CN108356789A - supermarket shopping intelligent robot - Google Patents
supermarket shopping intelligent robot Download PDFInfo
- Publication number
- CN108356789A CN108356789A CN201810242100.3A CN201810242100A CN108356789A CN 108356789 A CN108356789 A CN 108356789A CN 201810242100 A CN201810242100 A CN 201810242100A CN 108356789 A CN108356789 A CN 108356789A
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- 238000004891 communication Methods 0.000 claims abstract description 34
- 230000003993 interaction Effects 0.000 claims description 29
- 230000001133 acceleration Effects 0.000 claims description 10
- 230000002452 interceptive effect Effects 0.000 claims description 9
- 238000005303 weighing Methods 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 8
- 230000004888 barrier function Effects 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 5
- 230000008054 signal transmission Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims 1
- 238000002604 ultrasonography Methods 0.000 claims 1
- 239000002184 metal Substances 0.000 description 10
- 229910052751 metal Inorganic materials 0.000 description 10
- 238000010586 diagram Methods 0.000 description 5
- 230000005484 gravity Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of supermarket shopping intelligent robots,Including robot body and control system,Robot body includes columnar fuselage,It is set to the traveling wheel at fuselage both ends,Travel driving system for driving traveling wheel to rotate,The babinet being set in fuselage for installing commodity and the case lid for closed box,Control system includes power module,Wireless communication module,Self-balancing module,Self-positioning module,Identification module,Obstacle avoidance module and controller,Robot body makes robot body keep balance by self-balancing module,Module and supermarket's central server wireless telecommunications by radio communication,Device is interacted by self-positioning module with identification module and hand-held to match,Realize the dynamic tracing between robot and user,The commodity chosen are placed in the babinet of robot body by user,Robot body installs the commodity chosen and independently user is followed to walk,To make shopper liberate both hands,Substantially improve the shopping experience of shopper.
Description
Technical field
The present invention relates to robot field, specially a kind of supermarket shopping intelligent robot.
Background technology
Nowadays supermarket shopping has become the indispensable activity of men and women, old and young's life, and supermarket's commodity are resourceful, and type is various, than
The shopping at network that can't see entity is acted, people are still keen to enjoy dazzling entity shelf on one side, choose oneself on one side
The commodity liked.So during choosing, people are unwilling that two portable full things bear a heavy burden appreciation heavyly certainly,
And traditional shopping cart although solve the problems, such as without portable commodity this, but shopping cart very large in tow is nor people are favorite
Thing, certain people do not like queuing checkout yet.
Therefore in the epoch increasingly risen in people's quality of life, need one kind that can install commodity autonomous, to make
Shopper liberates the supermarket shopping intelligent robot of both hands.
Invention content
In view of this, the purpose of the present invention is overcoming the deficiencies of existing technologies, the autonomous row of commodity can be installed by providing one kind
It walks, to make shopper liberate the supermarket shopping intelligent robot of both hands.
A kind of supermarket shopping intelligent robot disclosed by the invention, including robot body and for controlling robot body
The control system of action, the robot body include columnar fuselage, are set to traveling wheel and the institute at the fuselage both ends
Control system electrical connection is stated for driving the travel driving system of traveling wheel rotation, being set in the fuselage for installing commodity
Babinet and case lid for closed box.
Further, the control system includes power module, wireless communication module, self-balancing module, self-positioning module, body
Part identification module, obstacle avoidance module and controller；
The power module is to wireless communication module, self-balancing module, self-positioning module, identification module, avoidance mould
Block and controller power supply, module is connect the controller with supermarket central server communication by radio communication, the self-balancing
The robot body dip angle signal and angular velocity signal that detect are sent to controller and carry out calculation process, the control by module
Device is communicated to connect with self-positioning module and identification module respectively, and the obstacle avoidance module is by the barrier detected and robot
Between relative position information be sent to supermarket's central server.
Further, the travel driving system includes the gear ring for being coaxially fixed on the traveling wheel inner circle and the gear ring
Meshed gears and stepper motor for driving gear rotation, the controller control stepper motor and power module it
Between electrical break-make.
