Tracked book checking system and method based on computer vision

Abstract

The invention relates to the technical field of book checking, in particular to a tracked book checking system and method based on computer vision. The rail type book checking system comprises a bookshelf, a rail device, a bookshelf positioning device, a book limiting device, a checking device and a server side. The spine of the book is placed outwards, and an improved bar code label containing corresponding information is attached to the spine; and the checking device can run back and forth on the track device, and is used for acquiring images, identifying the improved bar code labels and the bookshelf information labels, calculating to obtain checking information and positioning information, and uploading the checking information and the positioning information to the server side. The track device and the checking device are matched to collect video images on the bookshelf, so that the image quality is improved; the outer frame with the improved bar code labels and the bookshelf information labels is horizontally placed along the long edges, so that bar code recognition at any angle is achieved, and the book recognition rate is increased.

Description

Technical Field

[0001] The present invention relates to the technical field of book inventory counting, and in particular to a track-type book inventory counting system and method based on computer vision. Background Art

[0002] There are three main types of computer vision-based book inventory technology: the first is book inventory based on text recognition. This type of method relies on identifying the text on the spine of the book. However, this type of method cannot distinguish between copies of books, and for some thin books, there are difficulties in identification because there is no text on the spine. The second is book inventory based on QR codes. This type of method implements inventory by attaching a QR code on the spine and mapping it with the book information, and identifying the QR code information on different spines. However, this type of method cannot effectively handle ultra-thin books. The third method is book inventory based on barcodes. This method attaches a barcode on the spine, maps the barcode information with the book information, uses a robot or ceiling camera and other equipment to collect videos or images, and implements inventory by identifying the barcode information on different spines. However, there are some problems at present, such as the low quality of the collected video or image, and the inability to realize barcode recognition at any angle, which makes it difficult to improve the book recognition rate.

[0003] Therefore, it is necessary to design a track-based book inventory system and method based on computer vision. Summary of the invention

[0004] The purpose of the present invention is to solve at least one of the technical problems existing in the prior art and to provide a track-type book inventory system and method based on computer vision.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is as follows: a track-type book inventory system based on computer vision, comprising: a bookshelf, a track device, a bookshelf positioning device, a book limiting device, an inventory device, and a server end; The bookshelf is provided with a plurality of bookshelf frames, and a plurality of books are arranged in the bookshelf frames. The books are placed with their spines facing outwards and an improved barcode label containing corresponding information is attached to the spines; The track device is installed on the top of the bookshelf and is used to charge the inventory device; The bookshelf positioning device is installed in each bookshelf frame and is used to provide a bookshelf information label containing corresponding information; The book limiting device is installed at the edge of each bookshelf frame, and is used to make all the improved barcode labels and the bookshelf information labels in the same bookshelf frame be in the same plane; The inventory counting device can travel back and forth on the track device, and is used to obtain images and identify the improved barcode labels and bookshelf information labels, calculate and obtain inventory counting information and positioning information, and upload the inventory counting information and positioning information to the server end; The server side includes a display module, and the display module is used to display the inventory result.

[0006] Further, the track device includes: an automatic charging transmitter, a transmitter bracket, a plurality of anti-derailment splicing straight tracks, an anti-derailment splicing curved track, a plurality of straight tracks and straight track connection bases, a straight track and curved track connection base, and an inventory stop plate; The automatic charging transmitter is connected to the inventory device and is used to charge the inventory device; The transmitting end bracket is supported below the automatic charging transmitting end; The plurality of anti-derail splicing straight roads and anti-derail splicing curves are connected in sequence to form a track for the inventory device to operate; the starting point of the track is connected to the automatic charging transmitter; the straight road and the straight road connection base are supported below the anti-derail splicing straight road; the straight road and the curve connection base are supported below the anti-derail splicing curve; The inventory stop plate is arranged at the end point of the track and is used to stop the activity of the inventory device.

