods temporary storage unit, wherein, based on A comparison of the fourth image with the fifth image to determine the state of the item being removed by the corresponding access mechanism, identifying the position of the shelf in a predetermined relative position around the absolute position of the access mechanism in response to the state of the item being held by the access mechanism A change in at least one inventory location, and thereby determine a correspondence between the removal of the item and the change in the inventory location. The removal of the items here corresponds to taking out the corresponding items that have been put into the temporary cargo storage unit from the temporary cargo storage unit. The action of picking up; or, the access agency responds to its own optical or RFID identification agency’s refusal to pick up wrong goods, and changes the action of picking up the goods; of course, in the case of personnel, it can be the behavior of personnel returning the goods after evaluating the goods . In this way, the present invention can analyze the change of the inventory position that may be caused by the process again when the items are removed from the temporary storage unit, so that the inventory position can be updated more comprehensively and accurately.
根据一个优选实施方式，所述方法还包括：使用至少一个第五图像采集装置，其布置于存取机构进出通道中，用以采集用于支付和/或注册的识别标识。通过该方式，将第五图像采集装置布置于存取机构进出通道中采集用于支付和/或注册的识别标识，可以快速地进行价款的结算，极大地提升了货物周转效率、结算效率和用户体验，特别是在客流量大、库存数量大的情况下有显著的优势。此处采取图像识别的方式，使得现有超市在应对智能化时代来临的情况，不必大规模改造基础设施，而是一视同仁地将机器与人都视为某种意义上的客户，统一地借用货物暂存单元完成库存整理与结算。According to a preferred embodiment, the method further includes: using at least one fifth image capture device, which is arranged in the access passageway of the access mechanism, to capture identification marks for payment and/or registration. In this way, the fifth image acquisition device is arranged in the access channel of the access mechanism to collect the identification mark used for payment and/or registration, and the settlement of the price can be performed quickly, which greatly improves the efficiency of goods turnover, settlement efficiency and user satisfaction. Experience, especially in the case of large passenger flow and large inventory, has significant advantages. The method of image recognition is adopted here, so that the existing supermarkets do not need to transform the infrastructure on a large scale in response to the advent of the intelligent era, but treat machines and people equally as customers in a certain sense, and borrow goods uniformly The temporary storage unit completes inventory arrangement and settlement.
根据一个优选实施方式，所述第五图像采集装置仅响应于第四图像采集装置提供图像的事件而启动。通过该方式，本发明的第五图像采集装置可以在需要的情况下才启动，空闲的情况下可以进行休眠或者待机状态，节约能源。According to a preferred embodiment, said fifth image capture device is activated only in response to an event that the fourth image capture device provides an image. In this manner, the fifth image acquisition device of the present invention can be started only when needed, and can be in a sleep or standby state when idle, saving energy.
根据一个优选实施方式，响应于第四图像采集装置提供图像的事件并根据配备该第四图像采集装置的货物暂存单元相对于进出通道的位置，第五图像采集装置调整其光学采集方向和焦距。通过该方式，本发明的第五图像采集装置可以根据货物暂存单元相对于进出通道的位置，采取镜头跟随以及焦距调节地方式清楚、便捷地采集用于支付和/或注册的识别标识，增大了价款结算的范围区间和灵活性，提高用户体验度。According to a preferred embodiment, in response to the event that the fourth image acquisition device provides an image and according to the position of the goods temporary storage unit equipped with the fourth image acquisition device relative to the access channel, the fifth image acquisition device adjusts its optical acquisition direction and focal length . In this way, the fifth image capture device of the present invention can clearly and conveniently capture the identification mark used for payment and/or registration by following the lens and adjusting the focus according to the position of the temporary cargo storage unit relative to the access channel, increasing the The range and flexibility of price settlement are enlarged, and user experience is improved.
根据一个优选实施方式，所述第一图像是在所述第二图像采集装置拍摄到该存取机构的手部的第二图像之后才由所述第一图像采集装置拍摄的，其中，所述第二图像是在该存取机构的手进入货架的至少一个库存位置之前拍摄的。通过该方式，使得超市可以同时应对多人和/或多设备同时进店采购的场景，仅当存在第一图像的存取机构再次进行物品存取或放回时，系统才会启动一系列负责的图像分析操作。换而言之，系统对于存取机构的追踪始于其尝试触及货架上的物品之时。这样不仅可以减少计算开销，还能降低存储开销，降低系统的构建成本和提升系统中各部件的使用效率和系统的流畅度。According to a preferred embodiment, the first image is captured by the first image capture device after the second image capture device captures the second image of the hand of the access mechanism, wherein the The second image is taken before the access mechanism's hand enters at least one inventory location of the shelf. In this way, the supermarket can cope with the scene where multiple people and/or multiple devices enter the store at the same time for purchase. image analysis operations. In other words, the system tracks the access mechanism from the moment it tries to access an item on the shelf. This can not only reduce computing overhead, but also reduce storage overhead, reduce system construction costs, and improve the use efficiency of various components in the system and the fluency of the system.
根据一个优选实施方式，从基于第一图像确定绝对位置的最初时间点开始，该货物暂存单元响应于存取机构持有物品的状态而设定介绍定时周期，在经过该特定的介绍定时周期之后，若第四图像采集装置未能采集到物品进入该货物暂存单元的动作，则通过该货物暂存单元向持有物品的存取机构发出有关商品属性的提示，其中，所述提示可以呈电子信号、语音、图像或视频的形式。由于现在物品包装上的文字都设置得很小、很密集，就算具备高清分辨率摄像头的存取机构在短时间内都不可能快速找到所需要的信息，对于存在视力障碍、近视或者远视的人群，就更加地困难。而在经历介绍定时周期后，相应存取机构还未将物品放入货物暂存单元，则说明该存取机构还未找到所需要的信息。由此，通过该方式，本发明可以在相应人员或存取机构经历一定时间后还未决定是否购买物品时，辅助性地向持有物品的人员或存取机构发出有关商品属性的提示，以便该人员或存取机构根据提示作出决定。According to a preferred embodiment, starting from the initial time point when the absolute position is determined based on the first image, the goods temporary storage unit sets an introduction timing period in response to the status of the items held by the access mechanism, and after the specific introduction timing period Afterwards, if the fourth image acquisition device fails to capture the action of the item entering the cargo temporary storage unit, then the cargo temporary storage unit sends a prompt about the commodity attribute to the access mechanism holding the item, wherein the prompt can be In the form of electronic signals, voice, images or video. Since the text on the item packaging is set very small and dense, even an access mechanism with a high-definition resolution camera cannot quickly find the required information in a short period of time. For people with visual impairment, myopia or hyperopia , it is even more difficult. And after the introduction timing period, if the corresponding access mechanism has not put the item into the cargo temporary storage unit, it means that the access mechanism has not found the required information. Thus, in this way, when the corresponding personnel or the access organization has not decided whether to purchase the item after a certain period of time, the present invention can supplementarily send a reminder about the attributes of the product to the person holding the item or the access organization, so that The person or access institution makes a decision based on prompts.
本发明提供了针对人员与智能搬运设备共存的仓储式超市内的库存管理系统，其至少具有如下优势：The present invention provides an inventory management system in a warehouse-style supermarket aimed at the coexistence of personnel and intelligent handling equipment, which has at least the following advantages:
(1)本发明依据库存信息动态地调整图像采集单元和图像识别单元，以求达到设备的资源共享，避免布置较多的装置，节约成本。(1) The present invention dynamically adjusts the image acquisition unit and the image recognition unit according to the inventory information, so as to achieve resource sharing of equipment, avoid arranging more devices, and save costs.
(2)本发明不仅可以分析库存位置处的物品的增减情况，还可以分析相应物品是否放回到货架上的正确的库存位置；(2) The present invention can not only analyze the increase or decrease of items at the inventory position, but also analyze whether the corresponding items are put back into the correct inventory position on the shelf;
(3)本发明可以在物品放入到货物暂存单元后，确认进入该货物暂存单元的所述物品与所述库存位置的变化之间的对应关系，使得对库存位置的变化的统计更加准确，提高了系统的实用性；(3) The present invention can confirm the corresponding relationship between the item entering the temporary storage unit and the change of the storage position after the item is put into the temporary storage unit, so that the statistics of the change of the storage position are more accurate Accurate, improving the practicability of the system;
(4)本发明可以在从货物暂存单元的移出物品之时再一次分析出该过程可能导致的库存位置的变化，使得库存位置能够更加全面、准确地进行更新。(4) The present invention can analyze the change of the inventory position that may be caused by the process again when the item is removed from the temporary storage unit, so that the inventory position can be updated more comprehensively and accurately.
附图说明Description of drawings
图1是本发明的系统的模块示意图；和Figure 1 is a schematic block diagram of the system of the present invention; and
图2是本发明一个优选实施方式的模块示意图。Fig. 2 is a block diagram of a preferred embodiment of the present invention.
附图标记列表List of reference signs
1：图像采集单元 2：图像识别单元1: Image acquisition unit 2: Image recognition unit
5：策略单元 6：存储单元5: Policy unit 6: Storage unit
7：报警单元 11：第一图像采集装置7: Alarm unit 11: First image acquisition device
12：第二第图像采集装置 13：第三图像采集装置12: The second image acquisition device 13: The third image acquisition device
14：第四图像采集装置 15：第五图像采集装置14: The fourth image acquisition device 15: The fifth image acquisition device
16：第六图像采集装置 17：第七图像采集装置16: The sixth image acquisition device 17: The seventh image acquisition device
18：第八图像采集装置 21：指示标记18: Eighth image acquisition device 21: Indicator mark
22：位置错误标记 30：计算设备22: Location error marker 30: Computing device
40：货物暂存单元40: Cargo temporary storage unit
具体实施方式Detailed ways
下面结合附图进行详细说明。A detailed description will be given below in conjunction with the accompanying drawings.
为了便于理解，在可能的情况下，使用相同附图标记来表示各附图中共同的相似元件。To facilitate understanding, the same reference numerals have been used, where possible, to denote similar elements that are common to the various figures.
实施例1Example 1
本发明公开了一种基于策略模块的库存管理系统，在不造成冲突或者矛盾的情况下，其他实施例的优选实施方式可以作为本实施例的补充。The present invention discloses an inventory management system based on a strategy module. In the case of no conflict or contradiction, preferred implementations of other embodiments may serve as supplements to this embodiment.