Further, the robot self-balancing module includes acceleration transducer, gyroscope and is set under the fuselage
The linear acceleration signals of the robot fuselage detected are sent to controller by the balance weight in portion, the acceleration transducer, institute
It states gyroscope and the angular velocity signal of the robot fuselage detected is sent to controller.
Further, the self-positioning module includes being set to the UWB positioning labels of robot top of the box and being arranged super
On each shelf in city for read UWB positioning label information UWB sensors, the UWB sensors respectively with robot body
Controller and supermarket's central server between communicate to connect, the power module to UWB position it is tag-powered.
Further, the identification module includes：RFID card and the first RFID Card Readers for reading RFID card information
Device, first RFID card reader are communicated to connect with controller.
Further, the outer circular top part of the fuselage is equipped with the shell covered for the top to fuselage and traveling wheel, institute
It states shell position corresponding with babinet and is equipped with opening, the case lid is articulated with the shell；
It is provided with the socket being inserted into for RFID card on the fuselage outer side wall, is provided in the socket for controlling machine
The switch that people starts.
Further, supermarket shopping intelligent robot further includes interacting device with the matching used hand-held of robot body, institute
Hand-held interaction device is stated to include user's locating module, touch screen interactive interface, call robot button, hand held controller, communication mould
Block and commodity code reader, the hand held controller respectively with touch screen interactive interface, call robot button and commodity code reader
Connection, user's locating module and hand held controller communicate to connect, the hand held controller by communication module respectively with machine
The controller of device human body is connected with supermarket central server；
Hand-held interaction device further includes the second RFID reader for reading RFID card information, second RFID read-write
Device is communicated to connect with hand held controller；
Hand-held interaction device surface is provided with RFID card socket, and second RFID reader is located at inserting for hand-held interaction device
Mouth position.
Further, the robot obstacle-avoiding module includes being set to the human infrared sensor of robot body and surpassing
Sonic sensor, the human infrared sensor and ultrasonic sensor send signal to controller in real time.
Further, the bottom of box is provided with the resistance-strain type weighing and sensing that Item Weight is born for detecting babinet
Device, the resistance strain weighing transducer is by the box weight signal transmission detected to controller.
The beneficial effects of the invention are as follows：The supermarket shopping intelligent robot of the present invention, the cylindrical shape fuselage of robot body
In horizontal setting, two traveling wheels are respectively arranged at its both ends, and traveling wheel independently rotates under the driving of travel driving system, from
And it realizes robot body and flexibly walks between supermarket shelves.The babinet for carrying commodity is inserted into robot fuselage, shell peace
On robot body, the wheel on avoidable fuselage damage and contact ground accidentally brushes against user and makes clothes dirty.Robot
Ontology makes robot body keep balancing when walking by self-balancing module, passes through the wireless communication module being integrated on mainboard
It is communicated wirelessly with supermarket central server, the self-positioning module on robot body is equipped with positioning chip and is arranged in supermarket
The sensor of the chip information can be read on each shelf, the location information of robot body is sent to supermarket center by sensor
Server is to realize that the positioning work(function of robot, the identification module being arranged on robot body can be used as robot identity
Verification, can also interact device with hand-held and be matched, and the self-positioning module of robot is coordinated to realize that robot is carried with user
Hand-held interaction device between dynamic tracing, when robot ambulation hides the barrier of surrounding, Yong Huke by obstacle avoidance module
The commodity chosen are placed in the babinet of robot body, robot body installs the commodity chosen and independently follows user's row
It walks, to make shopper liberate both hands, substantially improves the shopping experience of shopper.
Description of the drawings
The invention will be further described with reference to the accompanying drawings and examples：
Fig. 1 is the explosive view of the robot body of the present invention；
Fig. 2 is that the hand-held of the present invention interacts the front view of device；
Fig. 3 is that the hand-held of the present invention interacts the vertical view of device；
Fig. 4 is the front view of the fuselage of the robot body of the present invention；
Fig. 5 is A-A sectional views in Fig. 3；
Fig. 6 is C-C sectional views in Fig. 3；
Fig. 7 is the structural schematic diagram of the traveling wheel of the robot body of the present invention；
Fig. 8 is the functional block diagram of the robot of the present invention；
Fig. 9 is the box house schematic diagram of the present invention；
Figure 10 is the electrical schematic diagram of the robot RFID card spigot switch of the present invention.