[0007] Furthermore, the inventory device includes: a trolley chassis, a central processing unit, a drive module, a power module, a track limit module, a suspension arm, a bearing, a plurality of cameras, a plurality of obstacle avoidance modules, a plurality of lighting equipment, a front-end limit module, a rear-end limit module, and an automatic charging receiving terminal; The trolley chassis is used to provide support for the components of the inventory counting device; The central processing unit is used to send movement, stop, and inventory instructions to the inventory device, perform inventory and positioning operations on the collected data, and send the calculated inventory information and positioning information to the server end; The driving module is used to provide operating power to the inventory counting device; The power module is used to provide power to the inventory counting device; The track limiting module includes a plurality of limiting wheels, and the limiting wheels are used to control the movement track of the inventory counting device; The suspension arm is used to provide support and installation for a number of cameras, a number of obstacle avoidance modules and a number of lighting equipment; The suspension arm is mounted on the chassis of the trolley through the bearing; The camera is used to collect images required for book inventory; The obstacle avoidance module is used to sense in real time whether there is an obstacle in the direction of travel. When an obstacle is sensed, the central processing unit sends a stop instruction to the inventory device; The lighting equipment is used to fill in the light of the shooting environment; When the front-end limit module triggers the inventory stop plate, it sends a command to the central processing unit, and the central processing unit stops the inventory and controls the driving module to drive the inventory device to move backward; When the rear-end limit module reaches the transmitting end bracket, it sends a command to the central processing unit, and the central processing unit controls the inventory device to stop moving and start charging, and uploads the inventory information and positioning information to the server; The automatic charging receiving end is used to receive the power transmitted by the automatic charging transmitting end to charge the power module.

[0008] Furthermore, the bookshelf positioning device also includes a bookshelf positioning plate, and the bookshelf positioning plate is used to provide support for the bookshelf information tag.

[0009] Furthermore, the book limiting device includes a plurality of book limiting strips, which are used to keep the book spine side and the bookshelf positioning plate side substantially in the same plane.

[0010] The present invention also provides a computer vision-based track-based book inventory method, comprising the following steps: Step 1, providing an improved barcode label and a bookshelf information label, and setting an improved barcode label containing corresponding information on the spine side of each book, and setting a bookshelf information label in each bookshelf frame; Step 2, providing a server side, establishing a database containing book information of all books in the server side, and mapping the improved barcode label information on each book to the corresponding book information in the database one-to-one; Step 3, providing an inventory device and a track device, establishing a signal connection between the inventory device and the server end, installing the inventory device on the track device, installing the track device on a bookshelf, placing a number of books in the bookshelf and making the improved barcode labels and bookshelf information labels of all the books be in the same plane; Step 4, controlling the inventory device to move forward on the track device, collecting spine side images of all books through the inventory device, obtaining each frame of the image, recording frame information, finding the outer frame of the improved barcode label and the bookshelf information label, placing the outer frame horizontally along the long side, and obtaining the position information, decoding information, and time information of the improved barcode label through calculation. If the bookshelf information label exists in the frame, the position information and decoding information of the bookshelf information label are also calculated, and the calculated inventory information is recorded; Step 5, when the inventory counting device moves to the end point of the track device, the inventory counting device is controlled to move backward on the track device, the relative position of the bookshelf information tag and each book is calculated, and the positioning information is recorded until the inventory counting device returns to the starting point of the track device; Step 6: charging the inventory counting device, and the inventory counting device sends the inventory counting information to the server.