如图1所示，该系统包括：图像采集单元1、图像识别单元2、计算设备30和策略单元5。其中，图像采集单元1用于采集库存区内存取机构的动态图像和/或静态图像。图像识别单元2基于动态和/或静态图像比较来确定存取机构持有物品的状态。计算设备30基于特征参数生成库存信息。策略单元5基于库存信息生成库存管理策略。图像识别单元2响应于存取机构持有货品的状态而识别在存取机构的绝对位置周围的和/或处于预定相对位置的货架的至少一个库存位置的变化。计算设备30判断货品与库存位置的变化之间的对应关系，生成库存信息。计算设备30在一定周期内将每种货品的库存信息记录在每种货品的历史信息中，并且基于历史信息和库存信息进行分析后得出每种货品的库存状态信息。策略单元5基于库存状态信息触发调整图像采集单元1的采集方案和/或调整图像识别单元2的识别方案。例如，根据库存状态信息决策出图像采集单元的预期对焦位置、图像采集单元对于一种货品的监控时长和数量以及图像识别单元的识别次数和识别精确度。本发明依据库存信息动态地调整图像采集单元和图像识别单元，以求达到设备的资源共享，避免布置较多的装置，节约成本。As shown in FIG. 1 , the system includes: an image acquisition unit 1 , an image recognition unit 2 , a computing device 30 and a strategy unit 5 . Wherein, the image acquisition unit 1 is used to acquire dynamic images and/or static images of the access mechanism in the storage area. The image recognition unit 2 determines the status of items held by the access mechanism based on dynamic and/or static image comparisons. Computing device 30 generates inventory information based on the characteristic parameters. The strategy unit 5 generates an inventory management strategy based on the inventory information. The image recognition unit 2 recognizes a change in at least one inventory position of the shelf around the absolute position of the access mechanism and/or at a predetermined relative position in response to the state of the goods held by the access mechanism. The computing device 30 judges the corresponding relationship between the goods and the change of the inventory position, and generates inventory information. The computing device 30 records the inventory information of each item in the historical information of each item within a certain period, and obtains the inventory status information of each item after analyzing the historical information and the inventory information. The strategy unit 5 triggers the adjustment of the collection scheme of the image collection unit 1 and/or the adjustment of the recognition scheme of the image recognition unit 2 based on the inventory state information. For example, the expected focusing position of the image acquisition unit, the monitoring duration and quantity of a commodity by the image acquisition unit, and the recognition times and recognition accuracy of the image recognition unit are determined according to the inventory status information. The invention dynamically adjusts the image acquisition unit and the image recognition unit according to the inventory information, so as to achieve equipment resource sharing, avoid arranging more devices, and save costs.
优选的，策略单元5能够将相对位置和/或绝对位置对库存位置的变化与存取机构进行归类分析，并且将存取机构和与存取机构互动的货架关联起来，以使得随时随地依据货品与库存位置的变化动态地调整图像采集单元1对存取机构的图像采集方案和/或调整图像识别单元2的识别方案。优选的，策略单元5包括前置模块、处理模块和选择模块。前置模块存储策略条件，例如商品A在1小时内流动量为100件时，图像采集单元将会从2台图像采集装置更新至4台图像采集装置。选择模块存取有至少一条策略方案，例如，图像采集单元将会从2台图像采集装置更新至4台图像采集装置。例如，计算设备30根据库存状态信息分析商品A的流动状态并导入前置模块，处理模块对商品A的流动状态进行分析和处理，反馈至选择模块，选择策略方案。Preferably, the strategy unit 5 can classify and analyze the relative position and/or absolute position to the change of the inventory position and the access mechanism, and associate the access mechanism with the shelves interacting with the access mechanism, so that anytime and anywhere according to Changes in the location of goods and inventory dynamically adjust the image acquisition scheme of the image acquisition unit 1 for the access mechanism and/or adjust the recognition scheme of the image recognition unit 2 . Preferably, the strategy unit 5 includes a front module, a processing module and a selection module. The front-end module stores policy conditions. For example, when the flow of commodity A is 100 pieces within 1 hour, the image acquisition unit will be updated from 2 image acquisition devices to 4 image acquisition devices. There is at least one policy solution for the selection module access, for example, the image acquisition unit will be updated from 2 image acquisition devices to 4 image acquisition devices. For example, the computing device 30 analyzes the flow state of commodity A according to the inventory state information and imports it into the front-end module, and the processing module analyzes and processes the flow state of commodity A, and feeds it back to the selection module to select a strategy plan.
该系统还包括RFID单元6，用于标记和/或扫描货品；计算设备30能够将经RFID标记的货品的图像属性与RFID标记的货品的基础信息关联存储于存储单元6中。图像采集单元1能够在RFID扫描货品之前，记录货品的图像信息。计算设备30能够基于图像识别单元识别的图像信息的特征参数与经RFID标记的货品的图像属性进行信息匹配。当匹配成功时，存储单元自动注册货品的相关信息和/或RFID自动扫描货品的标签。当匹配失败时，报警单元7提示用户注册货品的相关信息。The system also includes an RFID unit 6 for marking and/or scanning goods; the computing device 30 is capable of storing in the storage unit 6 the image attributes of the RFID-tagged goods in association with the basic information of the RFID-tagged goods. The image acquisition unit 1 can record the image information of the goods before the RFID scans the goods. The computing device 30 can perform information matching based on the feature parameters of the image information recognized by the image recognition unit and the image attributes of the RFID-marked goods. When the matching is successful, the storage unit automatically registers the relevant information of the goods and/or the RFID automatically scans the labels of the goods. When the matching fails, the alarm unit 7 prompts the user to register the relevant information of the goods.
根据一种优选实施方式，图像采集识别单元具备针对所输入的图像而进行支持向量机(SVM)运算的SVM运算部、和对在图像识别处理的途中生成的数据进行暂时保存的数据保存部，SVM运算部具备：特征值计算部，其计算表示在所输入的图像中拍到的对象物即识别对象物与要进行识别的对象物即比较对象物相似的程度的特征值；以及累积相加部，其对与在示教数据组中被归类为同种比较对象物的示教数据对应的特征值进行累积相加，在SVM运算处理中，特征值计算部将与示教数据对应的特征值全部计算出并保存在数据保存部中，累积相加部对同种比较对象物的特征值进行累积相加，作为在图像识别处理中对识别对象物进行识别的结果而输出。According to a preferred embodiment, the image acquisition and recognition unit is provided with an SVM calculation unit for performing a Support Vector Machine (SVM) calculation on an input image, and a data storage unit for temporarily storing data generated during the image recognition process, The SVM calculation unit includes: a feature value calculation unit that calculates a feature value indicating the degree of similarity between the object captured in the input image, that is, the recognition target object, and the target object to be recognized, that is, the comparison target object; and cumulative addition. part, which cumulatively adds the eigenvalues corresponding to the teaching data classified as objects of the same type of comparison in the teaching data group, and in the SVM operation process, the eigenvalue calculation part takes the eigenvalues corresponding to the teaching data All the feature values are calculated and stored in the data storage unit, and the cumulative addition unit cumulatively adds the feature values of objects of the same kind to be compared, and outputs it as a result of recognizing the object to be recognized in the image recognition process.
根据一个优选实施方式，参见图2，该系统可以包括：第一图像采集装置11，其用于采集第一图像，并由图像识别单元2基于所述第一图像来确定至少一个存取机构在货架所在区域内的绝对位置以及该存取机构相对于至少一个载有至少一种物品的货架的相对位置。优选地，地面上可以设有相应的用于识别的基准点和/或基准线辅助系统确定绝对位置和相对位置。According to a preferred embodiment, referring to FIG. 2, the system may include: a first image acquisition device 11, which is used to acquire a first image, and the image recognition unit 2 determines based on the first image that at least one access mechanism is in the The absolute position within the area where the shelf is located and the relative position of the access mechanism relative to at least one shelf carrying at least one item. Preferably, corresponding reference points and/or reference lines for identification may be provided on the ground to assist the system in determining absolute and relative positions.
根据一个优选实施方式，该系统还可以包括：第二图像采集装置12，其用于探测至少一个存取机构的手部的第二图像，所述第二图像是在该存取机构的手进入货架的至少一个库存位置之前拍摄的。优选地，对于一个货架，其可以具有至少一个库存位置。一个货架可以分为多层。每层可以是一个库存位置。或者，一层在水平方向上可以分为多个区域，每个区域可以是一个库存位置。应当注意地是，这些区域之间的分隔线可以是可图像识别的分隔装置和/或不可图像识别的虚拟分隔线。分隔装置例如是间壁和/或喷涂的基准线。不可图像识别的虚拟分割线可以是在货架、与该货架对应的第二图像采集装置12和/或第三图像采集装置13固定好后，摆放相应的物品，然后由系统采集该货架的图像信息对货架进行分割，以得到至少包含一类物品的至少一个库存位置。According to a preferred embodiment, the system may further include: a second image acquisition device 12, which is used to detect a second image of the hand of at least one access mechanism, and the second image is obtained when the hand of the access mechanism enters At least one inventory location of the shelf was previously photographed. Preferably, for a shelf, it can have at least one storage position. A shelf can be divided into multiple layers. Each level can be an inventory location. Alternatively, a floor can be divided horizontally into zones, each of which can be an inventory location. It should be noted that the separation lines between these regions may be image-recognizable separation means and/or non-image-recognizable virtual separation lines. The separating means are, for example, partition walls and/or painted reference lines. The virtual dividing line that is not image-recognizable can be that after the shelf, the second image acquisition device 12 and/or the third image acquisition device 13 corresponding to the shelf are fixed, the corresponding items are placed, and then the image of the shelf is collected by the system The information divides the shelf to obtain at least one inventory position containing at least one type of item.
根据一个优选实施方式，该系统还可以包括：第三图像采集装置13，其用于探测至少一个存取机构的手部的第三图像，所述第三图像是在该存取机构的手从该货架的至少一个库存位置移出之后拍摄的。According to a preferred embodiment, the system may further include: a third image acquisition device 13, which is used to detect a third image of the hand of at least one access mechanism, and the third image is obtained when the hand of the access mechanism moves from Taken after at least one inventory location of the rack has been removed.
根据一个优选实施方式，图像识别单元2基于第二图像与第三图像的比较来确定相应存取机构持有物品的状态，响应于存取机构持有物品的状态而识别在该存取机构的绝对位置周围的、处于预定相对位置的货架的至少一个库存位置的变化，并由此判断所述物品与所述库存位置的变化之间的对应关系。随后采取相对位置与绝对位置对库存位置变化和人员/存取机构进行归类分析，准确地将货架与当前与其互动的人员或存取机构彼此关联起来，使得能够随时随地依据所述物品与所述库存位置的变化来动态划分需要进行分析与计算的区域。由于把“库存变化”与“绝对位置”和“相对位置”率先进行了关联，从而大大降低了图像识别的运算量，由此能够在不增设大量计算设备的情况下完成实时库存分析。According to a preferred embodiment, the image recognition unit 2 determines the status of the item held by the corresponding access mechanism based on the comparison between the second image and the third image, and identifies the status of the item held by the access mechanism in response to the status of the item held by the access mechanism. Changes in at least one inventory position of shelves in predetermined relative positions around the absolute position, and thereby determine the correspondence between the item and the change in the inventory position. Then use relative position and absolute position to classify and analyze inventory location changes and personnel/access institutions, and accurately associate the shelf with the current interacting personnel or access institutions, so that it can be used anytime, anywhere according to the item and the access mechanism. Dynamically divide the areas that need to be analyzed and calculated according to the changes of the above-mentioned inventory positions. Since the "inventory change" is first associated with the "absolute position" and "relative position", the calculation amount of image recognition is greatly reduced, so that real-time inventory analysis can be completed without adding a large number of computing devices.