Specific implementation mode
Fig. 1 is the structural diagram of the present invention, as shown, a kind of supermarket shopping intelligent robot of the present embodiment, packet
Robot body and control system are included, robot body includes columnar fuselage 10, is set to the traveling wheel at 10 both ends of fuselage
2, it is electrically connected with control system for driving the travel driving system of the rotation of traveling wheel 2, being set in fuselage 10 for installing quotient
The babinet 3 of product and case lid 6 for closed box 3.The supermarket shopping intelligent robot of the present embodiment, the circle of robot body
Tubular fuselage 10 is in horizontal setting, and two traveling wheels 2 are respectively arranged at its both ends, driving of the traveling wheel 2 in travel driving system
Lower independent rotation, to realize that robot body is flexibly walked between supermarket shelves.The babinet 3 for carrying commodity is inserted into robot
In fuselage 10, shell 5 is mounted on robot body, and the wheel that can avoid fuselage damage and contact ground accidentally brushes against user lane
Soiled clothes.The commodity chosen are placed in the babinet 3 of robot body by user, and it is autonomous that robot body installs the commodity chosen
It follows user to walk, to make shopper liberate both hands, substantially improves the shopping experience of shopper.
In the present embodiment, control system includes power module, wireless communication module, self-balancing module, self-positioning module, body
Part identification module, obstacle avoidance module and controller, power module is to wireless communication module, self-balancing module, self-positioning module, identity
Identification module, obstacle avoidance module and controller power supply, module is connect controller with supermarket central server communication by radio communication,
The robot body dip angle signal and angular velocity signal that detect are sent to controller and carry out calculation process, control by self-balancing module
Device processed is communicated to connect with self-positioning module and identification module respectively, obstacle avoidance module by the barrier detected and robot it
Between relative position information be sent to supermarket's central server.Robot body makes robot body be expert at by self-balancing module
Balance is kept when walking, and is communicated wirelessly, is passed through with supermarket central server by the wireless communication module that is integrated on mainboard
The location information of robot body is sent to supermarket's central server by self-positioning module, by identification module by robot
Identity information be sent to the controller and supermarket's central server of robot body, can be used as robot authentication, pass through
Relative position information between the barrier detected and robot body is sent to supermarket's central server by obstacle avoidance module, is surpassed
The location information of barrier is carried out storage record by city's central server, and robot command finds the path row of clear
It walks, robot is made to avoid shelter around completely in the process of walking, avoid causing live confusion.
Wireless wifi communication modules and wireless 4G modules can be used in the wireless communication module of robot body in the present embodiment.
In the present embodiment, travel driving system includes the gear ring 13 for being coaxially fixed on 2 inner circle of traveling wheel, is engaged with gear ring 13
Gear 1 and for drive gear 1 rotate stepper motor.10 both ends of columnar fuselage are formed with round boss, traveling wheel 2
It is rotatable outer to be sleeved on the round boss, in fuselage 10 driver box body 8 is equipped with close to bottom position, the two of driver box body 8
Output motor axis is driven by two stepper motors respectively, and two motor shafts respectively drive two gears 1 and rotate, and 10 bottom of fuselage opens up
There are straight slot, gear 1 to may pass through the straight slot and engaged with the gear ring 13 being fixed on traveling wheel 2, and then respectively drives two traveling wheels 2
Rotation.When robot going straight ahead, the operating of two stepping motor synchronous, when robot turns, differential operates, therefore can realize
No-radius is turned, also can be nimbly and freely between complicated shelf.In order to more accurately control the start and stop of stepper motor, can increase
Add PLC controller and carry corresponding stepper motor encoder to control the rotation of motor, i.e., PLC controller is according to stepper motor
Encoder detects the rotating speed of motor to adjust the precision of stepping motor rotor.