[0011] It can be seen from the above description of the present invention that, compared with the prior art, the computer vision-based track-based book inventory system and method of the present invention has at least one of the following beneficial effects: 1. The present invention collects video images on the bookshelf through the cooperation of the track device and the inventory device to improve the image quality; the outer frame of the improved barcode label and the bookshelf information label is placed horizontally along the long side to realize barcode recognition at any angle, thereby improving the book recognition rate; 2. The present invention can effectively improve the recognition accuracy and book positioning accuracy of books while greatly reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a structural schematic diagram of a track-type book inventory system based on computer vision in a preferred embodiment of the present invention; Figure 2 It is a structural schematic diagram of a bookshelf in a preferred embodiment of the present invention; Figure 3 A schematic diagram of the spine of a book in a preferred embodiment of the present invention; Figure 4 It is a schematic diagram of the exploded structure of the track device in the preferred embodiment of the present invention; Figure 5 It is a schematic diagram of the exploded structure of the bookshelf positioning device in the preferred embodiment of the present invention; Figure 6 It is a schematic diagram of the exploded structure of the inventory counting device in the preferred embodiment of the present invention; Explanation of reference numerals in the figure: 1 bookshelf, 2 track device, 3 bookshelf positioning device, 4 book limiting device, 5 inventory device, 101 bookshelf frame, 102 books, 103 improved barcode label, 201 automatic charging transmitter, 202 transmitter bracket, 203 anti-derailing splicable straight track, 204 anti-derailing splicable curve, 205 straight track and straight track connection base, 206 straight track and curve connection base, 207 inventory stop plate, 301 bookshelf information label, 302 bookshelf positioning plate, 501 trolley chassis, 502 central processing unit, 503 drive module, 504 power module, 505 track limiting module, 506 suspension arm, 507 bearing, 508 camera, 509 obstacle avoidance module, 510 lighting equipment, 511 front end limiting module, 512 rear end limiting module, 513 automatic charging receiving end. DETAILED DESCRIPTION

[0013] The technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0014] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0015] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "mounted / connected", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0016] Reference Figure 1-Figure 6 As shown, the preferred embodiment of the present invention is a track-type book inventory system based on computer vision, comprising: a bookshelf 1, a track device 2, a bookshelf positioning device 3, a book limiting device 4, an inventory device 5, and a server end; The bookshelf 1 is provided with a plurality of bookshelf frames 101, and a plurality of books 102 are arranged in the bookshelf frames 101. The books 102 are placed with their spines facing outwards and an improved barcode label 103 containing corresponding information is attached to the spine; The track device 2 is installed on the top of the bookshelf 1 and is used to charge the inventory device 5; The bookshelf positioning device 3 is installed in each bookshelf frame 101 and is used to provide a bookshelf information label 301 containing corresponding information; The book limiting device 4 is installed at the edge of each bookshelf frame 101, and is used to make all the improved barcode labels 103 in the same bookshelf frame 101 and the bookshelf information label 301 be in the same plane; The inventory device 5 can travel back and forth on the track device 2, and is used to obtain images and identify the improved barcode label 103 and the bookshelf information label 301, calculate and obtain inventory information and positioning information, and upload the inventory information and positioning information to the server end; The server side includes a display module, and the display module is used to display the inventory result.

[0017] The present invention collects video images on the bookshelf 1 through the cooperation of the track device 2 and the inventory device 5 to improve the image quality; the outer frames of the improved barcode label 103 and the bookshelf information label 301 are placed horizontally along the long sides to realize barcode recognition at any angle, thereby improving the recognition rate of the book 102; the present invention can effectively improve the recognition accuracy and positioning accuracy of the book 102 while greatly reducing the cost.

[0018] As a preferred embodiment of the present invention, it may also have the following additional technical features: In this embodiment, the track device 2 includes: an automatic charging transmitter 201, a transmitter bracket 202, a plurality of anti-derailment splicing straight roads 203, an anti-derailment splicing curved road 204, a plurality of straight roads and straight road connection bases 205, a straight road and curved road connection base 206, and an inventory stop plate 207; The automatic charging transmitter 201 is connected to the inventory device 5 and is used to charge the inventory device 5; The transmitting end bracket 202 is supported below the automatic charging transmitting end 201; The plurality of anti-derail splicing straight roads 203 and anti-derail splicing curved roads 204 are connected in sequence to form a track for the inventory device 5 to operate; the starting point of the track is connected to the automatic charging transmitter 201; the straight road and straight road connection base 205 are supported below the anti-derail splicing straight road 203; the straight road and curved road connection base 206 are supported below the anti-derail splicing curved road 204; The inventory stop plate 207 is disposed at the end of the track and is used to stop the activity of the inventory device 5 .

