CN108509943A - A kind of video tracking shopping cart and tracking - Google Patents
A kind of video tracking shopping cart and tracking Download PDFInfo
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- CN108509943A CN108509943A CN201810554696.0A CN201810554696A CN108509943A CN 108509943 A CN108509943 A CN 108509943A CN 201810554696 A CN201810554696 A CN 201810554696A CN 108509943 A CN108509943 A CN 108509943A
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- shopping cart
- shopping
- shopper
- tracking
- video
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- 230000005540 biological transmission Effects 0.000 claims abstract description 34
- 238000001514 detection method Methods 0.000 claims description 10
- 230000005611 electricity Effects 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 4
- 230000003993 interaction Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000004807 localization Effects 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/35—Categorising the entire scene, e.g. birthday party or wedding scene
- G06V20/36—Indoor scenes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07G—REGISTERING THE RECEIPT OF CASH, VALUABLES, OR TOKENS
- G07G1/00—Cash registers
- G07G1/0036—Checkout procedures
- G07G1/0045—Checkout procedures with a code reader for reading of an identifying code of the article to be registered, e.g. barcode reader or radio-frequency identity [RFID] reader
- G07G1/009—Checkout procedures with a code reader for reading of an identifying code of the article to be registered, e.g. barcode reader or radio-frequency identity [RFID] reader the reader being an RFID reader
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Image Analysis (AREA)
Abstract
The present invention relates to a kind of video tracking shopping cart and tracking, the tracking shopping cart includes shopping cart and the controller on shopping cart, and the shopping vehicle motor being connect with controller is respectively equipped at four wheels of shopping cart；Shopping cart is equipped with for shooting the video image for including environment where shopper and shopper, and the binocular camera for obtaining the distance between shopping cart and shopper；Shopping cart is equipped with video image and the distance between shopping cart and shopper for receiving binocular camera transmission, and for positioning shopping truck position and establishing the image processing apparatus of map, and image processing apparatus is connect with controller.The map of do shopping truck position, foundation and the distance between the shopping cart come from binocular camera transmission and shopper are transmitted to controller by image processing apparatus, the information that controller carrys out image processing apparatus transmission carries out processing analysis, obtain the route of shopping cart tracking shopper, and drive shopping vehicle motor rotation according to the route, to realize to shopper from motion tracking, shopping experience is promoted.
Description
Technical field
The present invention relates to motion target tracking technical fields, more particularly, to a kind of video tracking shopping cart and tracking
Method.
Background technology
Existing supermarket shopping car, whole process need shopper to push in person to do shopping, and cannot achieve and do shopping from motion tracking
Person, this makes shopper that can not be absorbed in shopping, and shopping experience is poor.
Invention content
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of video tracking shopping carts, can be from motion tracking
Shopper promotes shopping experience.
In order to achieve the above objectives, the technical solution adopted by the present invention is：
A kind of video tracking shopping cart, including shopping cart and the controller on shopping cart be provided, four of shopping cart
The shopping vehicle motor being connect with controller is respectively equipped at wheel；It includes shopper and shopper that shopping cart, which is equipped with for shooting,
The video image of place environment, and the binocular camera for obtaining the distance between shopping cart and shopper；It is set on shopping cart
It is useful for receiving the video image and the distance between shopping cart and shopper of binocular camera transmission, and for positioning shopping cart
Position and the image processing apparatus for establishing map, and image processing apparatus is connect with controller.
Controller is STM32F407 master control borads.
In said program, binocular camera is in real time by transmission of video images to image processing apparatus processing, to position shopping
Truck position and map is established, if shopper is not detected after processing, the new video image that binocular camera transmission is come
It continues with, until detecting shopper, image processing apparatus is passed by the map of do shopping truck position, foundation and from binocular camera
It is defeated come the distance between shopping cart and shopper be transmitted to controller, controller to the information of image processing apparatus transmission into
Row processing analysis, the route of acquisition shopping cart tracking shopper, and shopping vehicle motor rotation is driven according to the route, with realization pair
Shopper from motion tracking, promote shopping experience.
Preferably, further include being set on image processing apparatus the purchase system for being used for human-computer interaction, purchase system is equipped with
Detection module, the settlement module for settling accounts commodity and the display module for display of commodity information for detecting commodity.This
Sample is arranged so that can check without cashier after shopper's shopping, and saving supermarket manpower is easy to implement the shopping of unmanned supermarket.
It is further preferred that the detection module is for detecting whether the commodity with RFID tag are put into shopping cart
Detection module.Setting makes it possible to detect whether commodity are put into shopping cart automatically in this way, and the purchase system inside trade that timely updates
The information of product.