In the present embodiment, robot self-balancing module includes acceleration transducer, gyroscope and is set under the fuselage
The linear acceleration signals of the robot fuselage detected are sent to controller, gyroscope by the balance weight in portion, acceleration transducer
The angular velocity signal of the robot fuselage detected is sent to controller.Wherein, it is equipped in robot bottom of box center of gravity
Acceleration transducer and gyroscope are optimum structure, and testing result is more accurate, more conducively the control of fuselage.Controller adds line
Speed signal and angular velocity signal are handled in conjunction with existing algorithm, and control instruction control motor driving is sent to driving motor
Gear 1 acts, and accelerates or slows down to realize that robot keeps balance to control traveling wheel 2, while being set in 10 lower part of fuselage
It is equipped with balance weight, allows robot center of gravity to remain at wheel hereinafter, controller control robot is preferably made to keep itself flat
Weighing apparatus.
In the present embodiment, the self-positioning module includes being set to UWB positioning labels and the setting of robot top of the box
On each shelf of supermarket for read UWB positioning label information UWB sensors, the UWB sensors respectively with robot
It is communicated to connect between the controller and supermarket's central server of ontology, the power module positions tag-powered to UWB.UWB is passed
Be stored with co-ordinate position information known to sensor in sensor, set UWB sensors to locating base station, UWB sensors according to
The time of the information of UWB positioning labels is received to carry out the mixed positioning of arrival time angle A OA and reaching time-difference TDOA
Operation, and the data after operation are sent to supermarket's central server and carry out data processing, general UWB positioning label can be same
When send information to four UWB sensors of surrounding, supermarket's central server is carried out according to the data that four UWB sensors are passed back
Analytic operation obtains the accurate location information of UWB positioning labels, and the location information of UWB positioning labels is stored.In order to
Avoid UWB sensors and supermarket's central server from being likely to occur communication failure and can not data transmission, UWB sensors and robot
It can be also communicatively coupled between the controller of ontology, controller can pass data after the data for obtaining the transmission of UWB sensors
The accurate location information that UWB positions label is obtained after the defeated central server progress calculation process to supermarket.In order to make UWB positioning speed
Degree more rapidly, can set up wireless Mesh netword in supermarket, and Ubisense7000 cooperations can be used in active location label
Ubisense sensors simultaneously carry the prior art and can be achieved with UWB wireless location technologies.
In the present embodiment, identification module includes RFID card and the first RFID Card Readers for reading RFID card information
Device, first RFID card reader are communicated to connect with controller.Passive RFID electronic label can be used in RFID card, and can be with machine
The separated use of people.First RFID reader sends out radiofrequency signal to RFID card, and RFID card obtains energy and is activated, and first
RFID reader reads the information such as the robot identity coding on RFID card and sends to robot controller, robot controller
By the information comparison of information and controller itself storage on the RFID card received, RFID card is with robot if information is identical
Mating, RFID card is not matched with robot if information differs, and robot can send out alarm, reminds related personnel in time more
Correct card is changed, is avoided because more robots because being equipped with the identical RFID card of shape simultaneously in use, occur mutually obscuring,
Influence the normal use of robot.
In the present embodiment, 10 outer circular top part of fuselage is outer equipped with being covered for the top to fuselage 10 and traveling wheel 2
Shell 5, the position corresponding with babinet 3 of shell 5 are equipped with opening, and case lid 6 is articulated with the shell 5.It is provided with confession on fuselage outer side wall
The socket 16 that RFID card is inserted into is provided with the switch for controlling robot startup in the socket 16.Switch includes：Metal elastic
One end of piece 21 and metal contact piece 22, metal clips 21 is fixed on the side of RFID card socket 16, metal clips as fixing end
The other end be free end, and the fixing end of metal clips is electrically connected with the power supply output end of the power supply of robot, metal contact piece
22 are fixed on the other side of RFID card socket 16, and metal contact piece is electrically connected with the power input of the electrical equipment of robot, gold
The free end for belonging to shrapnel 21 is connected with metal contact piece 22 when RFID card is not inserted into RFID sockets 16, but is inserted in RFID card
After entering, the free end of metal clips 21 and metal contact piece 22 are spaced, so that the power supply of the entire electrical equipment of robot
It is disconnected.This supermarket shopping intelligent robot cleverly controls robot on/off by the way of inserting card taking, operation letter
Folk prescription just, greatly meets the quick shopping experience of shopper.
