CN109084700B - Method and system for acquiring three-dimensional position information of article - Google Patents
Method and system for acquiring three-dimensional position information of article Download PDFInfo
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Abstract
The invention discloses a method and a system for acquiring three-dimensional position information of an article, wherein the three-dimensional position information acquisition system comprises a camera device, an ultrasonic device and a transmission positioning device; the camera device is used for acquiring first image information of a first article in a set space range and sending the first image information to the transmission positioning device; the transfer positioning device is used for acquiring first contour information of the first article according to the received first image information; the ultrasonic device is used for acquiring first distance information between the first article and the ultrasonic device according to the first contour information and sending the first distance information to the transmission positioning device; the transmission positioning device is used for acquiring second distance information between the first article and other set quantity of articles in the set space range, and acquiring the three-dimensional space coordinate of the first article in the set space range according to the first contour information and the second distance information. The invention realizes the 3D identification of the article, can acquire the three-dimensional position information of the article and improves the experience of users.
Description
Technical Field
The invention relates to the technical field of intelligent equipment, in particular to a method and a system for acquiring three-dimensional position information of an article.
Background
Currently, an Echo Look product (an intelligent voice control product) introduced by amazon corporation includes a camera module and a voice module, which are all interconnected with a terminal; so that the Echo Look acquires the 2D pictures (two-dimensional pictures) of the clothes-dressing matching of the user through the camera module and sends the pictures to the terminal for analysis, and then the matching suggestions are pushed to the user through the terminal according to the analysis result. For the Echo Look technology, the focus is on an electronic clothes display library, but the dynamic position acquisition of the articles cannot be carried out.
There is also a technology of monitoring articles (food) stored in a refrigerator in the prior art, which takes 2D pictures of different objects through a camera and identifies different articles and their storage positions in the pictures.
Therefore, the conventional techniques cannot realize 3D (three-dimensional) recognition of an article in a space and cannot acquire three-dimensional position information of the article.
Disclosure of Invention
The invention aims to solve the technical problems that 3D identification of an article in a space cannot be realized and three-dimensional position information of the article cannot be acquired in the prior art, and provides a method and a system for acquiring the three-dimensional position information of the article.
The invention solves the technical problems through the following technical scheme:
the invention provides a three-dimensional position information acquisition system of an article, which comprises a camera device, an ultrasonic device and a transmission positioning device;
the camera device is used for acquiring first image information of a first article in a set space range and sending the first image information to the transmission positioning device;
the transfer positioning device is used for acquiring first contour information of the first article according to the received first image information;
the ultrasonic device is used for acquiring first distance information between the first article and the ultrasonic device according to the first contour information and sending the first distance information to the transmission positioning device;
the transmission positioning device is used for acquiring second distance information between the first article and other articles with set quantity in the set space range according to the first distance information, and acquiring three-dimensional space coordinates of the first article in the set space range according to the first contour information and the second distance information.
Preferably, the three-dimensional position information acquiring system further comprises an intelligent voice device;
the position transmission and measurement device comprises an analysis module and an article acquisition module;
the intelligent voice equipment is used for receiving a control instruction and sending the control instruction to the analysis module;
the analysis module is used for analyzing the attribute information of the target object in the control instruction;
wherein the attribute information comprises article name information and/or article color information;
the article obtaining module is configured to compare the first image information with image information in a database, obtain attribute information of the first article in the first image information, and determine that the first article is the target article corresponding to the control instruction when the attribute information of the first article in the first image information is consistent with the attribute information of the target article.
Preferably, the camera device is further configured to acquire second image information of the first article when the storage position of the first article in the set space range changes, and send the second image information to the sensing position device;
the transfer positioning device is further used for acquiring second contour information of the first article according to the received second image information;
the ultrasonic device is further used for acquiring third distance information between the first article and the ultrasonic device according to the second profile information and sending the third distance information to the transmission positioning device;
and the transmission positioning device is used for acquiring fourth distance information between the first article and other articles with set quantity in the set space range according to the third distance information and updating the three-dimensional space coordinate of the first article according to the second contour information and the fourth distance information.
Preferably, the position measuring device is further configured to obtain third profile information of the carrier of the first article in the first image information;
the ultrasonic device is further used for acquiring fifth distance information between the carrier of the first article and the ultrasonic device according to the third profile information and sending the fifth distance information to the transmission positioning device;
the transmission positioning device is used for acquiring sixth distance information between the carrier of the first article and the carriers of other articles with set quantity in the set space range according to the fifth distance information, and acquiring three-dimensional space coordinates of the carrier of the first article according to the third contour information and the sixth distance information;
the transmission positioning device is further used for acquiring the three-dimensional space coordinate of the first article according to the three-dimensional space coordinate of the carrier of the first article.