Preferably, further include the Cloud Server being connect with purchase system, the shopping information of shopper is stored to cloud and is taken
It is engaged on device.In this way by the later stage to the finishing analysis of shopping information, you can when helping Supermarket management person to buying commodity and buying
Between reasonably adjusted.
Preferably, further include electric tune, controller is adjusted by electricity and connect with vehicle motor of doing shopping.Controller is to image processing apparatus
The information that transmission comes carries out processing analysis, then drives the rotation of electric regulation and control system shopping vehicle motor, while it is total by CAN to receive electricity tune
The current-velocity information that line transmits carries out closed loop feedback, and it is out of control to can effectively prevent shopping vehicle motor, and makes locked behaviour in time
Make.
Preferably, image processing apparatus minipc.It is small, it is easily installed.
Preferably, further include the power module that electric energy is provided for the video tracking shopping cart.Power module uses 24V direct currents
Power supply, 24V directly feed electricity reconciliation shopping vehicle motor and are depressurized to 19V and 3.3V respectively by voltage reduction module and are filled to image procossing
It sets and powers with controller.
It is a further object to provide a kind of trackings of video tracking shopping cart, use above-mentioned video tracking
Shopping cart includes the following steps：
S1. the video image of environment where binocular camera shooting shopper and shopper, and by the transmission of video images
To image processing apparatus；If including shopper in video image, binocular camera if, carries out analysis calculating to shopper, obtains
The distance between shopping cart and shopper and by the Distance Transmission to image processing apparatus；
S2. image processing apparatus reads in and handles video image, with positioning shopping truck position and establishes map；If processing
After shopper is not detected, then the new video image come to binocular camera transmission continues with, until detect shopper,
Image processing apparatus will be between the map and the shopping cart come from binocular camera transmission and shopper of do shopping truck position, foundation
Distance Transmission is to controller；
S3. controller carries out processing analysis to the information that image processing apparatus transmission comes, and obtains shopping cart and tracks shopper
Route, and drive shopping vehicle motor rotation according to the route, make shopping cart forward-reverse and to move left and right, to realize to shopping
The tracking of person；
S4. step S1 to S3 is continuously carried out, to complete tracking of the entire shopping process shopping cart to shopper.
Preferably, in step S2, image processing apparatus calculates positioning shopping truck position using SLAM algorithms and establishes map.
SLAM is written as simultaneous localization and mapping entirely, for positioning and map structuring immediately, or concurrently
Build figure and positioning；Setting enables shopping cart precisely to track shopper in this way, further promotes shopping experience.
Compared with prior art, the beneficial effects of the invention are as follows：
A kind of video tracking shopping cart of the present invention, binocular camera in real time will be at transmission of video images to image processing apparatus
Reason with positioning shopping truck position and establishes map, if shopper is not detected after processing, comes to binocular camera transmission
New video image continues with, until detect shopper, image processing apparatus by the map of do shopping truck position, foundation and from
Binocular camera transmission next the distance between shopping cart and shopper are transmitted to controller, and controller passes image processing apparatus
Defeated next information carries out processing analysis, obtains the route of shopping cart tracking shopper, and drive shopping vehicle motor according to the route
Rotation promotes shopping experience to realize to shopper from motion tracking.
Description of the drawings
Fig. 1 is a kind of block schematic illustration of video tracking shopping cart of the present invention.
Fig. 2 is the control flow chart that shopping cart tracks shopper；Target is shopper in figure.
Fig. 3 is the schematic diagram that detection module detects whether commodity are put into shopping cart.
Device regulates and controls to make the schematic diagram of shopping vehicle motor Fig. 4 by electricity in order to control.
Specific implementation mode
The present invention is further illustrated With reference to embodiment.Wherein, attached drawing only for illustration,
What is indicated is only schematic diagram rather than pictorial diagram, should not be understood as the limitation to this patent；Reality in order to better illustrate the present invention
Example is applied, the certain components of attached drawing have omission, zoom in or out, and do not represent the size of actual product；To those skilled in the art
For, the omitting of some known structures and their instructions in the attached drawings are understandable.
The same or similar label correspond to the same or similar components in the attached drawing of the embodiment of the present invention；In retouching for the present invention
In stating, it is to be understood that if it is based on attached drawing to have the orientation or positional relationship of the instructions such as term "upper", "lower", "left", "right"
Shown in orientation or positional relationship, be merely for convenience of description of the present invention and simplification of the description, do not indicate or imply the indicated
Device or element must have a particular orientation, with specific azimuth configuration and operation, therefore position relationship described in attached drawing
Term only for illustration, should not be understood as the limitation to this patent, for the ordinary skill in the art, can
To understand the concrete meaning of above-mentioned term as the case may be.