In the present embodiment, supermarket shopping intelligent robot further includes being interacted with the matching used hand-held of robot body
Device, hand-held interaction device include user's locating module, touch screen interactive interface 15, call robot button 12, hand held controller, lead to
Believe module and commodity code reader 14, hand held controller respectively with touch screen interactive interface 15, call robot button 12 and commodity
Code reader 14 connects, and user's locating module and hand held controller communicate to connect, hand held controller by communication module respectively with machine
The controller of device human body is connected with supermarket central server, and hand-held interaction device further includes for reading RFID card information
Two RFID readers, the second RFID reader are communicated to connect with hand held controller, and hand-held interaction device surface is provided with RFID card
Socket, the second RFID reader are located at the tap position of hand-held interaction device.User need robot execute stop wait for or after
Continue away order when, can directly press and robot button 12 is called to carry out function selection, call robot button 12 will triggering letter
It number is sent to hand held controller, hand held controller sends a command to the controller of robot body, and robot body executes phase
Close order.Communication module includes wireless wifi module and 4G modules.When wireless router works normally in supermarket, hand-held is handed over
Mutual device preferentially enables the controller of wireless wifi module and robot body and supermarket's central server carries out wireless communication, and works as hand
It holds after establishing wifi communication connections between formula interaction device and robot body, presses the call robot button of hand-held interaction device
12 can realize that remote control is called to robot body.Hand-held interacts device and is previously provided with 4G cards of surfing Internet with robot body, when super
When city wireless router occurs abnormal, hand-held interaction device enables controller and the supermarket of 4G modules and robot body automatically
Central server carries out 4G communications, it can be achieved that hand after hand-held, which interacts, establishes 4G communication connections between device and robot body
That holds formula interaction device calls robot button 12 to call the remote control of robot body.It is equipped with a variety of communications to hand-held interaction device
Module can avoid hand-held interaction device from being unable to normal use because of communication failure completely.Hand-held interacts user's positioning mould of device
Block is identical as the self-positioning module operation principle of robot, that is, UWB positioning labels and setting is used to be used on each shelf of supermarket
In the UWB sensors for reading UWB positioning label informations, UWB sensors connect with hand held controller and supermarket's central server communication
It connects.Supermarket's central server interacts the location information of the UWB sensors acquisition user of device, supermarket's central server by hand-held
The movement locus of user store spare.The RFID card of robot body is taken out to the RFID for being inserted into hand-held and interacting device
In card plug 17, the second RFID reader on hand-held interaction device identifies the information in current RFID card, RFID card letter
Breath includes at least robot identity coding information, and the hand held controller of hand-held interaction device by the identity coding information of itself and connects
The robot body received obtains identity coding information and forms a team to be sent to supermarket's central server, and supermarket's central server is by having obtained
After the location information of robot body and hand-held the interaction device arrived carries out operation, finds out optimal path and be sent to robot, machine
Device people follows according to optimal path.Since the identity coding information that robot body and hand-held interact device is unique always, supermarket
Central server can interact the best of device movement with the hand-held of this pairing for robot body transmission always and follow route.It utilizes
The RFID card of robot body is taken out and is inserted into the RFID card socket 17 of hand-held interaction device, and by being set in hand-held interaction device
Set second RFID reader read machine human body's RFID card storage identity information method to supermarket's central server to machine
Device people and hand-held interaction device pairing, it is maximum to simplify pairing process, pairing reliability is increased, it can be achieved that allowing robot sheet
Body and any one hand-held interaction device match, and avoid complicated program that supermarket shopping intelligent robot uses process,
The time that user waits for shopping is saved.Touch screen interactive interface 15 is used for display of commodity information list, such as commodity classification, commodity
Area distribution, discounting merchandise news and function sex service, such as：Calling manual service, robot follow, and await orders, shopping guide sweeps
Code valuates, reckons up the bill.User is put after the commodity bought will be needed to be scanned in the commodity code reader 14 that hand-held interacts device
Enter in robot babinet, can directly pass through mobile phone terminal knot after the mobile phone terminal foundation connection of device and user are interacted by hand-held
Account eliminates the time that manual service need to occupy, and makes the faster convenience of supermarket shopping more hommization.Hand-held interacts inside device
Rechargeable storage battery is provided with to user's locating module, touch screen interactive interface 15, call robot button 12, hand-held control
Device, communication module and commodity code reader 14 are powered.