Preferably, the three-dimensional position information acquisition system further comprises a storage module, a detection module, a prompt information sending module and a terminal device;
the position transmission and measurement device is also used for acquiring production date information and quality guarantee period information in the voice information sent by the intelligent voice equipment when the stored articles belong to food;
the storage module is used for storing the production date information and the quality guarantee period information;
the detection module is used for detecting whether the target object corresponding to the attribute information is overdue or not according to the production date information and the quality guarantee period information when the target object belongs to food, generating a detection result and then sending the detection result to the prompt information sending module;
the prompt information sending module is used for sending prompt information corresponding to the detection result to the terminal device;
the terminal device is used for displaying the prompt information.
Preferably, the storage module is further configured to store name information of the first article in the voice message, and/or obtain name information of a similar article corresponding to the first article;
the article obtaining module is further configured to query, in the storage module, name information of a target article corresponding to the article name information in the attribute information according to the attribute information, and obtain a three-dimensional space coordinate of the target article;
the terminal device is also used for displaying pictures including the target object.
The three-dimensional position information acquisition method is realized by utilizing a three-dimensional position information acquisition system of an article, wherein the three-dimensional position information acquisition system comprises a camera device, an ultrasonic device and a transmission positioning device;
the three-dimensional position information acquisition method comprises the following steps:
the camera device acquires first image information of a first article in a set space range;
the transfer positioning device acquires first contour information of the first article according to the first image information;
the ultrasonic device acquires first distance information between the first ultrasonic device and the ultrasonic device according to the first contour information;
the position measuring device acquires second distance information between the first article and other articles with set quantity in the set space range according to the first distance information;
and the transmission positioning device acquires the three-dimensional space coordinate of the first article in the set space range according to the first contour information and the second distance information.
Preferably, before the step of acquiring the first image information of the first article in the set spatial range, the imaging device further includes:
receiving a control instruction;
analyzing the attribute information of the target object in the control instruction;
wherein the attribute information comprises article name information and/or article color information;
comparing the first image information with image information in a database to obtain attribute information of the first article in the first image information, and determining that the first article is the target article corresponding to the control instruction when the attribute information of the first article in the first image information is consistent with the attribute information of the target article.
Preferably, the three-dimensional position information obtaining method further includes:
when the storage position of a first article in the set space range is changed, the camera device acquires the second image information of the first article;
the transfer positioning device acquires second contour information of the first article according to the received second image information;
the ultrasonic device acquires third distance information between the first article and the ultrasonic device according to the second profile information;
the transmission positioning device acquires fourth distance information between the first article and other articles with set quantity in the set space range according to the third distance information;
and the transmission positioning device updates the three-dimensional space coordinate of the first article according to the second contour information and the fourth distance information.
Preferably, the three-dimensional position information obtaining method further includes:
the transfer positioning device acquires third contour information of the carrier of the first article in the first image information;
the ultrasonic device acquires fifth distance information between the carrier of the first article and the ultrasonic device according to the third profile information;
the transmission positioning device acquires sixth distance information between the carrier of the first article and the carriers of other articles with set quantity in the set space range according to the fifth distance information;
the transmission positioning device acquires the three-dimensional space coordinate of the carrier of the first article according to the third contour information and the sixth distance information;
the step of acquiring the three-dimensional space coordinates of the first article in the set space range comprises the following steps:
and the position transmission and measurement device acquires the three-dimensional space coordinate of the first article according to the three-dimensional space coordinate of the carrier of the first article.
Preferably, the three-dimensional position information obtaining method further includes:
when the stored articles belong to food, acquiring production date information and shelf life information in the control instruction;
storing the production date information and the shelf life information;
the three-dimensional position information acquisition method further includes:
when the target object corresponding to the attribute information belongs to food, detecting whether the target object is overdue according to the production date information and the quality guarantee period information, and generating a detection result;
sending prompt information corresponding to the detection result to the terminal device;
and displaying the prompt information.
Preferably, the step of obtaining the three-dimensional space coordinates of the first article in the set space range further includes:
storing the name information of the first article in the control instruction, and/or acquiring the name information of the same kind of article corresponding to the first article;
the three-dimensional position information acquisition method further includes:
according to the attribute information, name information of a target object corresponding to the object name information in the attribute information is inquired in the storage module, and a three-dimensional space coordinate of the target object is obtained;
displaying a picture including the target item.
The positive progress effects of the invention are as follows:
according to the invention, the image information of each article in the set space range is acquired through the camera device, the outline information of each article in the picture is acquired according to the image information, the distance information between each article and other articles in the set space range is acquired through the ultrasonic device based on the outline information, and then the three-dimensional space coordinate of the storage position of each article in the set space range is acquired, so that the 3D identification of the articles is realized, the three-dimensional position information of the articles can be acquired, and the experience of a user is improved.
Drawings
Fig. 1 is a schematic structural view of a three-dimensional position information acquisition system for an article according to embodiment 1 of the present invention.
Fig. 2 is a schematic structural view of a three-dimensional position information acquisition system for an article according to embodiment 5 of the present invention.
Fig. 3 is a schematic view showing the arrangement of an ultrasonic device in the three-dimensional position information acquiring system of an article according to embodiment 5 of the present invention.