[0019] In this embodiment, the inventory device 5 includes: a trolley chassis 501, a central processing unit 502, a drive module 503, a power module 504, a track limit module 505, a suspension arm 506, a bearing 507, a plurality of cameras 508, a plurality of obstacle avoidance modules 509, a plurality of lighting equipment 510, a front-end limit module 511, a rear-end limit module 512, and an automatic charging receiving terminal 513; The trolley chassis 501 is used to provide support for the components of the inventory counting device 5; The central processing unit 502 is used to send movement, stop, and inventory instructions to the inventory device 5, perform inventory and positioning operations on the collected data, and send the calculated inventory information and positioning information to the server end; The driving module 503 is used to provide operating power to the inventory counting device 5; The power module 504 is used to provide power to the inventory counting device 5; The track limiting module 505 includes a plurality of limiting wheels, and the limiting wheels are used to control the movement track of the inventory counting device 5; The suspension arm 506 is used to provide support and installation for a number of cameras 508, a number of obstacle avoidance modules 509, and a number of lighting equipment 510; The suspension arm 506 is mounted on the trolley chassis 501 through the bearing 507; The camera 508 is used to collect images required for inventory of books 102; The obstacle avoidance module 509 is used to sense in real time whether there is an obstacle in the direction of travel. When an obstacle is sensed, the central processing unit 502 sends a stop instruction to the inventory device 5; The lighting equipment 510 is used to provide supplementary light to the shooting environment; When the front-end limit module 511 triggers the inventory stop plate 207, it sends a command to the central processing unit 502, and the central processing unit 502 stops the inventory and controls the driving module 503 to drive the inventory device 5 to move backward; When the rear-end limiting module 512 reaches the transmitting-end bracket 202, it sends a command to the central processing unit 502, and the central processing unit 502 controls the inventory device 5 to stop moving and start charging, and uploads the inventory information and positioning information to the server; The automatic charging receiving end 513 is used to receive the power transmitted from the automatic charging transmitting end 201 to charge the power module 504 .

[0020] In this embodiment, the bookshelf positioning device 3 further includes a bookshelf positioning plate 302 , and the bookshelf positioning plate 302 is used to provide support for the bookshelf information tag 301 .

[0021] In this embodiment, the book limiting device 4 includes a plurality of book limiting strips, which are used to keep the spine side of the book 102 and the bookshelf positioning plate 302 side substantially in the same plane.

[0022] The working principle of the computer vision-based track-based book inventory system of the present invention is as follows: Before the inventory is started, the inventory device 5 is parked at the position of the automatic charging transmitter 201; an inventory command is sent to the central processing unit 502; after receiving the inventory command, the central processing unit 502 controls the camera 508 and the lighting equipment 510 to turn on, and controls the driving module 503 to drive forward; during the driving process, multiple cameras 508 collect videos, the central processing unit 502 processes the images collected by all cameras 508, starts the inventory operation, and saves the acquired information; if the obstacle avoidance module 509 senses that there are obstacles around during the driving process, the central processing unit 502 stops the driving module 503 from working until the obstacle is removed, and the driving module 503 resumes working; When the front-end limit module 511 on the inventory counting device 5 contacts the inventory counting stop plate 207, the central processing unit 502 stops the inventory counting operation, saves the inventory counting data, controls the driving module 503 to go back, and starts the positioning operation; if the obstacle avoidance module 509 senses an obstacle in the surrounding during the movement, the central processing unit 502 stops the driving module 503 from working until the obstacle is removed and the driving module 503 resumes working; When the rear-end limiting module 512 on the inventory counting device 5 contacts the transmitting end bracket 202, the central processing unit 502 stops the positioning operation, saves the positioning data, and controls the driving module 503 to stop working; the saved inventory and positioning information is sent to the server via the wireless network; after sending the data, the central processing unit 502 controls the inventory counting device 5 to standby.

[0023] After receiving the inventory and positioning data, the server compares it with the existing database and displays it in the display module in the form of inventory results, positioning results, misplacement results, and comprehensive management results.

