CN106971330A - A kind of intelligent shopping guide shopping cart system - Google Patents
A kind of intelligent shopping guide shopping cart system Download PDFInfo
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- CN106971330A CN106971330A CN201710135957.0A CN201710135957A CN106971330A CN 106971330 A CN106971330 A CN 106971330A CN 201710135957 A CN201710135957 A CN 201710135957A CN 106971330 A CN106971330 A CN 106971330A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q30/00—Commerce
- G06Q30/06—Buying, selling or leasing transactions
- G06Q30/0601—Electronic shopping [e-shopping]
- G06Q30/0639—Item locations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0096—Identification of the cart or merchandise, e.g. by barcodes or radio frequency identification [RFID]
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q30/00—Commerce
- G06Q30/06—Buying, selling or leasing transactions
- G06Q30/0601—Electronic shopping [e-shopping]
- G06Q30/0641—Shopping interfaces
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Abstract
The invention discloses a kind of intelligent shopping guide shopping cart system, including：Shopping cart carrier, is arranged on steric environment sensing module, camera, main control module, intelligent identification module, display screen on shopping cart carrier；Steric environment sensing module, the steric environment real time distance for monitoring this shopping cart peripheral obstacle, and real time distance information is sent to master control system；Camera, characteristics of human body's information for gathering the user using the shopping cart；Intelligent identification module, for recognizing that user is put into the merchandise news of shopping cart；Main control module, shopping clearing are controlled and provide with paying for carrying out model- following control, shopping guide to shopping cart；Display screen, for providing people's car mutual interface.The system makes the car of shopper one in hand, you can enjoy shopping cart intelligent shopping guide, independently follow, the intelligent Service such as payment on line, the problems such as commodity difficulty for solving market is sought, crowded, human cost of settling accounts is big, bar code is antitheft weak.
Description
Technical field
The present invention relates to field of artificial intelligence, more particularly to a kind of intelligent shopping guide shopping cart system.
Background technology
At present the country market mostly use traditional shopping way with bar code scan checkout mode, type of merchandize it is numerous
Miscellaneous, shopping peak period crowded and traditional barcode scanning checkout the cumbersome of mode wastes substantial amounts of manpower and materials, greatly reduces Gu
Objective satisfaction, adds the manpower expenditure of businessman, businessman's interests has been lost；It is increasing with market scale, it is a feast for the eyes
Goods make shopper find commodity when take time and effort；Current market is mostly antitheft using the incidental bar code of commodity, antitheft
Effect is poor.At present, there are some intelligent shopping trolleys in the market, but most of intelligent shopping trolley functions are single, are only limitted to self-service buy
This single function, and the barcode scanning gun controlled oneself on shopping cart voluntarily items scanning is also needed when checking, flow is numerous and diverse, fails to user
More convenience is provided, Consumer's Experience is poor, and expensive, be difficult to be received by consumer and businessman.
Therefore, current market is primarily present following problem：
Commodity difficulty is sought, and is taken time and effort；Queue time is long during checkout；Commodity anti-theft is weak；The manpower and materials expenditure of businessman
It is larger.
The content of the invention
The technical problem to be solved in the present invention is that there is provided a kind of intelligent shopping guide shopping cart for defect of the prior art
System.
The technical solution adopted for the present invention to solve the technical problems is：A kind of intelligent shopping guide shopping cart system, including：Purchase
The vehicle-mounted body of thing, is arranged on steric environment sensing module on shopping cart carrier, camera, main control module, intelligent identification module, aobvious
Display screen；
Steric environment sensing module, the steric environment real time distance for monitoring this shopping cart peripheral obstacle, and will be real
When ranging information send to master control system；The steric environment sensing module includes sensor group, each sensor group by
One ultrasonic distance-measuring sensor and an infrared distance sensor composition；
The camera, for gathering characteristics of human body's information of the user using the shopping cart, and sends information to master
Control system；
Intelligent identification module, for recognizing that user is put into the merchandise news of shopping cart；The intelligent identification module is penetrated by NFC
Frequency identification module and NFC electronic tags composition, the NFC label for having merchandise news of recording are placed with corresponding goods；
Main control module, carries out model- following control, shopping guide to shopping cart for the demand according to user and controls and provide shopping knot
Calculate with paying；
Display screen, for providing people's car mutual interface.
By such scheme, the main control module includes model- following control device, shopping guide's control device and clearing and payment mechanism；
The model- following control device, characteristics of human body's information for being gathered according to camera accurately identifies and locked user,
When user independently does shopping, the processing that information is obtained to camera is realized by the built-in algorithm extracted based on image and behavior
And extraction, control the traveling of this shopping cart, driving shopping cart follows user closely thereafter, it is at any time etc. to be used；
Shopping guide's control device, for when user needs shopping guide, needed for receiving user's input from display screen
Merchandise news, obtains path planning, according to rule by built-in SLAM-M map constructing methods and PM optimum path planning algorithms
Drawing path leads user to reach specified product locations；
The clearing and payment mechanism, for merchandise news formation shopping in the shopping cart that is obtained according to intelligent identification module
Inventory is simultaneously shown on a display screen, and when user confirms that shopping terminates, payment services are provided the user by the interface of display screen.