Fig. 4 is a scene schematic diagram of a three-dimensional position information acquisition system for an article according to embodiment 5 of the present invention.
Fig. 5 is a flowchart of a method for acquiring three-dimensional position information of an article according to embodiment 6 of the present invention.
Fig. 6 is a flowchart of a method for acquiring three-dimensional position information of an article according to embodiment 7 of the present invention.
Fig. 7 is a flowchart of a method for acquiring three-dimensional position information of an article according to embodiment 8 of the present invention.
Fig. 8 is a flowchart of a method for acquiring three-dimensional position information of an article according to embodiment 9 of the present invention.
Fig. 9 is a flowchart of a method for acquiring three-dimensional position information of an article according to embodiment 10 of the present invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
As shown in fig. 1, the three-dimensional positional information acquisition system for an article of the present embodiment includes an imaging device 1, an ultrasonic device 2, and a measurement positioning device 3.
The camera device 1 is configured to acquire first image information of a first article in a set spatial range, and send the first image information to the measurement positioning device 3.
The sensing and positioning device 3 is used for acquiring first contour information of the first article according to the received first image information.
The ultrasonic device 2 is used for acquiring first distance information between the first article and the ultrasonic device according to the first contour information and sending the first distance information to the transmission positioning device;
the sensing positioning device 3 is used for acquiring second distance information between the first article and other articles with set quantity in the set space range according to the first distance information, and acquiring three-dimensional space coordinates of the first article in the set space range according to the first contour information and the second distance information.
In this embodiment, the image information of each article in the set spatial range is acquired through the camera device, the profile information of each article in the picture is acquired according to the image information, and then the distance information between each article and other articles in the set spatial range is acquired through the ultrasonic device based on the profile information, so that the three-dimensional space coordinate of the storage position of each article in the set spatial range is obtained, thereby realizing 3D identification of the article, acquiring the three-dimensional position information of the article, and improving the experience of the user.
Example 2
The three-dimensional position information acquisition system of the article of the present embodiment is a further improvement of embodiment 1, specifically:
the camera device 1 is further configured to acquire second image information of the first article when the storage position of the first article in the set spatial range is changed, and send the second image information to the measuring and positioning device 3.
The sensing and positioning device 3 is further configured to obtain second contour information of the first article according to the received second image information.
The ultrasonic device 2 is further configured to obtain third distance information between the second first product and the ultrasonic device 2 according to the second profile information, and send the third distance information to the transmission positioning device.
The sensing positioning device 3 is used for acquiring fourth distance information between the first article and other articles with set quantity in the set space range according to the third distance information, and updating the three-dimensional space coordinate of the first article according to the second contour information and the fourth distance information.
In the embodiment, the image information of each article in the set space range is acquired through the camera device, the profile information of each article in the picture is acquired according to the image information, and then the distance information between each article and other articles in the set space range is acquired through the ultrasonic device based on the profile information, so that the three-dimensional space coordinate of the storage position of each article in the set space range is acquired; meanwhile, the three-dimensional space coordinates of the article with the changed storage position are updated, so that 3D identification of the article is realized, the three-dimensional position information of the article can be acquired, and the experience of a user is improved.
Example 3
The three-dimensional position information acquisition system of the article of the present embodiment is a further improvement of embodiment 1, specifically:
the camera device 1 is further configured to acquire third image information of the second object when the second object is added within the set spatial range, and send the third image information to the measuring and positioning device 3.
The transfer positioning device 3 is further configured to obtain fourth profile information of the second object according to the received third image information;
the ultrasonic device 2 is further configured to obtain seventh distance information between the second object and other set number of objects within the set spatial range according to the fourth profile information, and send the seventh distance information to the transmission positioning device 3.
The position measuring device 3 is further configured to obtain a three-dimensional space coordinate of the second object according to the fourth profile information and the seventh distance information.
In this embodiment, the image information of each article in the set space range is acquired through the camera device, the profile information of each article in the picture is acquired according to the image information, then the distance information between each article and other articles in the set space range is acquired through the ultrasonic device based on the profile information, and then the three-dimensional space coordinate of the storage position of each article in the set space range is obtained, and meanwhile, the newly-added three-dimensional space coordinate of the article in the set space range is acquired, so that the 3D identification of the article is realized, the three-dimensional position information of the article can be acquired, and the experience of the user is improved.
Example 4
The three-dimensional position information acquisition system of the article of the present embodiment is a further improvement of embodiment 1, specifically:
the sensing and positioning device 3 is further configured to obtain third contour information of the carrier of the first article in the first image information.
The ultrasonic device 2 is further configured to obtain fifth distance information between the carrier of the first article and the ultrasonic device 2 according to the third profile information, and send the fifth distance information to the measurement positioning device 3;
the sensing and positioning device 3 is used for acquiring fifth distance information, acquiring sixth distance information between the carrier of the first article and the carriers of other set number of articles in the set space range, and acquiring three-dimensional space coordinates of the carrier of the first article according to the third contour information and the sixth distance information.