[0024] The present invention also provides a computer vision-based track-based book inventory method, comprising the following steps: Step 1, providing an improved barcode label 103 and a bookshelf information label 301, and setting an improved barcode label 103 containing corresponding information on the spine side of each book 102, and setting a bookshelf information label 301 in each bookshelf frame 101; Step 2, providing a server side, establishing a database containing book information of all books 102 in the server side, and mapping the improved barcode label 103 information on each book 102 to the corresponding book information in the database one-to-one; Step 3, providing an inventory device 5 and a track device 2, establishing a signal connection between the inventory device 5 and the server end, installing the inventory device 5 on the track device 2, installing the track device 2 on the bookshelf 1, placing a number of books 102 in the bookshelf 1 and making the improved barcode labels 103 and the bookshelf information labels 301 of all the books 102 in the same plane; Step 4, controlling the inventory device 5 to move forward on the track device 2, collecting spine side images of all books 102 through the inventory device 5, obtaining each frame of the image, recording frame information, finding the outer frame of the improved barcode label 103 and the bookshelf information label 301, placing the outer frame horizontally along the long side, and obtaining the position information, decoding information, and time information of the improved barcode label 103 through calculation. If the bookshelf information label 301 exists in the frame, the position information and decoding information of the bookshelf information label 301 are obtained by calculation, and the inventory information obtained by calculation is recorded; Step 5, when the inventory counting device 5 moves to the end point of the track device 2, the inventory counting device 5 is controlled to move backward on the track device 2, the relative position of the bookshelf information tag 301 and each book 102 is calculated, and the positioning information is recorded until the inventory counting device 5 returns to the starting point of the track device 2; Step 6: charging the inventory counting device 5, and the inventory counting device 5 sends the inventory counting information and positioning information to the server.

[0025] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and improved concepts of the present invention within the technical scope disclosed by the present invention, and they should be covered by the protection scope of the present invention.

Claims

1. A computer vision-based track-based book inventory system, characterized in that: include: Bookshelf (1), track device (2), bookshelf positioning device (3), book limiting device (4), inventory device (5), server end; The bookshelf (1) is provided with a plurality of bookshelf frames (101), and a plurality of books (102) are arranged in the bookshelf frames (101); the books (102) are placed with their spines facing outwards and an improved barcode label (103) containing corresponding information is attached to the spine; The track device (2) is installed on the top of the bookshelf (1) and is used to charge the inventory device (5); The bookshelf positioning device (3) is installed in each bookshelf frame (101) and is used to provide a bookshelf information label (301) containing corresponding information; The book limiting device (4) is installed on the edge of each bookshelf frame (101) and is used to ensure that all improved barcode labels (103) in the same bookshelf frame (101) are located in the same plane as the bookshelf information label (301); The inventory counting device (5) is capable of traveling back and forth on the track device (2) to acquire images and identify the improved barcode labels (103) and the bookshelf information labels (301), calculate and obtain inventory counting information and positioning information, and upload the inventory counting information and positioning information to a server; The server side includes a display module, and the display module is used to display the inventory result.

2. According to the computer vision-based track-based book inventory system of claim 1, it is characterized in that: The track device (2) comprises: an automatic charging transmitter (201), a transmitter bracket (202), a plurality of anti-derailment splicable straight tracks (203), an anti-derailment splicable curved tracks (204), a plurality of straight track and straight track connection bases (205), a straight track and curved track connection base (206), and an inventory stop plate (207); The automatic charging transmitting end (201) is connected to the inventory counting device (5) and is used to charge the inventory counting device (5); The transmitting end bracket (202) is supported below the automatic charging transmitting end (201); The plurality of anti-derailment splicable straight roads (203) and anti-derailment splicable curved roads (204) are connected in sequence to form a track for the inventory device (5) to travel; the starting point of the track is connected to the automatic charging transmitter (201); the straight road and straight road connection base (205) is supported below the anti-derailment splicable straight road (203); the straight road and curved road connection base (206) is supported below the anti-derailment splicable curved road (204); The inventory stop plate (207) is arranged at the end point of the track and is used to stop the activity of the inventory device (5).