By such scheme, the shopping cart carrier includes：Shopping basket, rotary electric machine, power supply, motor driver；
The shopping basket is used to load the commodity placed with NFC label；The rotary electric machine is used to provide power for shopping cart motion；
The power supply is used to power to shopping cart system；The motor driver is used to drive rotary electric machine to work.
By such scheme, the shopping cart carrier is set to cylinder.
By such scheme, the steric environment sensing module is placed in shopping cart chassis edge, is enclosed around chassis arrangement one,
Each steric environment sensing module is at a distance of 6 to 10cm.
By such scheme, the steric environment sensing module is handled as follows according to steric environment real time distance：
Alarm is sent as distance of obstacle≤5cm；
When distance of obstacle is in the range of 5 to 60cm, steric environment sensing module sends data to main control module；
As distance of obstacle ＞ 60cm, it is considered as safe distance, does not process.
The beneficial effect comprise that：The commodity difficulty that present system solves market seeks, settle accounts crowded, manpower into
The problems such as this is big, bar code is antitheft weak；User can line experience commodity, service is enjoyed on line, open brand-new purchase experiences.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is the intelligent shopping guide shopping cart system structural representation in the present invention；
Fig. 2 is Intelligent Recognition flow chart in the present invention；
Fig. 3 is the map structuring and PM optimum path planning flow charts in the present invention；
Fig. 4 is the PM optimum path planning algorithms flow charts in the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that specific embodiment described herein is not used to limit only to explain the present invention
The fixed present invention.
Specific embodiment
Fig. 1 is the structural representation of the intelligent shopping guide shopping cart system in the present invention.Including：Shopping cart carrier, camera
2nd, rotary electric machine 3, power supply 4, intelligent identification module 9, three-dimensional sensing module 5, motor driving 6 and 7, main control module 8, display
Screen 10.
The intelligent identification module of the system：It is made up of NFC radio frequency identification modules and NFC electronic tags, there will be business with record
The NFC label of product information is placed with to corresponding goods, when commodity are put into intelligent shopping trolley by user, the NFC in shopping cart
Radio frequency identification module meeting automatically scanning NFC label, obtains the merchandise news in label and is sent in master control system, in display
Upper display of commodity information, generates shopping list, if there is commodity of not settling accounts to leave shopping cart, shopping list can be automatically updated；With
After the checkout of family, all commodity corresponding labels of having checked will be inactivated automatically in shopping cart.
Fig. 2 is the intelligent identification module commodity identification process figure described in the system.By master control system to NFC RF tags
40505W-M control chips in read write line carry out data write-in, control the reading frequency and read range of read write line.There is business
When product enter shopping cart, NFC reader reads the NFC label on commodity, and label data is sent into main system, updates display screen
Upper shopping list；When NFC reader, which has detected commodity of not settling accounts, leaves shopping cart, shopping list is deleted to main system prompting
Upper dependent merchandise；After user's checkout, system control NFC reader is automatic to inactivate all NFC labels in shopping cart.Pass through the stream
Journey, provides the user most convenient, most to please purchase experiences.
The three-dimensional sensory perceptual system of the system is used to monitoring the steric environment of this shopping cart peripheral obstacle, and by real time environment
Information is sent to master control system；
Steric environment sensing module is made up of ultrasonic distance-measuring sensor and infrared distance sensor, this shopping cart overall situation cloth
There are 18 steric environment sensing modules, front and rear each 4, each 5 of left and right, each module is at a distance of 6-10cm, each two range finder module
For one group.Alarm is sent as distance of obstacle≤5cm, when distance of obstacle is in the range of 5-60cm, this steric environment perceives mould
Block sends data to master control system, as distance of obstacle ＞ 60cm, is considered as safe distance, does not process.Pass through steric environment
Sensory perceptual system can monitor various steric hindrance things around shopping cart, it is to avoid be done shopping by highly too low passage and step etc.
The region that car can not be run.
Main control module includes model- following control device, shopping guide's control device and clearing and payment mechanism；
Model- following control device, characteristics of human body's information for being gathered according to camera accurately identifies and locked user, with
When family is independently done shopping, realized by the built-in algorithm extracted based on image and behavior and the processing of information is obtained to camera and is carried
Take, control the traveling of this shopping cart, driving shopping cart follows user closely thereafter, it is at any time etc. to be used；
Shopping guide's control device, is positioned and is constituted with map structuring technology and PM optimum path planning algorithms immediately by SLAM-M.