The sensing and positioning device 3 is further configured to acquire three-dimensional space coordinates of the first article according to the three-dimensional space coordinates of the carrier of the first article.
In this embodiment, by acquiring contour information of carriers of articles in the image information, and then acquiring distance information between the carrier of each article and carriers of other articles in a set spatial range based on the contour information by using the ultrasonic device, a three-dimensional spatial coordinate of the carrier of each article in the set spatial range is obtained, and finally, a three-dimensional spatial coordinate of a storage position of each article is obtained by using the three-dimensional spatial coordinate of the carrier of each article, so that 3D identification of the articles is realized, three-dimensional position information of the articles can be acquired, and a user experience is improved.
Example 5
As shown in fig. 2, the three-dimensional position information acquiring system of an article of the present embodiment is a further improvement of embodiment 1, specifically:
the three-dimensional position information acquisition system for an article of the present embodiment includes a plurality of imaging devices 1 and a plurality of ultrasonic devices 2 (wherein one imaging device and one ultrasonic device constitute a set of cooperative work). The camera device 1 is an intelligent camera, and the ultrasonic device 2 is an ultrasonic transmitter.
The set spatial range includes a spatial range in a house building, etc., and the first item includes various items (e.g., a cabinet, a bed, a television cabinet, etc.) in the house. According to actual requirements, the transmission positioning device 3 can be arranged to integrally update the distance information between various articles in the house once a day.
As shown in fig. 3, an area a is a space range in a room, a represents a set of smart cameras and ultrasonic transmitters, m represents a ceiling of a roof, n represents a floor, B represents a carrier for storing articles, and C represents articles. The intelligent camera and the ultrasonic transmitter are both arranged on the ceiling m of the room. The no-dead-angle area is generally formed by arranging 2-3 intelligent cameras and 2-3 ultrasonic transmitters in the area a. When one group is blocked by the object to be detected, the other group can be switched to for identification, and the scanning of the outline information of the object can be completed within 1-2 seconds.
When the room size is about 20 square meters, as shown in fig. 4, 5 ultrasonic transmitters may be generally installed in the room. Specifically, ultrasonic transmitter # S1 was positioned to the center of item C as directed by the smart camera, and the other 4 groups (S2, S3, S4, and S5) of ultrasonic transmitters were positioned to the edge areas of 4 items, respectively. The image information of the article obtained through the intelligent camera obtains the outline information of the article, then the distance information between the article and other articles is obtained through scanning by the 5 ultrasonic transmitters according to track fine adjustment, the depth of field and the volume of the article are obtained by combining the outline information of the article and the distance information between the article and other articles, and then the position information of the three-dimensional space coordinate of the article is obtained according to the transmission positioning device 3.
In addition, when the ultrasonic device 2 requires a distance measurement accuracy of 1mm, it is necessary to consider the influence of the ambient temperature on the ultrasonic propagation. Specifically, the temperature in the set spatial range is measured in real time by providing a temperature sensor in the camera device 1, for example, when the temperature is 0 ℃, the propagation speed of the ultrasonic wave is 332m/s, and the propagation speed of the ultrasonic wave is 350m/s at 30 ℃, so it can be considered that the propagation speed of the ultrasonic wave increases or decreases by 18m/s for every 30 ℃ increase or decrease in temperature; and corresponding temperature values can be obtained through conversion according to different speeds of the ultrasonic waves.
The user can log in the three-dimensional position information acquisition system through identity authentication, and can also share the object set position data of the user to other users or limit other users to check the object set position data of the user and the like.
The three-dimensional position information acquisition system further comprises an intelligent voice device 4, a storage module 5, a detection module 6, a prompt information sending module 7 and a terminal device 8.
The three-dimensional space coordinate of each first article is the space position of each first article placed in the set space range.
The measurement positioning apparatus 3 includes an analysis module 31 and an article acquisition module 32.
The intelligent voice device 4 is configured to receive the control instruction and send the control instruction to the parsing module 31.
The analysis module 31 is configured to analyze attribute information of the target object in the control instruction;
the attribute information comprises article name information and/or article color information;
the article obtaining module 32 is configured to compare the first image information with the image information in the database, obtain attribute information of the first article in the first image information, and determine that the first article is a target article corresponding to the control instruction when the attribute information of the first article in the first image information is consistent with the attribute information of the target article. The database includes an internet big database, but is not limited to the internet big database, and may also include other types of databases.
Specifically, when a user inputs a voice control instruction to the intelligent voice device 4 to search for a certain article (such as a 'blue red basketball shoe'), the intelligent voice device 4 sends the voice control instruction to the analysis module, and attribute information (blue, red, basketball shoes) of a target article in the voice control instruction is analyzed through the analysis module; when the attribute information of the first article in the room is consistent with the attribute information of the target article, determining that the first article is the target article which needs to be searched by the user, and the three-dimensional space coordinate of the first article is the three-dimensional space position information of the target article.
The measuring position device 3 is also used for acquiring the production date information and the quality guarantee period information in the control command when the stored articles belong to food.