3. According to the computer vision-based track-based book inventory system of claim 2, it is characterized in that: The inventory device (5) comprises: a trolley chassis (501), a central processing unit (502), a drive module (503), a power module (504), a track limit module (505), a suspension arm (506), a bearing (507), a plurality of cameras (508), a plurality of obstacle avoidance modules (509), a plurality of lighting equipment (510), a front-end limit module (511), a rear-end limit module (512), and an automatic charging receiving terminal (513); The trolley chassis (501) is used to provide support for components of the inventory counting device (5); The central processing unit (502) is used to send movement, stop, and inventory instructions to the inventory counting device (5), perform inventory counting and positioning operations on the collected data, and send the calculated inventory counting information and positioning information to the server end; The driving module (503) is used to provide operating power to the inventory counting device (5); The power module (504) is used to provide power to the inventory counting device (5); The track limiting module (505) comprises a plurality of limiting wheels, wherein the limiting wheels are used to control the movement track of the inventory counting device (5); The suspension arm (506) is used to provide support and installation for a plurality of cameras (508), a plurality of obstacle avoidance modules (509), and a plurality of lighting equipment (510); The suspension arm (506) is mounted on the trolley chassis (501) via the bearing (507); The camera (508) is used to collect images required for inventorying of books (102); The obstacle avoidance module (509) is used to sense in real time whether there is an obstacle in the direction of travel, and when an obstacle is sensed, the central processing unit (502) sends a stop instruction to the inventory counting device (5); The lighting equipment (510) is used to provide supplementary light for the shooting environment; When the front-end limit module (511) triggers the inventory stop plate (207), it sends a command to the central processing unit (502), and the central processing unit (502) stops the inventory and controls the driving module (503) to drive the inventory device (5) to move backward; When the rear-end limiting module (512) reaches the transmitting-end bracket (202), an instruction is sent to the central processing unit (502), and the central processing unit (502) controls the inventory device (5) to stop moving and start charging, and uploads the inventory information and positioning information to the server; The automatic charging receiving end (513) is used to receive the power transmitted by the automatic charging transmitting end (201) to charge the power module (504).

4. The computer vision-based track-based book inventory system according to claim 1, characterized in that: The bookshelf positioning device (3) further comprises a bookshelf positioning plate (302), wherein the bookshelf positioning plate (302) is used to provide support for the bookshelf information label (301).

5. The computer vision-based track-based book inventory system according to claim 1, characterized in that: The book limiting device (4) comprises a plurality of book limiting strips, which are used to keep the spine side of the book (102) and the bookshelf positioning plate (302) side substantially in the same plane.

6. A computer vision-based tracked book inventory method, characterized in that: The following steps are involved: Step 1, providing an improved barcode label (103) and a bookshelf information label (301), and setting an improved barcode label (103) containing corresponding information on the spine side of each book (102), and setting a bookshelf information label (301) in each bookshelf frame (101); Step 2, providing a server side, establishing a database containing book information of all books (102) in the server side, and mapping the improved barcode label (103) information on each book (102) to the corresponding book information in the database in a one-to-one manner; Step 3, providing an inventory device (5) and a track device (2), establishing a signal connection between the inventory device (5) and the server end, installing the inventory device (5) on the track device (2), installing the track device (2) on a bookshelf (1), placing a plurality of books (102) in the bookshelf (1) and making the improved barcode labels (103) and bookshelf information labels (301) of all the books (102) be in the same plane; Step 4, controlling the inventory counting device (5) to move forward on the track device (2), collecting spine side images of all books (102) through the inventory counting device (5), acquiring each frame of the image, recording frame information, finding the outer frame of the improved barcode label (103) and the bookshelf information label (301), placing the outer frame horizontally along the long side, and obtaining the position information, decoding information, and time information of the improved barcode label (103) through calculation. If the bookshelf information label (301) exists in the frame, the position information and decoding information of the bookshelf information label (301) are also calculated, and the calculated inventory information is recorded; Step 5, when the inventory counting device (5) moves to the end point of the track device (2), the inventory counting device (5) is controlled to move backward on the track device (2), the relative position of the bookshelf information tag (301) and each book (102) is calculated, and the positioning information is recorded until the inventory counting device (5) returns to the starting point of the track device (2); Step 6: charging the inventory counting device (5), and the inventory counting device (5) sends the inventory counting information to the server.

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