比如，绝对位置周围有多个货架，但是通过绝对位置不能准确地确定实际发生变化的库存位置，而相对位置可以涉及到两者之间的距离，只有在相应存取机构在与一个货架的距离小于等于预设距离之时，才有可能出现该存取机构与处于相对位置的货架发生物品转移关系的情况。在该存取机构与存放该物品的对应的库存位置距离近的情况下，该存取机构将该物品放回到对应的库存位置时，则该库存位置的变化只包括数量的增加，而不包括品类的增加。在该存取机构与存放该物品的对应的库存位置距离远的情况下，该存取机构有可能因为其自身操作错误而未将物品放回到该物品的对应的库存位置。因此，在将物品放回到货架上且未放回到其对应的库存位置的情况下，则处于预定相对位置的货架的至少一个库存位置的变化可以包括：该库存位置存放物品的品类增加和存放物品的数量增加。优选地，持有物品的状态可以包括物品的种类和/或数量。优选地，在判断所述物品与所述库存位置的变化之间的对应关系之前，可以基于从各种输入装置接收到的数据来识别从货架的库存位置移除和/或放入货架的库存位置中的物品的身份。例如，通过图像采集装置可以采集在相应存取机构的手经过平面进入库存位置中之前所述手的一连串图像并且还采集在该手离开库存位置后该手的一连串图像。基于所述图像的比较，可以确定相应存取机构是否从库存位置移除物体或将物体放入库存位置中。例如，基于对图像的分析，可以确定相应存取机构在手进入库存位置时没有拿着物体，但是在手从库存位置移出时拿着物体(相应存取机构从库存位置移除物体)。同样地，可以使用图像分析来识别是否在手进入库存位置之前相应存取机构在他们的手上拿有物体但在手从库存位置移出时没有拿有物体(相应存取机构将物体放入库存位置中)。也就是说，本发明用于比较的第二图像和第三图像不仅仅只是包括单张图像的情况，还可能是一连串的第二图像和一连串的第三图像的综合比对。For example, there are multiple shelves around the absolute position, but the actual changed inventory position cannot be accurately determined through the absolute position, and the relative position can refer to the distance between the two, only when the corresponding access mechanism is at a distance from a shelf When the distance is less than or equal to the preset distance, it is possible for the access mechanism to have an item transfer relationship with the shelf in the opposite position. In the case where the access mechanism is close to the corresponding inventory location where the item is stored, and the access mechanism puts the item back to the corresponding inventory location, the change in the inventory location only includes an increase in quantity, not an increase in quantity. Including the increase of categories. If the access mechanism is far away from the corresponding inventory location where the item is stored, the access mechanism may not return the item to the corresponding inventory location for the item due to its own operational error. Therefore, in the case that the item is put back on the shelf without being put back into its corresponding inventory position, the change of at least one inventory position of the shelf at the predetermined relative position may include: the category of the item stored in the inventory position increases and The number of stored items has increased. Preferably, the state of holding the item may include the type and/or quantity of the item. Preferably, prior to determining the correspondence between said items and changes in said inventory location, the identification of inventory removed from and/or put into an inventory location of a shelf may be based on data received from various input devices The identity of the item in the location. For example, the image acquisition device can acquire a series of images of the hand of the respective access mechanism before the hand passes through the plane into the storage position and also a series of images of the hand after the hand has left the storage position. Based on the comparison of the images, it may be determined whether the corresponding access mechanism removed the object from or put the object into the inventory location. For example, based on the analysis of the images, it may be determined that the corresponding access mechanism was not holding the object when the hand entered the inventory location, but was holding the object when the hand was removed from the inventory location (the corresponding access mechanism removed the object from the inventory location). Likewise, image analysis can be used to identify if the corresponding accessor has the object in their hand before the hand enters the inventory location but does not hold the object when the hand is removed from the inventory location (the corresponding accessor puts the object in the inventory location). That is to say, the second image and the third image used for comparison in the present invention not only include a single image, but may also be a comprehensive comparison of a series of second images and a series of third images.
优选地，本发明的管理系统还公开了第四图像采集装置14，其布置于货物暂存单元40，用于探测物品进入该货物暂存单元40的动作，其中，响应于物品进入该货物暂存单元40的动作，由此确认进入该货物暂存单元40的所述物品与所述库存位置的变化之间的对应关系。优选地，当且仅当所述确认步骤之后，将代表所述物品的物品标识符添加至提货清单，所述提货清单与至少一个存取机构相关联。通过将物品标识符添加到提货清单，在用户逛超市的过程中根据放入到货物暂存单元40中的物品实时地进行提货清单地核算，最后可以直接根据提货清单进行费用的结算，避免了再次将物品依次移出扫描条码进行结算造成耗时长的问题。优选地，货物暂存单元40例如是存取机构专用存货框、购物车、购物筐和购物袋中的至少一种。Preferably, the management system of the present invention also discloses a fourth image acquisition device 14, which is arranged in the goods temporary storage unit 40, and is used to detect the action of items entering the goods temporary storage unit 40, wherein, in response to the entry of the goods into the goods temporary storage unit The action of the storage unit 40, thereby confirming the correspondence between the items entering the goods temporary storage unit 40 and the change of the inventory position. Preferably, an item identifier representing said item is added to a pick-up list associated with at least one access facility if and only if said validating step is followed. By adding the item identifier to the pick-up list, the user can check the pick-up list in real time according to the items put into the goods temporary storage unit 40 during the user's shopping in the supermarket, and finally the cost can be settled directly according to the pick-up list, avoiding Removing the items one by one to scan the barcode for settlement will cause a time-consuming problem. Preferably, the goods temporary storage unit 40 is, for example, at least one of a storage box dedicated to an access mechanism, a shopping cart, a shopping basket and a shopping bag.
优选地，所述第四图像采集装置14还可以被配置用于：响应于存取机构的手部进入该货物暂存单元40的动作而拍摄手部的第四图像和第五图像，其中，所述第四图像是在该存取机构的手进入该货物暂存单元40之前拍摄的，所述第五图像是在该存取机构的手从该货物暂存单元40移出之后拍摄的，其中，基于第四图像与第五图像的比较来确定相应存取机构移出物品的状态，响应于存取机构持有物品的状态而识别在该存取机构的绝对位置周围的、处于预定相对位置的货架的至少一个库存位置的变化，并由此判断所述物品的移出与所述库存位置的变化之间的对应关系。在此，通过物品的移出以及库存位置的变化两者来确定某物品从货物暂存单元返回至库存位置。由此可首先基于第一图像所确定的绝对位置和相对位置来确认发生变化的库存位置，同时基于第二图像、第三图像、第四与第五图像来分析确定所返回的物品。此时可相应更新库存位置或者启动货物清理程序，例如招唤人工介入清除不符合货架货物的物品，或者以自动进给方式将错误的物品送入回收通道。例如，通过在天花板安装可移动的机械手臂或者带机械手臂的自动清理车将不符合货架货物的物品或者错误的物品进行归位整理或者放入回收通道。优选地，当基于第二、第三、第四与第五图像确定返回的物品之后，将代表所述物品的物品标识符从提货清单移除，所述提货清单与至少一个存取机构相关联。优选地，第四图像是该存取机构的手在未持有物品的情况下该手进入该货物暂存单元40之前拍摄的。第五图像是在该存取机构的手从该货物暂存单元40将物品移出之后拍摄的。Preferably, the fourth image acquisition device 14 can also be configured to: take a fourth image and a fifth image of the hand in response to the action of the access mechanism's hand entering the cargo temporary storage unit 40, wherein, The fourth image is taken before the access mechanism's hand enters the goods temporary storage unit 40, and the fifth image is taken after the access mechanism's hand is removed from the goods temporary storage unit 40, wherein determining the state of the item being removed by the corresponding access mechanism based on a comparison of the fourth image with the fifth image, and identifying objects in predetermined relative positions around the absolute position of the access mechanism in response to the state of the item being held by the access mechanism change of at least one storage position of the shelf, and thereby determine the corresponding relationship between the removal of the item and the change of the storage position. Here, the return of an item from the escrow unit to the inventory location is determined by both the removal of the item and the change in the inventory location. Thus, the changed inventory location can be first confirmed based on the absolute and relative positions determined by the first image, while the returned items can be analyzed and determined based on the second, third, fourth and fifth images. At this time, the inventory location can be updated accordingly or the cargo cleaning process can be initiated, such as calling for manual intervention to remove items that do not conform to the shelf goods, or sending the wrong items into the recycling channel by automatic feeding. For example, by installing a movable robotic arm on the ceiling or an automatic cleaning vehicle with a robotic arm, the items that do not meet the shelf goods or the wrong items are sorted or put into the recycling channel. Preferably, after a returned item is determined based on the second, third, fourth and fifth images, the item identifier representing said item is removed from a pick-up list associated with at least one access facility . Preferably, the fourth image is taken by the hand of the access mechanism before the hand enters the cargo temporary storage unit 40 without holding an item. The fifth image is taken after the access mechanism's hand removes the item from the cargo escrow unit 40 .
根据一个优选实施方式，所述第四图像采集装置14还可以被配置用于：响应于存取机构抵达结算区域而启动，采集货物暂存单元40内的物品占用货物暂存单元40的空间大小，由该系统根据空间大小指示结算区域的提供设备为该存取机构提供匹配大小的袋。通过该方式，可以为该存取机构提供适宜大小的袋，避免在结算区域因为判断所需的袋的大小而浪费过多的时间，提高结算效率。According to a preferred embodiment, the fourth image acquisition device 14 can also be configured to: start in response to the access mechanism arriving at the settlement area, and capture the space size of the goods temporary storage unit 40 occupied by the items in the goods temporary storage unit 40 , according to the size of the space, the system instructs the providing equipment in the settlement area to provide the access mechanism with a bag of a matching size. In this way, the access mechanism can be provided with a bag of an appropriate size, avoiding wasting too much time in the settlement area for judging the size of the required bag, and improving settlement efficiency.