The storage module 5 is used for storing production date information and quality guarantee period information.
And the detection module 6 is used for detecting whether the target object corresponding to the attribute information is overdue or not according to the production date information and the quality guarantee period information when the target object belongs to the food, generating a detection result and then sending the detection result to the prompt information sending module.
The prompt information sending module 7 is configured to send prompt information corresponding to the detection result to the terminal device.
The terminal device 8 is used for displaying the prompt information.
In addition, the storage module 5 is further configured to store name information of the first article in the control instruction, and/or obtain name information of the same kind of article corresponding to the first article;
the article obtaining module 32 is further configured to, according to the attribute information, query name information of the target article corresponding to the article name information in the attribute information in the storage module, and obtain a three-dimensional space coordinate of the target article;
in addition, according to some attribute information of the articles needing to be searched by the user, such as blue and red, the blue and red articles in the room can be acquired for the user to select.
The terminal device 8 is also used for displaying a picture including the target item.
In addition, the user can search for the target object through voice, and can also directly display the in-house scene map through the terminal device 8, the placing positions of the objects are displayed in the scene map, and the user can click the display screen of the terminal device 8 to search for the target object. In the present embodiment, the image pickup device
Acquiring image information of each article in a set space range, acquiring contour information of each article in a picture according to the image information, acquiring distance information between each article and other articles in the set space range based on the contour information through an ultrasonic device, and further acquiring a three-dimensional space coordinate of a storage position of each article in the set space range, so that 3D identification of the articles is realized, and three-dimensional position information of the articles can be acquired; meanwhile, searching and acquiring a corresponding target object according to a voice control instruction input by a user; when the target object is food, whether the target object is overdue or not can be detected, and the detection result is fed back to the user, so that the experience of the user is improved.
Example 6
As shown in fig. 5, the method for acquiring three-dimensional positional information of an article according to the present embodiment is implemented by the system for acquiring three-dimensional positional information of an article according to any one of embodiments 1 to 5, and the system for acquiring three-dimensional positional information includes an imaging device, an ultrasonic device, and a transmission positioning device.
The three-dimensional position information acquisition method comprises the following steps:
s101, acquiring first image information of a first article in a set space range by a camera device;
s102, acquiring first contour information of a first article by a measuring positioning device according to the first image information;
s103, the ultrasonic device acquires first distance information between the first article and the ultrasonic device according to the first contour information;
s104, the position measuring device acquires second distance information between the first article and other articles with set quantity in the set space range according to the first distance information;
and S105, acquiring the three-dimensional space coordinate of the first article in the set space range by the measuring positioning device according to the first contour information and the second distance information.
In this embodiment, the image information of each article in the set spatial range is acquired through the camera device, the profile information of each article in the picture is acquired according to the image information, and then the distance information between each article and other articles in the set spatial range is acquired through the ultrasonic device based on the profile information, so that the three-dimensional space coordinate of the storage position of each article in the set spatial range is obtained, thereby realizing 3D identification of the article, acquiring the three-dimensional position information of the article, and improving the experience of the user.
Example 7
As shown in fig. 6, the three-dimensional position information acquiring system of an article of the present embodiment is a further improvement of embodiment 6, specifically:
step S105 is followed by:
s106, when the storage position of the first article in the set space range is changed, the camera device acquires second image information of the first article;
s107, the transfer positioning device acquires second contour information of the first article according to the received second image information;
s108, the ultrasonic device acquires third distance information between the first article and the ultrasonic device according to the second contour information;
s109, the measuring and positioning device acquires fourth distance information between the first article and other articles with set quantity in the set space range according to the third distance information;
and S1010, updating the three-dimensional space coordinate of the first article by the measuring and positioning device according to the second contour information and the fourth distance information.
In the embodiment, the image information of each article in the set space range is acquired through the camera device, the profile information of each article in the picture is acquired according to the image information, and then the distance information between each article and other articles in the set space range is acquired through the ultrasonic device based on the profile information, so that the three-dimensional space coordinate of the storage position of each article in the set space range is acquired; meanwhile, the three-dimensional space coordinates of the article with the changed storage position are updated, so that 3D identification of the article is realized, the three-dimensional position information of the article can be acquired, and the experience of a user is improved.
Example 8
As shown in fig. 7, the three-dimensional position information acquisition system of an article of the present embodiment is a further improvement of embodiment 6, specifically:
step S105 is followed by:
s1011, when a second object is added in the set space range, the camera device acquires third image information of the second object;
s1012, the position measuring device obtains fourth outline information of the second object according to the received third image information;
s1013, the ultrasonic device acquires seventh distance information between the second object and the ultrasonic device according to the fourth profile information;
s1014, acquiring eighth distance information between the second article and other articles with set quantity in the set space range by the measuring positioning device according to the seventh distance information;
and S1015, acquiring the three-dimensional space coordinate of the second object by the position measuring device according to the fourth contour information and the eighth distance information.