Embodiment
A kind of video tracking shopping cart of the present embodiment, as shown in Figure 1, including shopping cart and the control on shopping cart
Device is respectively equipped with the shopping vehicle motor being connect with controller at four wheels of shopping cart；Shopping cart is equipped with for shooting packet
Video image containing environment where shopper and shopper, and the binocular for obtaining the distance between shopping cart and shopper is taken the photograph
As head；Shopping cart is equipped with video image and the distance between shopping cart and shopper for receiving binocular camera transmission,
And for positioning shopping truck position and establishing the image processing apparatus of map, and image processing apparatus is connect with controller.
Controller is STM32F407 master control borads.
As shown in Fig. 2, binocular camera is in real time handled transmission of video images to image processing apparatus, to position shopping cart
Position and establish map, if shopper is not detected after processing, new video image that binocular camera transmission is come after
Continuous processing, until detecting shopper, image processing apparatus is transmitted by the map of do shopping truck position, foundation and from binocular camera
The distance between the shopping cart come and shopper are transmitted to controller, and controller carries out the information that image processing apparatus transmission comes
Processing analysis obtains the route of shopping cart tracking shopper, and drives shopping vehicle motor rotation according to the route, to realize to purchase
Object person from motion tracking, promote shopping experience.
Wherein, further include being set on image processing apparatus the purchase system for being used for human-computer interaction, purchase system, which is equipped with, to be used
In detection module, the settlement module for settling accounts commodity and the display module for display of commodity information of detection commodity.In this way
So that can check without cashier after shopper's shopping, saving supermarket manpower is easy to implement the shopping of unmanned supermarket for setting.
In the present embodiment, the detection module is that the inspection of shopping cart whether is put into for detecting the commodity with RFID tag
Survey module.Setting makes it possible to detect whether commodity are put into shopping cart automatically in this way, as shown in figure 3, when detecting RFID marks
When label, that is, judge there are commodity to be put into shopping cart, by merchandise news be added purchase system in, when detect RFID tag remove
When, that is, judge the place that commodity there are commodity to be taken out shopping cart and be put back into other than shopping cart, merchandise news to be removed from purchase system
It goes, with the information of commodity in the purchase system that timely updates.
In addition, further including the Cloud Server being connect with purchase system, the shopping information of shopper is stored to cloud service
On device.In this way by the later stage to the finishing analysis of shopping information, you can help Supermarket management person to buying commodity and buying the time
Reasonably adjusted.
Wherein, as shown in figure 4, further including electric tune, controller is adjusted by electricity and is connect with shopping vehicle motor.Controller is to image
The information that processing unit transmission comes carries out processing analysis, then drives the rotation of electricity regulation and control system shopping vehicle motor, while receiving electric tune
The current-velocity information transmitted by CAN bus carries out closed loop feedback, and it is out of control to can effectively prevent shopping vehicle motor, and does in time
Go out locked operation.
In addition, image processing apparatus is minipc.It is small, it is easily installed.
Wherein, further include the power module that electric energy is provided for the video tracking shopping cart.Power module uses 24V direct currents
Source, 24V directly feed electricity reconciliation shopping vehicle motor and are depressurized to 19V and 3.3V respectively to image processing apparatus by voltage reduction module
It powers with controller.
The present embodiment additionally provides a kind of tracking of video tracking shopping cart, using above-mentioned video tracking shopping cart,
As shown in Fig. 2, including the following steps：
S1. the video image of environment where binocular camera shooting shopper and shopper, and by the transmission of video images
To image processing apparatus；If including shopper in video image, binocular camera if, carries out analysis calculating to shopper, obtains
The distance between shopping cart and shopper and by the Distance Transmission to image processing apparatus；
S2. image processing apparatus reads in and handles video image, with positioning shopping truck position and establishes map；If processing
After shopper is not detected, then the new video image come to binocular camera transmission continues with, until detect shopper,
Image processing apparatus will be between the map and the shopping cart come from binocular camera transmission and shopper of do shopping truck position, foundation
Distance Transmission is to controller；
S3. controller carries out processing analysis to the information that image processing apparatus transmission comes, and obtains shopping cart and tracks shopper
Route, and drive shopping vehicle motor rotation according to the route, make shopping cart forward-reverse and to move left and right, to realize to shopping
The tracking of person；
S4. step S1 to S3 is continuously carried out, to complete tracking of the entire shopping process shopping cart to shopper.