In the present embodiment, robot obstacle-avoiding module includes being set to the human infrared sensor 11 of robot body and surpassing
Sonic sensor 4, human infrared sensor 11 send out infrared ray in real time, and ultrasonic sensor 4 sends out ultrasonic wave in real time,
When ultrasonic sensor 4 passes complaint message back, it is first determined whether human infrared sensor 11 also passes complaint message back, such as
Fruit human infrared sensor 11 does not pass human body obstruction information back, then ultrasonic sensor 4 is directly to the control of robot body
Device passes complaint message back, and controller exports obstacle position information to supermarket's central server, and supermarket's central server is to obstacle
Level tagging simultaneously selects another to walk close to path for robot body, if human infrared sensor 11 passes human body back
Complaint message, then controller export human body obstruction object location information to supermarket central server, analyzed by supermarket's central server
Whether another remote close to path, and supermarket's central server order robot body changes its course advance if not far, if compared with
Central server order robot of Yuan Ze supermarkets this waiting human body leaves, and the stand-by period is arranged to robot body, if super
When then order robot body change its course advance.
In the present embodiment, supermarket's central server is completed the three-dimensional scenic map for having supermarket, when supermarket's central server
Receive robot body and hand-held interaction device location information when, supermarket's central server according to location information through mixing
The movement locus of robot and the user for carrying hand-held interaction device are shown on three-dimensional scenic map after location algorithm operation
It shows to come, and three-dimensional scenic map number is constantly updated according to the obstacle position information that the robot obstacle-avoiding module being collected into is passed back
According to supermarket's central server can be according to the positional information calculation of the location information and reference barrier of robot body and user
Go out the optimal of robot body and follows route.Supermarket's central server also interacts device for hand-held and provides merchandise news, payment
Information and manual service.
In the present embodiment, the bottom of box of robot body, which is provided with, to be born the resistance of Item Weight for detecting babinet and answers
Variant weighing sensor, resistance strain weighing transducer is by the box weight signal transmission detected to controller.It considers
Robot electric quantity is limited, experiences in order to not influence the shopping of user, it is necessary to set the load-bearing limit to robot, i.e., in robot
Shopping box bottom is evenly distributed with resistance strain weighing transducer, the shopping box that resistance strain weighing transducer will detect
Gravimetric value be transmitted back to controller, controller is equipped with limiting value, and when weight exceeds limit value, alarm is sent to by robot
Prompt user checks on the touch screen interactive interface of hand-held interaction device, and when weight is more than 1.2 times of limit value, robot stops moving
It is dynamic, it would indicate that robot stops mobile reason on the touch screen interactive interface that hand-held interacts device.
In the present embodiment, as shown in figure 9, box house is provided with baffle 18, baffle 18 is controlled by robot device control and turns
Dynamic direction.The bottom of box is additionally provided with branched pressure sensor 19, and pressure sensor 19 sends out the tank pressure signal detected
Give the controller of robot body.18 original state of baffle is vertical with traveling wheel axis, and running through at 18 inside center of baffle has
Rotation axis, rotation axis are connect with motor, and the controller of robot body can control motor positive and inverse.The controller of robot body
It is analyzed according to the pressure signal of the position of centre of gravity of babinet and the babinet of reception according to controller, which side pressure in shopping box is judged
Power is excessive, and the controller control baffle of robot body guides user by article court towards the small inclination on one side of pressure in shopping box
The small one end of tank pressure is placed, and robot is avoided to cause robot center of gravity uneven because user arbitrarily places article.