In this embodiment, the image information of each article in the set space range is acquired through the camera device, the profile information of each article in the picture is acquired according to the image information, then the distance information between each article and other articles in the set space range is acquired through the ultrasonic device based on the profile information, and then the three-dimensional space coordinate of the storage position of each article in the set space range is obtained, and meanwhile, the newly-added three-dimensional space coordinate of the article in the set space range is acquired, so that the 3D identification of the article is realized, the three-dimensional position information of the article can be acquired, and the experience of the user is improved.
Example 9
As shown in fig. 8, the three-dimensional position information acquisition system of an article of the present embodiment is a further improvement of embodiment 6, specifically:
step S101 is followed by:
s1016, the position measuring device is used for acquiring third contour information of the carrier of the first article in the first image information;
s1017, the ultrasonic device acquires fifth distance information between the carrier of the first article and the ultrasonic device according to the third profile information;
s1018. the measuring positioning device acquires sixth distance information between the carrier of the first article and the carriers of other articles with set quantity in the set space range according to the fifth distance information;
s1019, acquiring three-dimensional space coordinates of the carrier of the first article by the position measuring device according to the third contour information and the sixth distance information;
the step of acquiring the three-dimensional space coordinates of the first article in the set space range in step S105 includes:
s1051, transmitting the three-dimensional space coordinate of the first article to the positioning device according to the three-dimensional space coordinate of the carrier of the first article.
In this embodiment, by acquiring contour information of carriers of articles in the image information, and then acquiring distance information between the carrier of each article and carriers of other articles in a set spatial range based on the contour information by using the ultrasonic device, a three-dimensional spatial coordinate of the carrier of each article in the set spatial range is obtained, and finally, a three-dimensional spatial coordinate of a storage position of each article is obtained by using the three-dimensional spatial coordinate of the carrier of each article, so that 3D identification of the articles is realized, three-dimensional position information of the articles can be acquired, and a user experience is improved.
Example 10
As shown in fig. 9, the three-dimensional position information acquisition system of an article of the present embodiment is a further improvement of embodiment 6, specifically:
the three-dimensional position information acquisition system for an article according to the present embodiment includes a plurality of imaging devices and a plurality of ultrasonic devices (where one imaging device and one ultrasonic device are combined to work in cooperation). The camera device is an intelligent camera, and the ultrasonic device is an ultrasonic transmitter.
The set spatial range includes a spatial range in a house building, etc., and the first item includes various items (e.g., a cabinet, a bed, a television cabinet, etc.) in the house. According to actual requirements, the transmission positioning device 3 can be arranged to integrally update the distance information between various articles in the house once a day.
As shown in fig. 3, an area a is a space range in a room, a represents a set of smart cameras and ultrasonic transmitters, m represents a ceiling of a roof, n represents a floor, B represents a carrier for storing articles, and C represents articles. The intelligent camera and the ultrasonic transmitter are both arranged on the ceiling m of the room. The no-dead-angle area is generally formed by arranging 2-3 intelligent cameras and 2-3 ultrasonic transmitters in the area a. When one group is blocked by the object to be detected, the other group can be switched to for identification, and the scanning of the outline information of the object can be completed within 1-2 seconds.
When the room size is about 20 square meters, as shown in fig. 4, 5 ultrasonic transmitters may be generally installed in the room. Specifically, ultrasonic transmitter # S1 was positioned to the center of item C as directed by the smart camera, and the other 4 groups (S2, S3, S4, and S5) of ultrasonic transmitters were positioned to the edge areas of 4 items, respectively. The image information of the article obtained through the intelligent camera obtains the outline information of the article, then the distance information between the article and other articles is obtained through scanning by the 5 ultrasonic transmitters according to track fine adjustment, the depth of field and the volume of the article are obtained by combining the outline information of the article and the distance information between the article and other articles, and then the position information of the three-dimensional space coordinate of the article is obtained according to the transmission positioning device 3.
In addition, when the ultrasonic device 2 requires a distance measurement accuracy of 1mm, it is necessary to consider the influence of the ambient temperature on the ultrasonic propagation. Specifically, the temperature in the set spatial range is measured in real time by providing a temperature sensor in the camera device 1, for example, when the temperature is 0 ℃, the propagation speed of the ultrasonic wave is 332m/s, and the propagation speed of the ultrasonic wave is 350m/s at 30 ℃, so it can be considered that the propagation speed of the ultrasonic wave increases or decreases by 18m/s for every 30 ℃ increase or decrease in temperature; and corresponding temperature values can be obtained through conversion according to different speeds of the ultrasonic waves.
The user can log in the three-dimensional position information acquisition system through identity authentication, and can also share the object set position data of the user to other users or limit other users to check the object set position data of the user and the like.
The three-dimensional space coordinate of each first article is the space position of each first article placed in the set space range.
Step S101 is preceded by:
receiving a control instruction;
analyzing attribute information of the target object in the control instruction;
the attribute information comprises article name information and/or article color information;
and comparing the first image information with the image information in the database to obtain attribute information of the first article in the first image information, and determining the first article as a target article corresponding to the control instruction when the attribute information of the first article in the first image information is consistent with the attribute information of the target article. The database includes an internet big database, but is not limited to the internet big database, and may also include other types of databases.