In addition, in step S2, image processing apparatus calculates positioning shopping truck position using SLAM algorithms and establishes map.
SLAM is written as simultaneous localization and mapping entirely, for positioning and map structuring immediately, or concurrently
Build figure and positioning；Setting enables shopping cart precisely to track shopper in this way, further promotes shopping experience.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
All any modification, equivalent and improvement etc., should be included in the claims in the present invention made by within the spirit and principle of invention
Protection domain within.
Claims (9)
1. a kind of video tracking shopping cart, which is characterized in that the controller including shopping cart and on shopping cart, shopping cart
The shopping vehicle motor being connect with controller is respectively equipped at four wheels；It includes shopper and purchase that shopping cart, which is equipped with for shooting,
The video image of environment where object person, and the binocular camera for obtaining the distance between shopping cart and shopper；Shopping cart
It is equipped with the video image and the distance between shopping cart and shopper for receiving binocular camera transmission, and for positioning purchase
Object truck position and the image processing apparatus for establishing map, and image processing apparatus is connect with controller.
2. a kind of video tracking shopping cart according to claim 1, which is characterized in that further include being set to image processing apparatus
The upper purchase system for human-computer interaction, purchase system are equipped with for detecting the detection module of commodity, for settling accounts commodity
Settlement module and display module for display of commodity information.
3. a kind of video tracking shopping cart according to claim 2, which is characterized in that the detection module is for detecting
Whether the commodity with RFID tag are put into the detection module of shopping cart.
4. a kind of video tracking shopping cart according to claim 1, which is characterized in that further include being connect with purchase system
Cloud Server stores the shopping information of shopper to Cloud Server.
5. a kind of video tracking shopping cart according to claim 1, which is characterized in that further include electric tune, controller passes through
Electricity is adjusted to be connect with shopping vehicle motor.
6. a kind of video tracking shopping cart according to claim 1, which is characterized in that image processing apparatus minipc.
7. a kind of video tracking shopping cart according to claim 1, which is characterized in that further include doing shopping for the video tracking
Vehicle provides the power module of electric energy.
8. a kind of tracking of video tracking shopping cart, which is characterized in that use claim 1-7 any one of them videos
Shopping cart is tracked, is included the following steps：
S1. the video image of binocular camera shooting shopper and shopper place environment, and the transmission of video images is extremely schemed
As processing unit；If including shopper in video image, analysis calculating is carried out to shopper if binocular camera, obtains shopping
The distance between vehicle and shopper and by the Distance Transmission to image processing apparatus；
S2. image processing apparatus reads in and handles video image, with positioning shopping truck position and establishes map；If after processing not
Detect shopper, then the new video image come to binocular camera transmission continues with, until detecting shopper, image
Processing unit is by the map of do shopping truck position, foundation and the shopping cart come from binocular camera transmission and the distance between shopper
It is transmitted to controller；
S3. controller carries out processing analysis to the information that image processing apparatus transmission comes, and obtains the road of shopping cart tracking shopper
Line, and shopping vehicle motor rotation is driven according to the route, make shopping cart forward-reverse and move left and right, to realize to shopper's
Tracking；
S4. step S1 to S3 is continuously carried out, to complete tracking of the entire shopping process shopping cart to shopper.
9. a kind of tracking of video tracking shopping cart according to claim 8, which is characterized in that in step S2, figure
As processing unit calculates positioning shopping truck position using SLAM algorithms and establishes map.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810554696.0A CN108509943A (en) | 2018-06-01 | 2018-06-01 | A kind of video tracking shopping cart and tracking |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810554696.0A CN108509943A (en) | 2018-06-01 | 2018-06-01 | A kind of video tracking shopping cart and tracking |
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| Publication Number | Publication Date |
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| CN108509943A true CN108509943A (en) | 2018-09-07 |
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| CN201810554696.0A Pending CN108509943A (en) | 2018-06-01 | 2018-06-01 | A kind of video tracking shopping cart and tracking |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109398463A (en) * | 2018-10-19 | 2019-03-01 | 五邑大学 | A kind of shopping cart and its purchase method |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106971330A (en) * | 2017-03-08 | 2017-07-21 | 武汉理工大学 | A kind of intelligent shopping guide shopping cart system |
-
2018
- 2018-06-01 CN CN201810554696.0A patent/CN108509943A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106971330A (en) * | 2017-03-08 | 2017-07-21 | 武汉理工大学 | A kind of intelligent shopping guide shopping cart system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109398463A (en) * | 2018-10-19 | 2019-03-01 | 五邑大学 | A kind of shopping cart and its purchase method |
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Application publication date: 20180907 |
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