DSP control chips can be used in the controller of robot body in the present embodiment, such as：DsPIC30F4011, and carry
Available circuit can be realized functional to supermarket shopping intelligent robot institute.
Finally illustrate, the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although with reference to compared with
Good embodiment describes the invention in detail, it will be understood by those of ordinary skill in the art that, it can be to the skill of the present invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered at this
In the right of invention.
Claims (10)
1. a kind of supermarket shopping intelligent robot, it is characterised in that：It is moved including robot body and for controlling robot body
The control system of work, the robot body includes columnar fuselage, be set to the traveling wheel at the fuselage both ends, with it is described
Control system electrical connection is for driving the travel driving system of traveling wheel rotation, being set in the fuselage for installing commodity
Babinet and case lid for closed box.
2. supermarket shopping intelligent robot according to claim 1, it is characterised in that：The control system includes power supply mould
Block, wireless communication module, self-balancing module, self-positioning module, identification module, obstacle avoidance module and controller；
The power module to wireless communication module, self-balancing module, self-positioning module, identification module, obstacle avoidance module and
Controller is powered, and module is connect the controller with supermarket central server communication by radio communication, the self-balancing module
The robot body dip angle signal and angular velocity signal that detect are sent to controller and carry out calculation process, the controller point
It is not communicated to connect with self-positioning module and identification module, the obstacle avoidance module will be between the barrier that detected and robot
Relative position information be sent to supermarket's central server.
3. supermarket shopping intelligent robot according to claim 2, it is characterised in that：The travel driving system includes same
Axis is fixed on the gear ring of the traveling wheel inner circle, the stepping with the gear ring meshed gears and for driving the gear to rotate
Motor, electrical break-make between the controller control stepper motor and power module.
4. supermarket shopping intelligent robot according to claim 2, it is characterised in that：The robot self-balancing module packet
Include acceleration transducer, gyroscope and the balance weight for being set to the underbelly, the acceleration transducer will detect
The linear acceleration signals of robot fuselage are sent to controller, and the gyroscope believes the angular speed of the robot fuselage detected
Number it is sent to controller.
5. supermarket shopping intelligent robot according to claim 2, it is characterised in that：The self-positioning module includes setting
UWB in robot top of the box positions label and is arranged on each shelf of supermarket positions label information for reading UWB
UWB sensors, the UWB sensors communicate to connect between the controller of robot body and supermarket's central server respectively,
The power module positions tag-powered to UWB.
6. supermarket shopping intelligent robot according to claim 2, it is characterised in that：The identification module includes：
RFID card and the first RFID card reader for reading RFID card information, first RFID card reader and controller communication link
It connects.
7. supermarket shopping intelligent robot according to claim 6, it is characterised in that：The outer circular top part of the fuselage, which is equipped with, to be used
In the shell that the top to fuselage and traveling wheel is covered, shell position corresponding with babinet is equipped with opening, the case
Lid is articulated with the shell；
It is provided with the socket being inserted into for RFID card on the fuselage outer side wall, is provided in the socket and is opened for controlling robot
Dynamic switch.
8. supermarket shopping intelligent robot according to claim 6, it is characterised in that：Supermarket shopping intelligent robot also wraps
It includes and interacts device with the matching used hand-held of robot body, the hand-held interaction device includes user's locating module, touch screen friendship
Robot button, hand held controller, communication module and commodity code reader are called in mutual interface, the hand held controller respectively with
Touch screen interactive interface calls robot button to be connected with commodity code reader, and user's locating module is communicated with hand held controller
Connection, the hand held controller are connect with the controller of robot body and supermarket's central server respectively by communication module；
Hand-held interaction device further includes the second RFID reader for reading RFID card information, second RFID reader with
Hand held controller communicates to connect；
Hand-held interaction device surface is provided with RFID card socket, and second RFID reader is located at the socket position of hand-held interaction device
It sets.