Specifically, when a user inputs a voice control instruction to the intelligent voice device 4 to search for a certain article (such as a 'blue red basketball shoe'), the intelligent voice device 4 sends the voice control instruction to the analysis module, and attribute information (blue, red, basketball shoes) of a target article in the voice control instruction is analyzed through the analysis module; when the attribute information of the first article in the room is consistent with the attribute information of the target article, determining that the first article is the target article which needs to be searched by the user, and the three-dimensional space coordinate of the first article is the three-dimensional space position information of the target article.
The three-dimensional position information acquisition method further includes:
when the stored articles belong to food, acquiring production date information and quality guarantee period information in the control command;
storing production date information and shelf life information;
step S105 is followed by:
s1020, when the target object corresponding to the attribute information belongs to food, detecting whether the target object is overdue according to the production date information and the quality guarantee period information, and generating a detection result;
s1021, sending a prompt message corresponding to the detection result to the terminal device;
and S1022, displaying the prompt message.
Step S105 is followed by:
s1023, storing name information of the first article in the control command, and/or acquiring name information of the same kind of article corresponding to the first article;
s1024, according to the attribute information, name information of the target object corresponding to the object name information in the attribute information is inquired in the storage module, and the three-dimensional space coordinate of the target object is obtained;
in addition, according to some attribute information of the articles needing to be searched by the user, such as blue and red, the blue and red articles in the room can be acquired for the user to select.
And S1025, displaying the picture comprising the target object.
In addition, the user can search for the target object through voice, and can also directly display the in-house scene map through the terminal device 8, the placing positions of the objects are displayed in the scene map, and the user can click the display screen of the terminal device 8 to search for the target object.
In the embodiment, the image information of each article in the set space range is acquired through the camera device, the outline information of each article in the picture is acquired according to the image information, the distance information between each article and other articles in the set space range is acquired through the ultrasonic device based on the outline information, and then the three-dimensional space coordinate of the storage position of each article in the set space range is acquired, so that the 3D identification of the articles is realized, and the three-dimensional position information of the articles can be acquired; meanwhile, searching and acquiring a corresponding target object according to a voice control instruction input by a user; when the target object is food, whether the target object is overdue or not can be detected, and the detection result is fed back to the user, so that the experience of the user is improved.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (12)
1. A three-dimensional position information acquisition system of an article is characterized by comprising a camera device, an ultrasonic device and a transmission positioning device;
the camera device is used for acquiring first image information of a first article in a set space range and sending the first image information to the transmission positioning device;
the transfer positioning device is used for acquiring first contour information of the first article according to the received first image information;
the ultrasonic device is used for acquiring first distance information between the first article and the ultrasonic device according to the first contour information;
the ultrasonic device is used for acquiring second distance information between the first article and other articles with set quantity in the set space range according to the first distance information and sending the second distance information to the transmission positioning device, and the transmission positioning device acquires three-dimensional space coordinates of the first article in the set space range according to the first contour information and the second distance information.
2. The three-dimensional position information acquisition system of an article according to claim 1, characterized in that the three-dimensional position information acquisition system further comprises an intelligent voice device;
the position transmission and measurement device comprises an analysis module and an article acquisition module;
the intelligent voice equipment is used for receiving a control instruction and sending the control instruction to the analysis module;
the analysis module is used for analyzing the attribute information of the target object in the control instruction;
wherein the attribute information comprises article name information and/or article color information;
the article obtaining module is configured to compare the first image information with image information in a database, obtain attribute information of the first article in the first image information, and determine that the first article is the target article corresponding to the control instruction when the attribute information of the first article in the first image information is consistent with the attribute information of the target article.
3. The system according to claim 1, wherein the imaging device is further configured to acquire second image information of the first item when a storage position of the first item within the set spatial range changes, and to transmit the second image information to the measurement positioning device;
the transfer positioning device is further used for acquiring second contour information of the first article according to the received second image information;
the ultrasonic device is further used for acquiring third distance information between the first article and the ultrasonic device according to the second outline information;
the ultrasonic device is used for acquiring fourth distance information between the first article and other articles with set quantity in the set space range according to the third distance information and sending the fourth distance information to the transmission positioning device, and the transmission positioning device updates the three-dimensional space coordinate of the first article according to the second contour information and the fourth distance information.
4. The system of claim 1, wherein the sensing positioning device is further configured to obtain third profile information of the carrier of the first article in the first image information;
the ultrasonic device is further used for acquiring fifth distance information between the carrier of the first article and the ultrasonic device according to the third profile information;
the ultrasonic device is used for acquiring sixth distance information between the carrier of the first article and the carriers of other articles with set quantity in the set space range according to the fifth distance information and sending the sixth distance information to the transmission positioning device, and the transmission positioning device acquires three-dimensional space coordinates of the carrier of the first article according to the third profile information and the sixth distance information;
the transmission positioning device is further used for acquiring the three-dimensional space coordinate of the first article according to the three-dimensional space coordinate of the carrier of the first article.