根据一个优选实施方式，本发明还公开了第五图像采集装置15，其布置于存取机构进出通道中，用以采集用于支付和/或注册的识别标识。优选地，所述识别标识可以是RFID、二维码、指纹、人体轮廓、人脸轮廓、虹膜图像和典型的热特性图像中的至少一种。比如，在一个存取机构被检测到持有一个货物暂存单元40后，则系统将该货物暂存单元40与该存取机构关联。在费用结算之时，在该存取机构是未注册用户的情况下，则可以在结算之时或之前提醒该存取机构的拥有方注册或者以远程方式直接完成支付。在存取机构的拥有方或作为自然人的用户注册之时，可以要求拥有方或用户选定一种识别标志作为以后费用结算之时的凭证，并根据用户选定的识别标识要求用户录入对应的信息。假设用户选择通过虹膜图像、图形二维码或RFID进行支付，则该存取机构在费用结算之时，将图形二维码(张贴于存取机构)或相应的眼部朝向第五图像采集装置15的采集区域，在通过系统的验证之后，使用绑定的支付账号完成费用结算；或者使得存取机构的RFID或其图形二维码录入系统用以结算。According to a preferred embodiment, the present invention also discloses a fifth image capture device 15, which is arranged in the entrance and exit passage of the access mechanism, and is used to capture identification marks for payment and/or registration. Preferably, the identification mark can be at least one of RFID, two-dimensional code, fingerprint, human body outline, human face outline, iris image and typical thermal characteristic image. For example, after an access mechanism is detected to hold a goods temporary storage unit 40, the system associates the goods temporary storage unit 40 with the access mechanism. When the fee is settled, if the access institution is an unregistered user, the owner of the access institution can be reminded to register or directly complete the payment in a remote manner before the settlement. When the owner of the access institution or the user as a natural person registers, the owner or user may be required to select an identification mark as a voucher for future fee settlement, and the user is required to enter the corresponding information. Assuming that the user chooses to pay by iris image, graphic two-dimensional code or RFID, the access institution will point the graphic two-dimensional code (posted on the access institution) or the corresponding eye toward the fifth image acquisition device when the fee is settled. 15, after passing the verification of the system, use the bound payment account to complete the fee settlement; or make the RFID of the access institution or its graphic two-dimensional code input into the system for settlement.
根据一个优选实施方式，第五图像采集装置15仅响应于第四图像采集装置14提供图像的事件而启动。优选地，响应于第四图像采集装置14提供图像的事件并根据配备该第四图像采集装置14的货物暂存单元40相对于进出通道的位置，第五图像采集装置15调整其光学采集方向和焦距。According to a preferred embodiment, the fifth image acquisition means 15 is activated only in response to the event that the fourth image acquisition means 14 provides an image. Preferably, in response to the event that the fourth image acquisition device 14 provides an image and according to the position of the goods temporary storage unit 40 equipped with the fourth image acquisition device 14 relative to the position of the access channel, the fifth image acquisition device 15 adjusts its optical acquisition direction and focal length.
根据一个优选实施方式，所述第一图像是在所述第二图像采集装置12拍摄到该存取机构的手部的第二图像之后才由所述第一图像采集装置11拍摄的，其中，所述第二图像是在该存取机构的手进入货架的至少一个库存位置之前拍摄的。由此，使得无人超市可以同时应对多人进店采购的场景，仅当存在第一图像的存取机构再次进行物品存取或放回时，系统才会启动一系列负责的图像分析操作。换而言之，系统对于存取机构的追踪始于其尝试触及货架上的物品之时。According to a preferred embodiment, the first image is captured by the first image capture device 11 after the second image capture device 12 captures the second image of the hand of the access mechanism, wherein, The second image is taken before a hand of the access mechanism enters at least one inventory location of the shelf. As a result, the unmanned supermarket can cope with the scene where multiple people enter the store to purchase at the same time, and only when the access mechanism with the first image accesses or puts back the item again, the system will start a series of responsible image analysis operations. In other words, the system tracks the access mechanism from the moment it tries to access an item on the shelf.
优选地，从基于第一图像确定绝对位置的最初时间点开始，该货物暂存单元40响应于存取机构持有物品的状态而设定介绍定时周期(例如5秒)，在经过该特定的定时周期之后，若第四图像采集装置14未能采集到物品进入该货物暂存单元40的动作，则通过该货物暂存单元40向持有物品的存取机构发出有关商品属性的提示，其中，所述提示可以呈电子信号、语音、图像或视频的形式。在该货物暂存单元判断其持有方为人员而非呈搬运设备形式的存取机构时，该货物暂存单元40可以提示该存取机构从货架上取下但未装入该货物暂存单元40的商品售价为20元，据其保质期截止时间还有十个月。优选地，该货物暂存单元40响应于介绍定时周期之设定，还设定提醒定时周期(例如30秒)，在经过了提醒定时周期之后，若第四图像采集装置14未能采集到物品进入该货物暂存单元40的动作，则通过该货物暂存单元40向持有物品的存取机构发出提示将当前物品正确装入该货物暂存单元40内的提示，其中，该提示可采取指向容纳口的箭头这样的图形方式。优选地，在经过了该提醒定时周期之后，在第四图像采集装置14未能采集到物品进入该货物暂存单元40的动作的情况下，则该系统还通过指示标记21指示将当前物品放回到货架上的正确位置。其中，该指示标记21可以采取指向当前物品的同类物品所在区域的箭头这样的图形方式。更具体地，比如，指示标记21为绿色荧光箭头且能按照预设频率闪烁。在该货物暂存单元判断其持有方为呈搬运设备形式的存取机构而非作为自然人的人员时，由该货物暂存单元40将相关商品介绍信息以电子信号方式传送至该存取机构，由其向远程用户发出提示，以尽快完成采购决定。Preferably, starting from the initial time point when the absolute position is determined based on the first image, the goods temporary storage unit 40 sets an introduction timing period (for example, 5 seconds) in response to the status of the items held by the access mechanism, and after the specified After the timing period, if the fourth image acquisition device 14 fails to capture the action of the item entering the temporary storage unit 40, the temporary storage unit 40 will send a reminder about the attributes of the item to the access mechanism holding the item, wherein , the prompt may be in the form of an electronic signal, voice, image or video. When the cargo temporary storage unit judges that its holder is a person rather than an access mechanism in the form of handling equipment, the cargo temporary storage unit 40 can prompt the storage and withdrawal mechanism to take off from the shelf but not load the cargo temporarily The product price of unit 40 is 20 yuan, and according to its expiration date, there are ten months left. Preferably, the goods temporary storage unit 40 responds to the setting of the introduction timing period, and also sets a reminder timing period (for example, 30 seconds). When entering the temporary cargo storage unit 40, the temporary cargo storage unit 40 sends a prompt to the access mechanism holding the item to correctly load the current item into the temporary cargo storage unit 40, wherein the prompt can take Graphically such as arrows pointing to the openings. Preferably, after the reminder timing period, if the fourth image capture device 14 fails to capture the action of the item entering the temporary storage unit 40, the system also indicates through the indicator mark 21 that the current item is placed in the temporary storage unit 40. Return to the correct position on the shelf. Wherein, the indicator mark 21 may take the form of an arrow pointing to the area where the similar items of the current item are located. More specifically, for example, the indicator mark 21 is a green fluorescent arrow and can blink according to a preset frequency. When the goods temporary storage unit judges that its holder is an access institution in the form of handling equipment rather than a natural person, the goods temporary storage unit 40 transmits the relevant commodity introduction information to the access institution in the form of electronic signals , which prompts remote users to make purchasing decisions as quickly as possible.
优选地，该系统还包括第六图像采集装置16，第六图像采集装置16在经过了该提醒定时周期之后，在第四图像采集装置14未能采集到物品进入该货物暂存单元40的动作的情况下启动，用于采集与物品关联的货架的第六图像和货架的第七图像，其中，所述第六图像是在该存取机构持有物品的手进入货架之前拍摄的，所述第七图像是在该存取机构持有物品的手从货架移出之后拍摄的，基于第六图像和第七图像比较来二次判断所述物品与所述库存位置的变化之间的对应关系。第六图像采集装置16只在在经过了该提醒定时周期之后，在第四图像采集装置14未能采集到物品进入该货物暂存单元40的动作的情况下启动，是因为物品回放到货架上所需的环境信息更多且分析难度相比从货架上取出物品更大。优选地，在通过第二、第三图像进行一次判断的情况下，还通过第六与第七图像进行二次判断，得到的所述物品与所述库存位置的变化之间的对应关系更加准确可靠。优选地，在两次判断的结果不一致之时，可以安排人工核对或者由智能机器人现场核对。优选地，第六图像和第七图像与第二图像和第三图像的主要区别在于，第六图像和第七图像的对象是货架。而第二图像和第三图像的对象是手。设置第六图像采集装置16的意义在于识别相应存取机构将从货架上的物品拿出后再放置到其他货架上时也能相应地进行跟踪。比如，一个存取机构在一个库存位置拿取相应的物品后，在另一个库存位置看到了同类型的另一个物品，其更具有吸引力，然后，用户则希望将相应的物品移出，更换另一个物品，但是，此时该存取机构很可能已经不在拿取相应的物品的对应货架附近，导致其将物品送还到对应库存位置的意愿低，可能直接将相应的物品放置在当前位置的货架上，这会导致相应的物品可能会放置在非对应的货架上的非对应库存位置。由此，优选地，在持有物品的存取机构未按照指示标记21将该物品放回到货架上的正确位置之时，所述系统通过语音方式向其播放劝导提醒。例如，尊敬的客户，您未将某商品放回到其正确位置，为了维护良好的购物环境，避免给他人造成误导，请您根据指示标记21将某商品放回到正确位置，谢谢您的配合。优选地，在播放劝导提醒之后且相应的物品仍未被放回到正确位置的情况下，在该物品的错误位置下显示位置错误标记22，其中，位置错误标记22可以采取感叹号、叉号或者文字形式中的至少一种。优选地，在未被放回到正确位置的物品从显示位置错误标记22的货架上取下之后，通过语音和/或图形方式指示该物品的正确位置和/或正确售价。比如，通过在闪烁的指示标记21以及语音：尊敬的顾客，您好，您手上的物品被放置在了错误的位置上，其正确位置为闪烁的指示标记21所在位置，请参考正确位置处的对应价签进行购买，谢谢！通过该方式，可以让员工快速找到错放的物品，以及快速将其放回到正确位置，提高工作效率。同时，还可以避免因价签和实际物品不对应给购物者造成错误的购物导向，提高用户体验。而且，通过该方式，由于能够快速知道物品的正确位置，在用户步行到正确位置的所需移动的距离不远的情况下，即使看了实际价签和/或正确售价之后用户选择不购买该物品，一些用户会辅助地将该物品放回到其正确位置，降低了员工的工作量。优选地，该系统还可以包括指示显示器，指示显示器可以用于在错放的物品的正确位置不在其错放的货架上时，通过指示显示器为拿起错放的物品的存取机构播放其正确的售价。Preferably, the system further includes a sixth image acquisition device 16, after the sixth image acquisition device 16 passes through the reminder timing period, when the fourth image acquisition device 14 fails to capture the action of the item entering the cargo temporary storage unit 40 Initiated in the event of acquiring a sixth image of the shelf associated with the item and a seventh image of the shelf, wherein the sixth image is taken before the hand of the access mechanism holding the item enters the shelf, the The seventh image is taken after the access mechanism's hand holding the item is removed from the shelf, and based on the comparison between the sixth image and the seventh image, the correspondence between the item and the change in the inventory position is judged for the second time. The sixth image acquisition device 16 is only activated when the fourth image acquisition device 14 fails to capture the action of the item entering the goods temporary storage unit 40 after the reminder timing period has elapsed, because the item is returned to the shelf More contextual information is required and more difficult to analyze than removing an item from a shelf. Preferably, in the case of a primary judgment through the second and third images, a second judgment is also made through the sixth and seventh images, so that the obtained correspondence between the item and the change in the inventory position is more accurate reliable. Preferably, when the results of the two judgments are inconsistent, a manual check or an on-site check by an intelligent robot can be arranged. Preferably, the main difference between the sixth image and the seventh image and the second image and the third image is that the object of the sixth image and the seventh image is a shelf. And the objects of the second image and the third image are hands. The significance of setting the sixth image acquisition device 16 is to recognize that the corresponding access mechanism will take out the items from the shelf and then place them on other shelves so that it can be tracked accordingly. For example, after an access mechanism takes the corresponding item in one inventory location, it sees another item of the same type in another