After finding merchandise news needed for user's input, system quickly positions self-position and required using SLAM-M map structurings technology
Product locations, optimal path is efficiently cooked up by PMPM optimum path planning algorithms, sends routing information to master control system
System, enable shopping cart autonomous zone is received family and arrived at.
By SLAM-M technologies, intelligent shopping trolley carries out self poisoning in moving process according to location estimation and map,
Increment type map is built on the basis of self poisoning simultaneously, autonomous positioning and the navigation of shopping cart are realized, in SLAM-M maps
On constructing technology, using the autonomous path planning algorithms of PM, by analyzing merchandise news and the current location progress pair that user inputs
Than, the optimal path of shopping guide's product locations and current location needed for cooking up, by shopping cart decision system by the optimal path
Realized on shopping cart.
Fig. 3 is the SLAM-M map structurings algorithm and PM optimum path planning algorithms implementation processs of the system independent research
Figure.To complete shopping guide's function, shopping cart system come with environment where shopping cart map data base and with it is genuinely convinced in backstage
The GPRS wireless communication modules of business device interaction.After navigation merchandise news needed for obtaining, shopping cart system is according to car body institute's band ground
Chart database quickly positions current position, is uploaded own location information and navigation merchandise news by GPRS wireless communication modules
To backstage central server, backstage central server quickly cooks up optimal path by PM optimum path planning algorithms, warp
GPRS wireless communication modules pass the optimal path data calculated back shopping cart system, control to purchase by shopping cart decision system
Thing car carries out independent navigation with regard to optimal path.
Fig. 4 is the PM optimum path planning algorithms flow charts of the system.Shopping cart obtains environmental map from cloud server,
It is determined that behind shopping cart starting point and end article position, using shopping cart starting point as the origin of coordinates, starting point and target point
Line is x-axis, and vertical line is made with x-axis for y-axis at the origin of coordinates, and shopping cart movement starting point is start, and target point is end, purchase
Mobile route of the thing car in environmental map is represented by what starting point, target point and the middle n path point passed through were constituted
Set:P={ start, p0, p1 ..., pn, end }, piFor the path point of shopping cart, each path point is moved comprising shopping cart
Transverse and longitudinal coordinate information.The each movement of shopping cart can be determined by step-length and with the angle moved every time in the present invention, Yi Zonglu
It is object function that footpath is most short, is iterated optimizing using genetic algorithm, obtains final path.
Clearing and payment mechanism, for merchandise news formation shopping list in the shopping cart that is obtained according to intelligent identification module
And show on a display screen, when user confirms that shopping terminates, payment services are provided the user by the interface of display screen.
The shopping cart carrier of the system is provided in round, radius 45cm；Laterally two tools are fixed with below shopping cart carrier
There are the bilateral axle brushless hub electric motor of shock-proof spring, two tire (driving wheel) diameter 100mm, at a distance of 68.5cm.Shopping is vehicle-mounted
Longitudinally fixed below body to have two high-tension rubber universal wheels (driven pulley), two universal wheel specifications are 4 cun, at a distance of 68.5cm.
Shopping cart carrier is used to load the commodity placed with NFC label provided with shopping basket；
The camera of the system is used for image information collecting, and sends information to master control system；Shopping cart passes through shooting
Collection of the head to characteristics of human body accurately identifies and positioned user, when user independently does shopping, followed by shopping cart, waits at any time
Use, when user needs shopping guide, required merchandise news can be inputted on a display screen, shopping cart passes through SLAM-M map structuring skills
Art and PM optimum path planning algorithms, autonomous zone receive family and reach specified product locations；There are commodity of not checking to enter or leaving
During shopping cart, shopping cart obtains merchandise news and on a display screen real-time update shopping list by NFC intelligent identification modules, when
Shopping terminates, and user can pay on shopping cart on a key line.
The camera of the present embodiment has 5,000,000 valid pixels, is recorded with 60i 2 times of information content, capture rate is 60
Frame/S.Video camera described in the system uses CCD imager part, completes optical imagery and is converted to electrical signal, exports electronic chart
As signal；AFE(analog front end) AFE described in the system, when being imaged for CCD, ccd image signal is digitized, and produces CCD controls
Sequential processed；The CPU in camera described in the system is whole high-definition camera core devices, and it is mainly completed at picture signal
Reason and picture signal encoding and decoding；High-definition digital multimedia interface USB described in the system is supported as signal transmission interface
More than 5Gpbs high speed transmission of signals speed；Memory interface described in the system is mainly used in connection and refers to the data such as storage card/hard disk
Storage device.