9. supermarket shopping intelligent robot according to claim 2, it is characterised in that：The robot obstacle-avoiding module packet
Include the human infrared sensor and ultrasonic sensor for being set to robot body, the human infrared sensor and ultrasound
Wave sensor sends signal to controller in real time.
10. supermarket shopping intelligent robot according to claim 2, it is characterised in that：The bottom of box setting is useful
The resistance strain weighing transducer of Item Weight is born in detection babinet, the resistance strain weighing transducer will detect
Box weight signal transmission to controller.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2017103591577 | 2017-05-19 | ||
| CN201710359157.7A CN107414781A (en) | 2017-05-19 | 2017-05-19 | supermarket shopping intelligent robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108356789A true CN108356789A (en) | 2018-08-03 |
Family
ID=60425159
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710359157.7A Pending CN107414781A (en) | 2017-05-19 | 2017-05-19 | supermarket shopping intelligent robot |
| CN201820397513.4U Expired - Fee Related CN208034674U (en) | 2017-05-19 | 2018-03-22 | Automatic moving type shopping auxiliary robot |
| CN201810242100.3A Pending CN108356789A (en) | 2017-05-19 | 2018-03-22 | supermarket shopping intelligent robot |
Family Applications Before (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710359157.7A Pending CN107414781A (en) | 2017-05-19 | 2017-05-19 | supermarket shopping intelligent robot |
| CN201820397513.4U Expired - Fee Related CN208034674U (en) | 2017-05-19 | 2018-03-22 | Automatic moving type shopping auxiliary robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (3) | CN107414781A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108994816A (en) * | 2018-10-11 | 2018-12-14 | 泉州市宏恩新能源汽车科技有限公司 | A kind of robot of supermarket |
| CN109605399A (en) * | 2019-01-23 | 2019-04-12 | 田家炜 | Remotely operate smart shopper robot device |
| CN109828558A (en) * | 2018-12-20 | 2019-05-31 | 钟胤舜 | Intelligent movement system and method |
| CN110852813A (en) * | 2019-11-20 | 2020-02-28 | 哈尔滨工业大学 | Intelligent Internet of things shopping cart system and shopping method thereof |
| CN111267933A (en) * | 2020-02-29 | 2020-06-12 | 胡夏妹 | Intelligent shopping cart robot |
| CN111438678A (en) * | 2020-05-22 | 2020-07-24 | 陕西科技大学 | Intelligent shopping following robot and method |
| CN112783162A (en) * | 2020-12-29 | 2021-05-11 | 重庆科技学院 | Intelligent shopping system |
| CN113924787A (en) * | 2019-06-14 | 2022-01-11 | 赛斯-伊玛格标签有限责任公司 | Method for locating electronic shelf labels |
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| CN107414781A (en) * | 2017-05-19 | 2017-12-01 | 重庆交通大学 | supermarket shopping intelligent robot |
| FR3070524B1 (en) * | 2017-08-23 | 2020-04-03 | M2Aim | GEOLOCATION METHOD AND ANTI-THEFT TRACKER USING SUCH A METHOD |
| CN108694788A (en) * | 2018-06-14 | 2018-10-23 | 中国地质大学（武汉） | A kind of home shopping robot and home shopping system |
| CN109262628A (en) * | 2018-11-01 | 2019-01-25 | 深圳市三宝创新智能有限公司 | A kind of intelligent robot equipment and method of servicing with foreground function |
| CN110789637A (en) * | 2019-12-05 | 2020-02-14 | 苏州博众机器人有限公司 | Transport robot |
| CN113119133B (en) * | 2019-12-31 | 2023-01-31 | 上海依图信息技术有限公司 | Bag carrying method of shopping robot and shopping robot |
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| CN112315366A (en) * | 2020-10-28 | 2021-02-05 | 苏州工艺美术职业技术学院 | Intelligent closestool |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN208034674U (en) | 2018-11-02 |
| CN107414781A (en) | 2017-12-01 |
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