inventory location, which is more attractive, and then the user wants to remove the corresponding item and replace it with another item. However, at this time, the access mechanism is probably not near the corresponding shelf for picking up the corresponding item, resulting in low willingness to return the item to the corresponding storage location, and may directly place the corresponding item in the current location shelf, which would result in the corresponding item possibly being placed in a non-corresponding inventory location on a non-corresponding shelf. Therefore, preferably, when the access mechanism holding the item fails to return the item to the correct position on the shelf according to the indicator mark 21, the system plays a persuasive reminder to it by voice. For example, dear customer, you did not put a product back to its correct position. In order to maintain a good shopping environment and avoid misleading others, please put a product back to its correct position according to the instruction mark 21. Thank you for your cooperation . Preferably, after the persuasion reminder is played and the corresponding item has not been returned to the correct position, a position error mark 22 is displayed under the wrong position of the item, wherein the position error mark 22 can take the form of an exclamation mark, a cross or At least one of the text forms. Preferably, after an item that has not been returned to the correct position is removed from the shelf displaying the wrong position mark 22, the correct position and/or correct selling price of the item is indicated by voice and/or graphics. For example, through the flashing indicator mark 21 and the voice: Dear customer, hello, the item in your hand is placed in the wrong position, and its correct position is the position of the flashing indicator mark 21, please refer to the correct position The corresponding price tag to purchase, thank you! In this way, employees can quickly find misplaced items and quickly put them back to the correct position, improving work efficiency. At the same time, it can also avoid wrong shopping orientation for shoppers due to the mismatch between the price tag and the actual item, and improve user experience. Moreover, in this way, since the correct location of the item can be known quickly, the user chooses not to purchase it even after seeing the actual price tag and/or the correct selling price if the required movement distance for the user to walk to the correct location is not far. For this item, some users will assist in returning the item to its correct position, reducing the workload of the staff. Preferably, the system may also include an indication display that can be used to play the correct position for the access mechanism that picks up the misplaced item by indicating that the correct position of the misplaced item is not on the shelf where it was misplaced. selling price.
根据一个优选实施方式，位置错误标记22可以通过至少两种不同的视觉状态以分级显示方式区分错误的偏差程度。偏差程度例如是距离偏差、价格偏差和效用偏差中的至少一种。以此直观地给员工或者购物者进行提示。比如，在位置错误标记22可以通过分级显示方式区分距离偏差时，通过第一颜色、不同于第一颜色的第二颜色以及不同于第一和第二颜色的第三颜色以分三档方式区分距离偏差的偏差程度。在将该物品从当前的错误位置放回到其正确位置的所需路程小于等于第一路程阈值之时，将位置错误标记22配置为第一颜色，在将该物品从当前的错误位置放回到其正确位置的所需路程大于第一路程阈值且小于等于第二路程阈值之时，将位置错误标记22配置为第二颜色，在将该物品从当前的错误位置放回到其正确位置的所需路程大于第三路程阈值之时，将位置错误标记22配置为第三颜色。优选地，第一颜色、第二颜色和第三颜色可以分别为蓝色、黄色和红色。第一路程阈值例如是5米。第二路程阈值例如是20米。第三路程阈值例如是40米。优选地，效用偏差例如是增肥与减肥、通便与止泻一类的偏差。应当注意的是，本发明还可以通过其他方式或者多种方式的组合来实现不同的视觉状态，而不是仅仅只能以不同的颜色来实现。比如，本发明还可以通过数字和颜色的组合来实现。具体地，这里还是以距离偏差为例，在将该物品从当前的错误位置放回到其正确位置的所需路程小于等于第一路程阈值之时，将位置错误标记22配置为第一颜色并显示第一数字，在将该物品从当前的错误位置放回到其正确位置的所需路程大于第一路程阈值且小于等于第二路程阈值之时，将位置错误标记22配置为第二颜色并显示第二数字，在将该物品从当前的错误位置放回到其正确位置的所需路程大于第三路程阈值之时，将位置错误标记22配置为第三颜色并显示第三数字。第一数字例如是1，第二数字例如是2，第三数字例如是3。According to a preferred embodiment, the position error mark 22 can differentiate the degree of error deviation in a hierarchical display manner through at least two different visual states. The degree of deviation is, for example, at least one of distance deviation, price deviation, and utility deviation. In this way, employees or shoppers can be prompted intuitively. For example, when the position error mark 22 can distinguish the distance deviation by hierarchical display, it can be distinguished in three levels by the first color, the second color different from the first color, and the third color different from the first and second colors The degree of deviation from the distance deviation. When the required distance for the item to be returned to its correct position from the current wrong position is less than or equal to the first distance threshold, the position error mark 22 is configured as the first color, and when the item is returned from the current wrong position When the required distance to its correct position is greater than the first distance threshold and less than or equal to the second distance threshold, the position error mark 22 is configured as the second color, and when the item is returned to its correct position from the current wrong position When the required distance is greater than the third distance threshold, the position error mark 22 is configured as the third color. Preferably, the first color, the second color and the third color may be blue, yellow and red, respectively. The first distance threshold is, for example, 5 meters. The second distance threshold is, for example, 20 meters. The third distance threshold is, for example, 40 meters. Preferably, utility deviations are, for example, deviations between fat gain and weight loss, laxative and antidiarrheal. It should be noted that in the present invention, different visual states can also be realized in other ways or in combination of multiple ways, instead of only being realized in different colors. For example, the present invention can also be realized through the combination of numbers and colors. Specifically, taking the distance deviation as an example here, when the distance required to return the item from the current wrong position to its correct position is less than or equal to the first distance threshold, the position error mark 22 is configured as the first color and Displaying the first number, when the distance needed to return the item from the current wrong position to its correct position is greater than the first distance threshold and less than or equal to the second distance threshold, the position error mark 22 is configured as a second color and The second number is displayed, and when the distance needed to put the item from the current wrong position back to its correct position is greater than the third distance threshold, the position error mark 22 is configured as a third color and the third number is displayed. The first number is, for example, 1, the second number is, for example, 2, and the third number is, for example, 3.
根据一个优选实施方式，该系统还包括第七图像采集装置17，第七图像采集装置17用于在该系统通过货架上的指示标记21指示将当前物品放回到货架上的正确位置之前采集第八图像，由该系统根据第八图像分析该正确位置对应的指示标记21的可视情况，仅在该指示标记21位于拿起当前物品的存取机构的可视范围内的情况下才显示该指示标记21。优选地，在该指示标记21不位于拿起当前物品的存取机构的可视范围内的情况下，或者说，在拿起当前物品的存取机构与该对应的指示标记21之间有阻碍视线的固定障碍物的情况下，通过语音方式指示该物品的正确位置和/或正确售价。通过该方式，可以在物品的正确位置不在可视范围内的情况下不给他人造成误导。优选地，该系统还根据第八图像分析拿起当前物品的存取机构的身份情况，仅在该指示标记21位于拿起当前物品的存取机构的可视范围内且该存取机构的身份是整理存取机构的情况下才显示该指示标记21。比如，分析人员的身份情况可以通过人脸识别、穿特定的工作装和携带电子标签中的至少一种。According to a preferred embodiment, the system also includes a seventh image acquisition device 17, the seventh image acquisition device 17 is used to capture the first image before the system indicates that the current item is put back into the correct position on the shelf through the indicator mark 21 on the shelf. Eight images, the system analyzes the visual situation of the indicator mark 21 corresponding to the correct position according to the eighth image, and the indicator mark 21 is only displayed when the indicator mark 21 is within the visible range of the access mechanism that picks up the current item. Indication mark 21. Preferably, when the indicator mark 21 is not located within the visible range of the access mechanism that picks up the current item, or in other words, there is an obstacle between the access mechanism that picks up the current item and the corresponding indicator mark 21 In the case of fixed obstructions to the line of sight, the correct location and/or correct selling price of the item will be indicated by voice. In this way, it is possible not to mislead others when the correct position of the item is not within the visible range. Preferably, the system also analyzes the identity of the access institution picking up the current item according to the eighth image, only when the indicator 21 is within the visible range of the access institution picking up the current item and the identity of the access institution The indicator 21 is displayed only when the access mechanism is arranged. For example, the identity of the analyst can be at least one of face recognition, wearing specific work clothes, and carrying an electronic tag.
根据一个优选实施方式，在显示该指示标记21之前，该系统还根据第八图像分析拿起当前物品的存取机构的可视范围内需要同时显示的指示标记21的第一显示数量，在第一显示数量大于等于两个之时，通过将相应的位置错误标记22和指示标记21以分组的方式进行关联，并在同一组位置错误标记22和指示标记21之间采用视觉上关联且不同组之间采用视觉上区分地方式进行设置。比如，同一组中，位置错误标记22至少部分地与指示标记21发出相同颜色标记，不同组之间的颜色标记不同。又比如，同一组中，位置错误标记22与指示标记21显示相同数字标记，不同组之间的数字标记不同。再比如，同一组中，位置错误标记22与指示标记21显示相同图形标记，不同组之间的图形标记不同。图形标记例如是圆圈、三角形或者四边形。According to a preferred embodiment, before displaying the indicator mark 21, the system also analyzes the first display quantity of the indicator mark 21 that needs to be displayed simultaneously within the visible range of the access mechanism picking up the current item according to the eighth image. When the display quantity is greater than or equal to two, by associating the corresponding position error marks 22 and indicator marks 21 in groups, and adopting visual association between the same group of position error marks 22 and indicator marks 21 and different groups Set them in a visually distinguishable way. For example, in the same group, the position error mark 22 and the indicator mark 21 at least partly emit the same color marks, and the color marks are different between different groups. For another example, in the same group, the position error mark 22 and the indicator mark 21 display the same number marks, and the number marks are different between different groups. For another example, in the same group, the position error mark 22 and the indicator mark 21 display the same graphic mark, and the graphic marks in different groups are different. Graphical symbols are, for example, circles, triangles or quadrilaterals.