The rotary electric machine of the system is used to provide power for shopping cart motion；The motor device of the present embodiment chooses 4 cun pairs
Side axle brushless hub electric motor, maximum (top) speed is 1500rpm, and rated power is 150W.Pass through the brushless electricity below shopping cart carrier
Machine controller drives, and driver carries out speed control using STM32 chips by PWM ripples, and driver maximum output current is reachable
15A, can be achieved at the uniform velocity and uniformly accelerated motion, using band type brake apparatus control shopping cart to slow down with stopping, motor-drive circuit passes through
CAN communicates with external system and master control system, and instruction renewal speed is per second up to 100 so that master control system is controlled
System and understanding motor operation situation.
The power supply of the system is used to power to shopping cart system modules；The present embodiment uses lithium battery power supply,
System is 190mm*170mm*70mm using lithium battery specification, and voltage capacity is 24V/20AH, and discharge capability reaches 5C.Input power
It is that single-chip microcomputer and its peripheral components are powered to produce 5V power supplys by TPS54340 switch bucks chip, and it is display to produce 12V power supplys
Screen and host supplying power, current output capability reach 4.5A.
The motor of the system is driven for driving rotary electric machine to work；
The mainboard of the system is used for the main control module for loading a whole set of shopping cart.The system uses Z170X serial system mainboards,
Size is 30.5 × 23.5cm；Intel Z170 chipsets built in the system board；CPU is Pentium G4500；Memory size is
8GB 2133MHz internal memories；Hard-disk capacity is 500GB；Peripheral hardware USB3.0 interfaces are realized to be led to wireless communication module, camera
Letter；Peripheral hardware VGA port is communicated with touch display screen；ROS systems built in the system board；The system board is total by CAN
Wire module realizes the communication with modules.
Display screen described in the system is used to provide people's car mutual interface.
It should be appreciated that for those of ordinary skills, can according to the above description be improved or converted,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (6)
1. a kind of intelligent shopping guide shopping cart system, it is characterised in that including：Shopping cart carrier, is arranged on shopping cart carrier
Steric environment sensing module, camera, main control module, intelligent identification module, display screen；
The steric environment sensing module, the steric environment real time distance for monitoring this shopping cart peripheral obstacle, and will be real
When ranging information send to master control system；The steric environment sensing module includes sensor group, each sensor group by
One ultrasonic distance-measuring sensor and an infrared distance sensor composition；
The camera, for gathering characteristics of human body's information of the user using the shopping cart, and sends information to master control system
System；
The intelligent identification module, for recognizing that user is put into the merchandise news of shopping cart；The intelligent identification module is penetrated by NFC
Frequency identification module and NFC electronic tags composition, the NFC label for having merchandise news of recording are placed with corresponding goods；
The main control module, carries out model- following control, shopping guide to shopping cart for the demand according to user and controls and provide shopping knot
Calculate with paying；
Display screen, for providing people's car mutual interface.
2. intelligent shopping guide shopping cart system according to claim 1, it is characterised in that the main control module includes following control
Device processed, shopping guide's control device and clearing and payment mechanism；
The model- following control device, characteristics of human body's information for being gathered according to camera accurately identifies and locked user, with
When family is independently done shopping, realized by the built-in algorithm extracted based on image and behavior and the processing of information is obtained to camera and is carried
Take, control the traveling of this shopping cart, driving shopping cart follows user closely thereafter, it is at any time etc. to be used；
Shopping guide's control device, for when user needs shopping guide, by receiving the required commodity that user inputs from display screen
Information, path planning is obtained by built-in SLAM-M map constructing methods and PM optimum path planning algorithms, according to planning road
Footpath leads user to reach and specifies product locations；
The clearing and payment mechanism, for merchandise news formation shopping list in the shopping cart that is obtained according to intelligent identification module
And show on a display screen, when user confirms that shopping terminates, payment services are provided the user by the interface of display screen.
3. intelligent shopping guide shopping cart system according to claim 1, it is characterised in that the shopping cart carrier includes：Purchase
Thing basket, rotary electric machine, power supply, motor driver；The shopping basket is used to load the commodity placed with NFC label；
The rotary electric machine is used to provide power for shopping cart motion；The power supply is used to power to shopping cart system；The electricity
Machine actuating device is used to drive rotary electric machine to work.
4. intelligent shopping guide shopping cart system according to claim 1, it is characterised in that the shopping cart carrier is set to circle
Cylindricality.
5. intelligent shopping guide shopping cart system according to claim 1, it is characterised in that the steric environment sensing module into
Ring-type is arranged on shopping cart carrier inner circumferential, and each steric environment sensing module is at a distance of 6 to 10cm.
6. intelligent shopping guide shopping cart system according to claim 1, it is characterised in that the steric environment sensing module root
It is handled as follows according to steric environment real time distance：
Alarm is sent as distance of obstacle≤5cm；
When distance of obstacle is in the range of 5 to 60cm, steric environment sensing module sends data to main control module；
As distance of obstacle ＞ 60cm, it is considered as safe distance, does not process.
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