5. The three-dimensional position information acquisition system of an article according to claim 2, further comprising a storage module, a detection module, a prompt information transmission module, and a terminal device;
the position transmission and measurement device is also used for acquiring production date information and quality guarantee period information in the voice information sent by the intelligent voice equipment when the stored articles belong to food;
the storage module is used for storing the production date information and the quality guarantee period information;
the detection module is used for detecting whether the target object corresponding to the attribute information is overdue or not according to the production date information and the quality guarantee period information when the target object belongs to food, generating a detection result and then sending the detection result to the prompt information sending module;
the prompt information sending module is used for sending prompt information corresponding to the detection result to the terminal device;
the terminal device is used for displaying the prompt information.
6. The system for acquiring three-dimensional position information of an article according to claim 5, wherein the storage module is further configured to store name information of the first article in the voice message, and/or acquire name information of a similar article corresponding to the first article;
the article obtaining module is further configured to query, in the storage module, name information of a target article corresponding to the article name information in the attribute information according to the attribute information, and obtain a three-dimensional space coordinate of the target article;
the terminal device is also used for displaying pictures including the target object.
7. A three-dimensional position information acquisition method of an article is characterized in that the three-dimensional position information acquisition method is realized by using a three-dimensional position information acquisition system of the article, and the three-dimensional position information acquisition system comprises a camera device, an ultrasonic device and a transmission positioning device;
the three-dimensional position information acquisition method comprises the following steps:
the camera device acquires first image information of a first article in a set space range;
the transfer positioning device acquires first contour information of the first article according to the first image information;
the ultrasonic device acquires first distance information between the first article and the ultrasonic device according to the first contour information;
the ultrasonic device acquires second distance information between the first article and other articles with set quantity in the set space range according to the first distance information and sends the second distance information to the transmission positioning device;
and the transmission positioning device acquires the three-dimensional space coordinate of the first article in the set space range according to the first contour information and the second distance information.
8. The method for acquiring three-dimensional position information of an article according to claim 7, wherein the step of acquiring the first image information of the first article in the set spatial range by the camera further comprises:
receiving a control instruction;
analyzing the attribute information of the target object in the control instruction;
wherein the attribute information comprises article name information and/or article color information;
comparing the first image information with image information in a database to obtain attribute information of the first article in the first image information, and determining that the first article is the target article corresponding to the control instruction when the attribute information of the first article in the first image information is consistent with the attribute information of the target article.
9. The three-dimensional position information acquisition method of an article according to claim 7, characterized by further comprising:
when the storage position of a first article in the set space range is changed, the camera device acquires second image information of the first article;
the transfer positioning device acquires second contour information of the first article according to the received second image information;
the ultrasonic device acquires third distance information between the first article and the ultrasonic device according to the second profile information;
the ultrasonic device acquires fourth distance information between the first article and other articles with set quantity in the set space range according to the third distance information and sends the fourth distance information to the transmission positioning device;
and the transmission positioning device updates the three-dimensional space coordinate of the first article according to the second contour information and the fourth distance information.
10. The three-dimensional position information acquisition method of an article according to claim 7, characterized by further comprising:
the transfer positioning device acquires third contour information of the carrier of the first article in the first image information;
the ultrasonic device acquires fifth distance information between the carrier of the first article and the ultrasonic device according to the third profile information;
the ultrasonic device acquires sixth distance information between the carrier of the first article and the carriers of other articles with set quantity in the set space range according to the fifth distance information, and sends the sixth distance information to the transmission positioning device;
the transmission positioning device acquires the three-dimensional space coordinate of the carrier of the first article according to the third contour information and the sixth distance information;
the step of acquiring the three-dimensional space coordinates of the first article in the set space range comprises the following steps:
and the position transmission and measurement device acquires the three-dimensional space coordinate of the first article according to the three-dimensional space coordinate of the carrier of the first article.
11. The three-dimensional position information acquisition method of an article according to claim 8, characterized by further comprising:
when the stored articles belong to food, acquiring production date information and shelf life information in the control instruction;
storing the production date information and the shelf life information;
the three-dimensional position information acquisition method further includes:
when the target object corresponding to the attribute information belongs to food, detecting whether the target object is overdue according to the production date information and the quality guarantee period information, and generating a detection result;
sending prompt information corresponding to the detection result to a terminal device;
and displaying the prompt information.
12. The method of acquiring three-dimensional position information of an article according to claim 11, wherein the step of acquiring the three-dimensional space coordinates of the first article in the set space range further includes:
storing the name information of the first article in the control instruction, and/or acquiring the name information of the same kind of article corresponding to the first article;
the three-dimensional position information acquisition method further includes:
according to the attribute information, name information of a target object corresponding to the object name information in the attribute information is inquired in the storage module, and a three-dimensional space coordinate of the target object is obtained;
displaying a picture including the target item.
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