根据一个优选实施方式，该系统还可以包括：第八图像采集装置18，其用于采集货架设置位置错误标记22的至少部分区域的第九图像，并由该系统根据第九图像分析实际的位置错误标记22的显示和该系统中位置错误标记22的设定的匹配情况，其中，在两者不匹配之时，定位不匹配的位置错误标记22所在的货架并通知维护人员。通过该方式，可以快速地识别和定位到位置错误标记22发生故障的货架，并快速地进行维护，减少漏标或者错标的情况。According to a preferred embodiment, the system may also include: an eighth image acquisition device 18, which is used to acquire the ninth image of at least a partial area of the shelf setting error mark 22, and analyze the actual position according to the ninth image by the system The display of the error mark 22 matches the setting of the position error mark 22 in the system, wherein, when the two do not match, locate the shelf where the mismatched position error mark 22 is located and notify the maintenance personnel. In this way, the shelf where the location error mark 22 fails can be quickly identified and located, and maintenance can be performed quickly, reducing the situation of missing or wrong labels.
优选地，第二图像采集装置12在探测到一个存取机构的手部的第二图像之时，其还会对以下两者进行分析：“基于第二图像与第三图像的比较而确定的该存取机构持有物品的情况”和“该存取机构所携带的货物暂存单元40的第四图像采集装置14探测到的物品进入该货物暂存单元40的动作”，当分析结果表明该存取机构没有持有物品或仅持有一件物品时，该系统才准予该存取机构存取位于该存取机构的绝对位置近旁的、处于预定相对位置的货架的至少一个库存位置中的物品。Preferably, when the second image acquisition device 12 detects the second image of the hand of an access mechanism, it will also analyze the following two: "based on the comparison between the second image and the third image The condition of the items held by the access mechanism" and "the action of the item detected by the fourth image acquisition device 14 of the temporary storage unit 40 carried by the access mechanism entering the temporary storage unit 40", when the analysis results indicate The system grants the access mechanism access to at least one inventory location on a shelf in a predetermined relative position near the absolute location of the access mechanism when the access mechanism holds no items or only holds an item items.
根据一个优选实施方式，本发明中提到的各图像采集装置可以使用任何类型的相机及其他可替代的成像设备。例如，所述相机中的一者或多者可以是RGB相机。相机中的一者或多者可以是深度感测相机。According to a preferred embodiment, each image acquisition device mentioned in the present invention can use any type of camera and other alternative imaging devices. For example, one or more of the cameras may be RGB cameras. One or more of the cameras may be depth sensing cameras.
优选地，为了采集到所需的图像，各图像采集装置可以是一个或者多个，在某图像采集装置是多个之时，其可以分散地设于多个位置中。比如，一些图像采集装置可以位于头顶上，例如在天花板上以采集存取机构和/或场所内相应位置的图像。又比如，一些图像采集装置可以位于库存位置上或内部。例如，可以位于库存位置的外部部分上并且被定位成采集存取机构和/或库存位置周围的位置的图像。再比如，一些图像采集装置可以设置在价签所在区域，朝向对侧货架以采集对侧货架上的图像信息。Preferably, in order to acquire the required images, there may be one or more image acquisition devices, and when there are multiple image acquisition devices, they may be distributed in multiple locations. For example, some image capture devices may be located overhead, such as on the ceiling, to capture images of corresponding locations within the access facility and/or venue. As another example, some image capture devices may be located on or within an inventory location. For example, may be located on an exterior portion of the inventory location and positioned to capture images of the access mechanism and/or the location around the inventory location. For another example, some image acquisition devices can be installed in the area where the price tag is located, facing the opposite shelf to collect image information on the opposite shelf.
根据一个优选实施方式，本发明的系统还包括计算设备30。计算设备30可以是在本地、远程或其任何组合。同样地，计算设备30可以被配置以通过网络与输入组件、输出组件和/或直接地与第一、第二、第三、第四、第五、第六、第七、第八图像采集装置和货物暂存单元40中的至少一个通信。本领域的人员可以想到的是，通信可以是通过有线的和/或无线的方式。优选地，计算设备30例如是一个或者多个服务器。服务器中可以包括处理器和存储器。该系统可以包括或提供图像处理(例如，用于用户识别、表情识别和/或物品识别)、库存追踪和/或位置确定。According to a preferred embodiment, the system of the present invention also includes a computing device 30 . Computing device 30 may be local, remote, or any combination thereof. Likewise, computing device 30 may be configured to communicate with input components, output components, and/or directly with first, second, third, fourth, fifth, sixth, seventh, eighth image capture devices via a network Communicate with at least one of the cargo temporary storage units 40 . It will be appreciated by those skilled in the art that communication may be by wired and/or wireless means. Preferably, computing device 30 is, for example, one or more servers. A processor and memory may be included in the server. The system may include or provide image processing (eg, for user recognition, expression recognition, and/or item recognition), inventory tracking, and/or location determination.
实施例2Example 2
本实施例是对实施例1的进一步改进，重复的内容不再赘述。在不造成冲突或者矛盾的情况下，其他实施例的优选实施方式可以作为本实施例的补充。This embodiment is a further improvement on Embodiment 1, and repeated content will not be repeated here. In the case of no conflict or contradiction, preferred implementation manners of other embodiments may serve as supplements to this embodiment.
本发明还公开了一种库存管理方法，该方法可以由本发明的系统以及其他可替代的实现。比如，通过使用系统中的各个零部件实现本发明的方法。The invention also discloses an inventory management method, which can be realized by the system of the invention and other alternatives. For example, the method of the present invention is implemented by using various components in the system.
根据一个优选实施方式，该方法可以包括：使用至少一个第一图像采集装置11，其用于采集第一图像，并由该管理系统基于所述第一图像来确定至少一个存取机构在货架所在区域内的绝对位置以及该存取机构相对于至少一个载有至少一种物品的货架的相对位置；使用至少一个第二图像采集装置12，其用于探测至少一个存取机构的手部的第二图像，所述第二图像是在该存取机构的手进入货架的至少一个库存位置之前拍摄的；使用至少一个第三图像采集装置13，其用于探测至少一个存取机构的手部的第三图像，所述第三图像是在该存取机构的手从该货架的至少一个库存位置移出之后拍摄的；其中，基于第二图像与第三图像的比较来确定相应存取机构持有物品的状态，响应于存取机构持有物品的状态而识别在该存取机构的绝对位置周围的、处于预定相对位置的货架的至少一个库存位置的变化，并由此判断所述物品与所述库存位置的变化之间的对应关系。According to a preferred embodiment, the method may include: using at least one first image acquisition device 11, which is used to acquire a first image, and the management system determines where the at least one access mechanism is located on the shelf based on the first image. Absolute position within the area and the relative position of the access mechanism relative to at least one shelf carrying at least one item; using at least one second image acquisition device 12 for detecting the first position of the hand of the at least one access mechanism Two images, the second image is taken before the hand of the access mechanism enters at least one storage position of the shelf; at least one third image acquisition device 13 is used to detect the movement of the hand of at least one access mechanism A third image, the third image is taken after the access mechanism's hand has been removed from at least one inventory location of the shelf; wherein it is determined based on a comparison of the second image and the third image that the corresponding access mechanism holds the state of the item, identifying a change in at least one inventory location of a shelf in a predetermined relative position around the absolute position of the access mechanism in response to the state of the item held by the access mechanism, and thereby judging that the item is incompatible with the The corresponding relationship between the changes in the inventory location.
根据一个优选实施方式，所述方法还可以包括：使用至少一个第四图像采集装置14，其布置于货物暂存单元40，用于探测物品进入该货物暂存单元40的动作，其中，响应于物品进入该货物暂存单元40的动作，由此确认进入该货物暂存单元40的所述物品与所述库存位置的变化之间的对应关系。According to a preferred embodiment, the method may further include: using at least one fourth image acquisition device 14, which is arranged in the goods temporary storage unit 40, for detecting the action of items entering the goods temporary storage unit 40, wherein, in response to The action of items entering the goods temporary storage unit 40, thereby confirming the correspondence between the items entering the goods temporary storage unit 40 and the change of the inventory position.
实施例3Example 3
本实施例是对实施例1、2或者其结合的进一步改进，重复的内容不再赘述。在不造成冲突或者矛盾的情况下，其他实施例的优选实施方式可以作为本实施例的补充。This embodiment is a further improvement on Embodiments 1 and 2 or their combination, and repeated content will not be repeated here. In the case of no conflict or contradiction, preferred implementation manners of other embodiments may serve as supplements to this embodiment.
根据一个优选实施方式，在条码扫描器前，应安装一道屏蔽门，屏蔽门以人员使用的个人的各类可供支付的二维码为开关，一次仅供一人进入，扫码后，门随即关闭。该人员以适当速度移动购物车，通过条码扫描器，自行扫描物品，触摸显示屏显示待付款物品信息和当前所购物品总价，该人员确认无误后，系统自动在之前扫描的二维码账户上结算。确认结算无误后，条码扫描器后的屏蔽门打开，同时，条码扫描器前的屏蔽门开始扫描下一人员的二维码。通过该方式，避免了人员偷拿商品或结算有误的问题，可以降低超市的亏损额。According to a preferred embodiment, a screen door should be installed in front of the barcode scanner, and the screen door uses various personal QR codes available for payment as switches, and only one person can enter at a time. After scanning the code, the door will immediately open. closure. The person moves the shopping cart at an appropriate speed, scans the items by himself through the barcode scanner, and touches the display screen to display the information of the items to be paid and the total price of the current purchased items. Checkout. After confirming that the settlement is correct, the screen door behind the barcode scanner opens, and at the same time, the screen door in front of the barcode scanner starts to scan the QR code of the next person. In this way, the problem of personnel stealing goods or incorrect settlement is avoided, and the loss of the supermarket can be reduced.
实施例4Example 4
本实施例是对实施例1、2、3或者其结合的进一步改进，重复的内容不再赘述。在不造成冲突或者矛盾的情况下，其他实施例的优选实施方式可以作为本实施例的补充。This embodiment is a further improvement on Embodiments 1, 2, 3 or their combination, and the repeated content will not be repeated. In the case of no conflict or contradiction, preferred implementation manners of other embodiments may serve as supplements to this embodiment.
根据一个优选实施方式，货架上设有至少一个重量采集装置，用于采集相应人员的手进入货架的至少一个库存位置之前和该手从该货架的至少一个库存位置移出之后的重量差，并在该系统基于第二图像与第三图像的比较来确定相应人员持有物品的状态之后，通过系统中记录的该确定的物品的重量和该重量差来核对物品的状态。According to a preferred embodiment, the shelf is provided with at least one weight acquisition device, which is used to collect the weight difference of the hand of the corresponding person before entering the at least one storage position of the shelf and after the hand is removed from the at least one storage position of the shelf. After the system determines the status of the item held by the corresponding person based on the comparison between the second image and the third image, the status of the item is checked through the determined weight of the item and the weight difference recorded in the system.
此外，本发明还可以通过在货架上直接安装重量采集装置，通过采集装置采集到的重量差来初步判断物品的状态。本领域的人员可以想到的是，这种情况下，一个货架上的多个物品的重量应该有一定区别，以便实现识别的物品的状态的目的。In addition, the present invention can also preliminarily judge the state of the item by directly installing the weight acquisition device on the shelf, and the weight difference collected by the acquisition device. Those skilled in the art can imagine that in this case, the weights of multiple items on a shelf should be different to achieve the purpose of identifying the status of the items.
实施例5Example 5
本实施例是对实施例1、2、3、4或者其结合的进一步改进，重复的内容不再赘述。在不造成冲突或者矛盾的情况下，其他实施例的优选实施方式可以作为本实施例的补充。This embodiment is a further improvement on Embodiments 1, 2, 3, 4 or their combination, and the repeated content will not be repeated. In the case of no conflict or contradiction, preferred implementation manners of other embodiments may serve as supplements to this embodiment.
本实施例还公开了一种无人超市系统，该系统的技术特征和一种库存管理系统全部或者部分相同，以达到相应的技术效果。This embodiment also discloses an unmanned supermarket system. The technical features of the system are all or partly the same as those of an inventory management system, so as to achieve corresponding technical effects.
本实施例还公开了一种无人超市的库存管理系统，该系统的技术特征和一种库存管理系统全部或者部分相同，以达到相应的技术效果。This embodiment also discloses an inventory management system for an unmanned supermarket. The technical features of the system are all or partly the same as those of an inventory management system, so as to achieve corresponding technical effects.
本实施例还公开了一种无人超市的库存管理方法，该方法的技术特征和一种库存管理方法全部或者部分相同，以达到相应的技术效果。This embodiment also discloses an inventory management method for an unmanned supermarket. The technical features of the method are all or partly the same as an inventory management method, so as to achieve corresponding technical effects.
虽然已经详细描述了本发明，但是在本发明的精神和范围内的修改对于本领域技术人员将是显而易见的。这样的修改也被认为是本公开的一部分。鉴于前面的讨论、本领域的相关知识以及上面结合背景讨论的参考或信息(均通过引用并入本文)，进一步的描述被认为是不必要的。此外，应该理解，本发明的各个方面和各个实施例的各部分均可以整体或部分地组合或互换。而且，本领域的普通技术人员将会理解，前面的描述及其附图仅仅是作为示例，并不意图限制本发明。While the invention has been described in detail, modifications within the spirit and scope of the invention will be apparent to those skilled in the art. Such modifications are also considered part of this disclosure. In view of the foregoing discussion, relevant knowledge in the art, and references or information discussed above in connection with the background, all of which are hereby incorporated by reference, no further description is considered unnecessary. In addition, it should be understood that various aspects of the present invention and parts of various embodiments can be combined or interchanged in whole or in part. Moreover, those of ordinary skill in the art will appreciate that the foregoing description and accompanying drawings are by way of example only and are not intended to limit the invention.
已经出于示例和描述的目的给出了本公开的前述讨论。这并不意图将本公开限制于本文公开的形式。在前述的具体实施方式中，例如，为了简化本公开的目的，本公开的各种特征在一个或多个实施例、配置或方面中被组合在一起。实施例、配置或方面的特征可以以除上面讨论的那些之外的替代实施例、配置或方面组合。本公开的该方法不应被解释为反映本公开需要比每个权利要求中明确记载的更多特征的意图。相反，如以下权利要求所反映的，创造性方面在于少于单个前述公开的实施例、配置或方面的所有特征。因此，以下权利要求由此被并入本具体实施方式中，其中每个权利要求其自身作为本公开的单独实施例。The foregoing discussion of the disclosure has been presented for purposes of illustration and description. It is not intended to limit the disclosure to the form disclosed herein. In the foregoing Detailed Description, for example, for the purpose of streamlining the disclosure, various features of the disclosure are grouped together in one or more embodiments, configurations, or aspects. Features of an embodiment, configuration or aspect may be combined in alternative embodiments, configurations or aspects than those discussed above. This method of disclosure is not to be interpreted as reflecting an intention that the disclosure requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment, configuration or aspect. Thus the following claims are hereby incorporated into this Detailed Description, with each claim standing on its own as a separate embodiment of the disclosure.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010492368.XACN111626681B (en) | 2018-02-01 | 2018-08-23 | Image recognition system for inventory management |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2018101051583 | 2018-02-01 | ||
| CN201810105158 | 2018-02-01 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010492368.XADivisionCN111626681B (en) | 2018-02-01 | 2018-08-23 | Image recognition system for inventory management |
| Publication Number | Publication Date |
|---|---|
| CN108846621Atrue CN108846621A (en) | 2018-11-20 |
| CN108846621B CN108846621B (en) | 2020-06-30 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210274487.7APendingCN114548882A (en) | 2018-02-01 | 2018-08-23 | Information management system and method suitable for intelligent inventory management |
| CN202210274981.3AWithdrawnCN114819797A (en) | 2018-02-01 | 2018-08-23 | Image acquisition device and information acquisition system for inventory management system |
| CN201810967162.0AActiveCN109146380B (en) | 2018-02-01 | 2018-08-23 | An inventory analysis system based on relative position |
| CN201810967161.6AActiveCN109214751B (en) | 2018-02-01 | 2018-08-23 | Intelligent inventory management system based on inventory position change |
| CN202010492368.XAActiveCN111626681B (en) | 2018-02-01 | 2018-08-23 | Image recognition system for inventory management |
| CN201810967152.7AActiveCN108846621B (en) | 2018-02-01 | 2018-08-23 | A Strategy Module-Based Inventory Management System |
| CN201810967891.6AActiveCN109089082B (en) | 2018-02-01 | 2018-08-23 | Image acquisition system based on thermal characteristic image |
| CN202011056497.0AWithdrawnCN111950967A (en) | 2018-02-01 | 2018-08-23 | An Inventory Management System Based on Thermal Characteristic Image |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210274487.7APendingCN114548882A (en) | 2018-02-01 | 2018-08-23 | Information management system and method suitable for intelligent inventory management |
| CN202210274981.3AWithdrawnCN114819797A (en) | 2018-02-01 | 2018-08-23 | Image acquisition device and information acquisition system for inventory management system |
| CN201810967162.0AActiveCN109146380B (en) | 2018-02-01 | 2018-08-23 | An inventory analysis system based on relative position |
| CN201810967161.6AActiveCN109214751B (en) | 2018-02-01 | 2018-08-23 | Intelligent inventory management system based on inventory position change |
| CN202010492368.XAActiveCN111626681B (en) | 2018-02-01 | 2018-08-23 | Image recognition system for inventory management |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810967891.6AActiveCN109089082B (en) | 2018-02-01 | 2018-08-23 | Image acquisition system based on thermal characteristic image |
| CN202011056497.0AWithdrawnCN111950967A (en) | 2018-02-01 | 2018-08-23 | An Inventory Management System Based on Thermal Characteristic Image |
| Country | Link |
|---|---|
| CN (8) | CN114548882A (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109685012A (en)* | 2018-12-25 | 2019-04-26 | 秒针信息技术有限公司 | The video monitoring method and device of biology |
| CN109919111A (en)* | 2019-03-13 | 2019-06-21 | 阿里巴巴集团控股有限公司 | Determine method, apparatus, counter and the system in the corresponding counter region of camera |
| CN111242542A (en)* | 2020-01-09 | 2020-06-05 | 中通云仓科技有限公司 | Fresh food stock information acquisition device and fresh food logistics data control method |
| CN111757069A (en)* | 2020-07-10 | 2020-10-09 | 广州博冠智能科技有限公司 | Monitoring anti-theft method and device based on intelligent doorbell |
| CN112101867A (en)* | 2020-09-15 | 2020-12-18 | 四川精益达工程检测有限责任公司 | Information generation method and system for goods on goods shelf |
| CN112699979A (en)* | 2021-01-04 | 2021-04-23 | 北京国腾联信科技有限公司 | Cargo movement detection method and device and electronic equipment |
| CN112883958A (en)* | 2021-01-11 | 2021-06-01 | 壹药网耀方科技(上海)股份有限公司 | Drug goods position checking method |
| CN113450053A (en)* | 2021-07-02 | 2021-09-28 | 深圳市好伙计科技有限公司 | Food material supply management method and system based on big data |
| CN113772219A (en)* | 2020-06-05 | 2021-12-10 | 西安京迅递供应链科技有限公司 | Vegetable preparation system and using method thereof |
| CN113945063A (en)* | 2021-10-15 | 2022-01-18 | 福建瑞雪制冷设备有限公司 | Internet of things-based refrigeration house control method and system and storage medium thereof |
| CN114399258A (en)* | 2022-01-27 | 2022-04-26 | 黄峰 | Intelligent goods shelf, warehousing system based on intelligent goods shelf and management method thereof |
| US11354761B2 (en)* | 2018-10-16 | 2022-06-07 | Toyota Motor North America, Inc. | Smart realtor signs synchronized with vehicle |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI710968B (en)* | 2019-03-29 | 2020-11-21 | 國立勤益科技大學 | Commodity image identification and amount surveillance system |
| CN110245580B (en)* | 2019-05-24 | 2022-09-23 | 北京百度网讯科技有限公司 | A method, apparatus, device and computer storage medium for detecting images |
| CN112150229B (en)* | 2019-06-28 | 2024-05-07 | 汉朔科技股份有限公司 | Commodity information display and positioning system and method for physical store |
| CN110349359B (en)* | 2019-07-22 | 2021-11-16 | 北京三快在线科技有限公司 | Method and system for adding commodities for sale |
| JP7503744B2 (en)* | 2020-05-27 | 2024-06-21 | パナソニックＩｐマネジメント株式会社 | Order management device and order management method |
| CN111507315A (en)* | 2020-06-15 | 2020-08-07 | 杭州海康威视数字技术股份有限公司 | Article picking and placing event detection method, device and equipment |
| CN112308491A (en)* | 2020-11-09 | 2021-02-02 | 湖北普罗劳格科技股份有限公司 | Goods inventory monitoring method, device, equipment and computer readable storage medium |
| JP7521453B2 (en)* | 2021-02-19 | 2024-07-24 | トヨタ自動車株式会社 | Shelf inventory management system, shelf inventory management method, and program |
| CN113379359B (en)* | 2021-07-12 | 2024-02-09 | 江苏蓝针智能科技有限公司 | Machined part inventory management system based on image recognition |
| CN113551478B (en)* | 2021-07-30 | 2023-04-07 | 珠海格力电器股份有限公司 | Method and device for updating residual shelf life of food and refrigerator |
| TWI813317B (en)* | 2022-05-31 | 2023-08-21 | 大佳雲端科技股份有限公司 | Semi-automatic smart warehouse management system |
| CN116187899B (en)* | 2022-12-08 | 2023-09-26 | 深圳数利通数字科技有限公司 | Case sign indicating number is carried and is docked WMS system |
| CN115796748B (en)* | 2023-02-08 | 2023-05-02 | 山东鼎信数字科技有限公司 | Store inventory method, system and device without locking warehouse and storage medium |
| CN116374552B (en)* | 2023-04-23 | 2023-11-21 | 国网山东省电力公司宁津县供电公司 | A material inventory device based on gravity sensing and its use method |
| CN116911746B (en)* | 2023-09-14 | 2023-11-21 | 南京红禄果科技有限公司 | Warehouse management method and management system |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060289637A1 (en)* | 2005-06-28 | 2006-12-28 | Media Cart Holdings, Inc. | Media enabled shopping cart system with basket inventory |
| CN105531715A (en)* | 2013-06-26 | 2016-04-27 | 亚马逊科技公司 | Detect item interaction and movement |
| US20180053241A1 (en)* | 2013-03-15 | 2018-02-22 | Proximity Concepts, LLC | Systems and Methods Involving Proximity, Mapping, Indexing, Mobile, Advertising and/or other Features |
| CN107798115A (en)* | 2017-11-03 | 2018-03-13 | 深圳天珑无线科技有限公司 | Image identification search method, system and the mobile terminal of mobile terminal |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100830833B1 (en)* | 2006-08-14 | 2008-05-20 | 인태환 | System for obtaining of temperature, humidity and image |
| US9041508B2 (en)* | 2008-08-08 | 2015-05-26 | Snap-On Incorporated | Image-based inventory control system and method |
| KR100932769B1 (en)* | 2008-12-12 | 2009-12-21 | (주)대성에스이 | Universal booth bar communication device and method |
| US8350675B2 (en)* | 2010-04-30 | 2013-01-08 | Symbol Technologies, Inc. | Triggering a radio frequency identification scan using image recognition |
| KR101172747B1 (en)* | 2010-08-16 | 2012-08-14 | 한국표준과학연구원 | Camera tracking monitoring system and method using thermal image coordinates |
| EP2858789B1 (en)* | 2012-06-12 | 2020-05-27 | Snap-On Incorporated | An inventory control system having advanced functionalities |
| US10984372B2 (en)* | 2013-05-24 | 2021-04-20 | Amazon Technologies, Inc. | Inventory transitions |
| WO2015033575A1 (en)* | 2013-09-06 | 2015-03-12 | 日本電気株式会社 | Sales promotion system, sales promotion method, non-temporary computer-readable medium, and shelf system |
| CN104079894A (en)* | 2014-07-24 | 2014-10-01 | 成都市晶林科技有限公司 | Dangerous goods warehouse management system and method |
| CN106022589B (en)* | 2016-05-13 | 2019-10-18 | 中国建设银行股份有限公司 | Generate method and system, national treasury computer system and the mobile terminal of operating list |
| CN106096882A (en)* | 2016-06-10 | 2016-11-09 | 中山市科全软件技术有限公司 | A fully automatic unmanned supermarket device |
| CN106709422A (en)* | 2016-11-16 | 2017-05-24 | 南京亿猫信息技术有限公司 | Supermarket shopping cart hand identification method and identification system thereof |
| CN106672042B (en)* | 2016-11-16 | 2020-04-17 | 南京亿猫信息技术有限公司 | Method for judging shopping and goods returning process of intelligent shopping cart |
| CN107077659A (en)* | 2016-09-26 | 2017-08-18 | 达闼科技（北京）有限公司 | A kind of intelligent inventory management system, server, method, terminal and program product |
| CN206505517U (en)* | 2016-12-30 | 2017-09-19 | 珠海兆泓科技有限公司 | The video camera and warehouse managing and control system monitored for warehouse |
| CN106934692B (en)* | 2017-03-03 | 2020-12-22 | 陈维龙 | Article information processing system, method and device |
| CN107256468A (en)* | 2017-04-21 | 2017-10-17 | 仓智（上海）智能科技有限公司 | Warehouse management system and management method based on intelligent robot |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060289637A1 (en)* | 2005-06-28 | 2006-12-28 | Media Cart Holdings, Inc. | Media enabled shopping cart system with basket inventory |
| US20180053241A1 (en)* | 2013-03-15 | 2018-02-22 | Proximity Concepts, LLC | Systems and Methods Involving Proximity, Mapping, Indexing, Mobile, Advertising and/or other Features |
| CN105531715A (en)* | 2013-06-26 | 2016-04-27 | 亚马逊科技公司 | Detect item interaction and movement |
| CN107798115A (en)* | 2017-11-03 | 2018-03-13 | 深圳天珑无线科技有限公司 | Image identification search method, system and the mobile terminal of mobile terminal |
| Title |
|---|
| 吕仁东: "《基于QR码应用的仓库管理系统设计》", 《中国优秀硕士学位论文全文数据库信息科技辑》* |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11354761B2 (en)* | 2018-10-16 | 2022-06-07 | Toyota Motor North America, Inc. | Smart realtor signs synchronized with vehicle |
| CN109685012A (en)* | 2018-12-25 | 2019-04-26 | 秒针信息技术有限公司 | The video monitoring method and device of biology |
| CN109685012B (en)* | 2018-12-25 | 2020-12-18 | 秒针信息技术有限公司 | Biological video monitoring method and device |
| CN109919111A (en)* | 2019-03-13 | 2019-06-21 | 阿里巴巴集团控股有限公司 | Determine method, apparatus, counter and the system in the corresponding counter region of camera |
| CN109919111B (en)* | 2019-03-13 | 2023-07-04 | 创新先进技术有限公司 | Method, device, container and system for determining container area corresponding to camera |
| CN111242542A (en)* | 2020-01-09 | 2020-06-05 | 中通云仓科技有限公司 | Fresh food stock information acquisition device and fresh food logistics data control method |
| CN111242542B (en)* | 2020-01-09 | 2023-04-25 | 中通云仓科技有限公司 | Fresh inventory information acquisition device and fresh logistics data control method |
| CN113772219A (en)* | 2020-06-05 | 2021-12-10 | 西安京迅递供应链科技有限公司 | Vegetable preparation system and using method thereof |
| CN111757069A (en)* | 2020-07-10 | 2020-10-09 | 广州博冠智能科技有限公司 | Monitoring anti-theft method and device based on intelligent doorbell |
| CN111757069B (en)* | 2020-07-10 | 2022-03-15 | 广州博冠智能科技有限公司 | Monitoring anti-theft method and device based on intelligent doorbell |
| CN112101867A (en)* | 2020-09-15 | 2020-12-18 | 四川精益达工程检测有限责任公司 | Information generation method and system for goods on goods shelf |
| CN112699979A (en)* | 2021-01-04 | 2021-04-23 | 北京国腾联信科技有限公司 | Cargo movement detection method and device and electronic equipment |
| CN112883958A (en)* | 2021-01-11 | 2021-06-01 | 壹药网耀方科技(上海)股份有限公司 | Drug goods position checking method |
| CN112883958B (en)* | 2021-01-11 | 2023-12-05 | 壹药网科技(上海)股份有限公司 | Medicine goods space checking method |
| CN113450053A (en)* | 2021-07-02 | 2021-09-28 | 深圳市好伙计科技有限公司 | Food material supply management method and system based on big data |
| CN113450053B (en)* | 2021-07-02 | 2022-05-24 | 深圳市好伙计科技有限公司 | Food material supply management method and system based on big data |
| CN113945063A (en)* | 2021-10-15 | 2022-01-18 | 福建瑞雪制冷设备有限公司 | Internet of things-based refrigeration house control method and system and storage medium thereof |
| CN114399258A (en)* | 2022-01-27 | 2022-04-26 | 黄峰 | Intelligent goods shelf, warehousing system based on intelligent goods shelf and management method thereof |
| Publication number | Publication date |
|---|---|
| CN114819797A (en) | 2022-07-29 |
| CN109214751A (en) | 2019-01-15 |
| CN109214751B (en) | 2022-04-01 |
| CN114548882A (en) | 2022-05-27 |
| CN109146380A (en) | 2019-01-04 |
| CN109146380B (en) | 2020-10-30 |
| CN111950967A (en) | 2020-11-17 |
| CN111626681A (en) | 2020-09-04 |
| CN109089082B (en) | 2020-09-29 |
| CN109089082A (en) | 2018-12-25 |
| CN111626681B (en) | 2023-09-12 |
| CN108846621B (en) | 2020-06-30 |
| Publication | Publication Date | Title |
|---|---|---|
| CN108846621B (en) | A Strategy Module-Based Inventory Management System | |
| CN108492157B (en) | Unmanned vending system and unmanned vending method | |
| US10290031B2 (en) | Method and system for automated retail checkout using context recognition | |
| RU2739542C1 (en) | Automatic registration system for a sales outlet | |
| CN108876504A (en) | A kind of unmanned selling system and its control method | |
| CN113205636B (en) | Unmanned retail system and unmanned retail method | |
| US20240242470A1 (en) | Automatic item recognition from captured images during assisted checkout | |
| CN108460933A (en) | A kind of management system and method based on image procossing | |
| CN108831073A (en) | unmanned supermarket system | |
| CN110689389A (en) | Computer vision-based shopping list automatic maintenance method and device, storage medium and terminal | |
| CN109300265A (en) | Unmanned Supermarket Management System | |
| CN110164031A (en) | Automatic vending machine | |
| AU2023350960B2 (en) | Methods and apparatus for machine learning system for edge computer vision and active reality | |
| TWI675337B (en) | Unmanned goods management system and unmanned goods management method | |
| CN108304898B (en) | Self-checkout shopping cart | |
| US20250117765A1 (en) | Automatic item identification during assisted checkout | |
| CN116935530A (en) | Weighing vending machine with continuous weighing system | |
| KR20240156082A (en) | Method for monitoring display stand by zone and system using the same | |
| JP2024037466A (en) | Information processing system, information processing method and program | |
| EP3811315A1 (en) | An automatic in-store registration system |
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | Effective date of registration:20200410 Address after:417099 Di Xing Road, Loudi, Hunan Applicant after:HUNAN UNIVERSITY OF HUMANITIES, SCIENCE AND TECHNOLOGY Address before:417000 10 Xueyuan Road 704 Nan Feng Yuan 704, Lou Xing District, Loudi, Hunan Applicant before:He Guihe | |
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |