CN108528484B - Intelligent storage vehicle and chassis thereof - Google Patents
Intelligent storage vehicle and chassis thereof Download PDFInfo
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- CN108528484B CN108528484B CN201810325478.XA CN201810325478A CN108528484B CN 108528484 B CN108528484 B CN 108528484B CN 201810325478 A CN201810325478 A CN 201810325478A CN 108528484 B CN108528484 B CN 108528484B
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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Abstract
The invention provides a chassis for an intelligent storage vehicle, which comprises a bearing seat and a following assembly, wherein the bearing seat comprises a bearing surface for bearing a storage box; the following assembly is arranged on the bearing seat and comprises a walking module, a control module and a positioning module, the positioning module is used for generating a final positioning signal representing the position of a target according to the position of the target after the position of the target is determined, and the positioning module can send the final positioning signal to the control module; the control module can control the walking module to move according to a track matched with the moving track of the target according to the final positioning signal after receiving the final positioning signal so as to drive the bearing seat to move. The invention further provides the intelligent storage vehicle which can bring convenience to the life of a user.
Description
Technical Field
The invention relates to the field of articles for daily use, in particular to a chassis for an intelligent storage vehicle and the intelligent storage vehicle.
Background
When shopping in a supermarket, a consumer is required to push a shopping cart to walk, which is inconvenient. Particularly, when a large number of commodities are loaded in the shopping cart, the pushing up is laborious. Also, when the consumer pushes the cart, the goods on the shelves cannot be viewed.
Therefore, how to facilitate consumer shopping becomes a technical problem to be solved urgently in the field.
Disclosure of Invention
The invention aims to provide a chassis for an intelligent storage vehicle and the intelligent storage vehicle comprising the chassis.
In order to achieve the above object, as one aspect of the present invention, there is provided a chassis for an intelligent storage cart, wherein the chassis comprises a load bearing seat and a following assembly,
the bearing seat comprises a bearing surface for bearing the storage box;
the following assembly is arranged on the bearing seat and comprises a walking module, a control module and a positioning module,
the positioning module is used for generating a final positioning signal representing the position of the target according to the position of the target after the position of the target is determined, and the positioning module can send the final positioning signal to the control module;
the control module can control the walking module to move according to a track matched with the moving track of the target according to the final positioning signal after receiving the final positioning signal so as to drive the bearing seat to move.
Preferably, the positioning module comprises an identification unit and a plurality of image acquisition units, and the orientations of the plurality of image acquisition units are different from each other;
each image acquisition unit can acquire an image of an area towards which the image acquisition unit faces;
the identification unit can identify an object image in the image acquired by the image acquisition unit, judge whether the image of the target exists in the image according to an identification result, and generate the final positioning signal when the identification unit judges that the image of the target exists in the image, wherein the final positioning signal comprises the position of the image acquisition unit which shoots the target;
the control module can control the walking module to move according to the direction of the image acquisition unit which shoots the target.
Preferably, the object is a person, the image of the object is an image of the person,
the identification unit may be configured to determine a person image as the image of the target when the image acquired by the image acquisition unit includes the image of one person, and the identification unit may be configured to determine a person image having a largest area as the image of the target when the image acquired by the image acquisition unit includes the images of a plurality of persons.
Preferably, the walking module comprises a plurality of walking components, the plurality of walking components correspond to the plurality of image acquisition units one by one,
the walking assembly comprises a walking wheel, and the control module can send walking trigger signals to the corresponding driving units after receiving the final positioning signals so as to drive the walking wheel to roll according to the orientation of the corresponding image acquisition units.
Preferably, the following assembly further comprises an initial positioning unit and at least three Bluetooth transmission modules,
all the Bluetooth transmission modules can be matched with the same Bluetooth terminal module;
the initial positioning unit can determine the relative angle between the Bluetooth terminal module and the chassis according to the matching result of any three Bluetooth transmission modules and generate a corresponding angle position signal, and is used for sending the angle position signal to the control module;
the control module can control the image acquisition unit facing the angle position to be started after receiving the angle position signal.
Preferably, the initial positioning unit can determine the initial distance between the Bluetooth terminal module and the chassis according to the matching result of any three Bluetooth transmission modules,
the image acquisition unit is used for acquiring a video including the area which is oriented by the image acquisition unit, and the video comprises a plurality of continuous frames of images acquired by the image acquisition unit;
the identification unit is used for predicting the position of the image of the target in the next frame image according to the position of the image of the target in the current frame image according to a preset algorithm and determining a corresponding response value, the identification unit can generate a number representing the image acquisition unit and the final positioning signal of the response value, and the control module is used for controlling the running component corresponding to the image acquisition unit to run when the response value is larger than a preset threshold value and the initial distance is smaller than a preset distance.
Preferably, the control module is configured to control the initial positioning unit to recalculate the relative angle between the bluetooth terminal module and the chassis and to regenerate a corresponding angle position signal when the response value is smaller than the preset threshold, and the initial positioning unit is configured to send the regenerated angle position signal to the control module,
the control module is capable of controlling the image acquisition unit to be turned on toward the recalculated angular position upon receiving the regenerated angular position signal.
Preferably, the control module is further configured to generate an alarm signal when the initial distance is greater than a preset distance, and send the alarm signal to the bluetooth terminal module through the bluetooth transmission module.
Preferably, the chassis further comprises a plurality of lifting rods, the plurality of lifting rods correspond to the plurality of image acquisition units one by one,
the one end of lifter is fixed bear on the seat, the other end of lifter is provided with corresponding image acquisition unit, control module can be in control corresponding lifter of image acquisition unit control rises when opening, just control module can be in control corresponding lifter descends when image acquisition unit closes.
As a second aspect of the present invention, an intelligent storage vehicle is provided, wherein the intelligent storage vehicle includes a storage box and the above-mentioned chassis provided by the present invention, and the storage box is detachably disposed on the carrying surface.
Preferably, the intelligent shopping system further comprises a Bluetooth terminal module, the following assembly further comprises an initial positioning unit and at least three Bluetooth transmission modules,
all the Bluetooth transmission modules can be matched with the Bluetooth terminal module;
all the Bluetooth transmission modules can be matched with the same Bluetooth terminal module;
the initial positioning unit can determine the relative angle between the Bluetooth terminal module and the chassis according to the matching result of any three Bluetooth transmission modules and generate a corresponding angle position signal, and is used for sending the angle position signal to the control module;
the control module can control the image acquisition unit facing the angle position to be started after receiving the angle position signal.
Preferably, the initial positioning unit can determine an initial distance between the bluetooth terminal module and the chassis according to a matching result of any three bluetooth transmission modules, the control module is further configured to generate an alarm signal when the initial distance is greater than a preset distance, and send the alarm signal to the bluetooth terminal module through the bluetooth transmission module,
the Bluetooth terminal module can generate a reminding signal after receiving the alarm signal.
The chassis is used for the intelligent storage vehicle, and particularly, the storage box can be placed on the bearing surface of the bearing seat. When the intelligent storage vehicle is used, a user is the target. And the positioning module generates the final positioning signal after determining the position of the user, sends the final positioning signal to the control module, controls the walking module to move according to the final positioning signal and drives the bearing seat to move. Like this, use at the user the in-process of intelligence storing car, intelligence storing car can follow automatically the user removes, does not need the hand push of user to liberation user's both hands and saved user's physical power, thereby made things convenient for user's life.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of a base of an intelligent shopping cart provided by the present invention;
FIG. 2 is a schematic diagram of the arrangement of the image acquisition unit and the Bluetooth transmission module in the base;
FIG. 3 is a schematic view of an intelligent shopping cart provided by the present invention;
FIG. 4 is a block diagram of a follower assembly of the intelligent shopping cart provided by the present invention;
FIG. 5 is a flow chart of the operation of the intelligent shopping cart provided by the present invention.
Description of the reference numerals
110: the bearing seat 120: follower assembly
121: the walking module 121 a: drive unit
121 b: road wheels 122: control module
123: the positioning module 123 a: identification unit
123 b: the image acquisition unit 124: initial positioning
125: the bluetooth transmission module 126: lifting rod
200: storage box 300: bluetooth terminal module
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
As one aspect of the present invention, as shown in fig. 1, a chassis 100 for an intelligent storage cart is provided, wherein the chassis 100 includes a carrier seat 110 and a follower assembly 120.
As shown in fig. 1, the carrying seat 110 includes a carrying surface a for carrying the storage box.
The following assembly 120 is disposed on the carrying seat 110, as shown in fig. 2, the following assembly 120 includes a walking module 121, a control module 122 and a positioning module 123.
The positioning module 123 is configured to generate a final positioning signal representing the position of the target according to the position of the target after determining the position of the target, and the positioning module 123 can send the final positioning signal to the control module 122.
The control module 122 can control the walking module 121 to move according to a track matched with the moving track of the target according to the final positioning signal after receiving the final positioning signal, so as to drive the bearing seat 110 to move.
The chassis 110 is used in an intelligent storage cart, and particularly, a storage box may be placed on the bearing surface a of the bearing seat 110. When the intelligent storage vehicle is used, a user is the target. The positioning module 123 determines the position of the user and then generates the final positioning signal, and sends the final positioning signal to the control module 122, and the control module 122 controls the walking module 121 to move according to the final positioning signal and drives the bearing seat 110 to move. Like this, use at the user the in-process of intelligence storing car, intelligence storing car can follow automatically the user removes, does not need the hand push of user to liberation user's both hands and saved user's physical power, thereby made things convenient for user's life.
Of course, the present invention is not limited thereto, and the target may be a specific object. For example, the device can be a backpack of a user, a vehicle or other intelligent storage vehicle, and the like.
In the invention, no special requirements are made on the application occasions of the intelligent storage vehicle. For example, the intelligent storage cart can be applied to supermarkets and used as an intelligent shopping cart. In this case, when shopping, the user does not need to push the intelligent storage cart by hand, so that the goods on the goods shelf can be better viewed, and more satisfactory goods can be selected.
In the present invention, the phrase "the traveling module 121 moves along a trajectory matching the movement trajectory of the target" may mean that the traveling module 121 moves behind the target, the traveling module 121 moves in front of the target, or the traveling module 121 moves in parallel with the target, as long as the distance between the chassis and the target is not more than a predetermined value.
In the present invention, the specific structure of the positioning module 123 is not particularly limited. For example, infrared sensors or ultrasonic locating devices may be utilized to determine the location of the target.
In order to quickly and accurately determine the position of the target, it is preferable that the positioning module 123 includes a recognition unit 123a and a plurality of image acquisition units 123b, and the orientations of the plurality of image acquisition units 123b are different from each other.
Specifically, each image acquisition unit 123b can acquire an image of the region toward which the image acquisition unit is directed. For example, one positioning module 123 includes four image capturing units 123b, the four image capturing units 123b are respectively oriented in four directions, east-oriented image capturing unit 123b can capture images of the east side of the chassis, west-oriented image capturing unit can capture images of the west side of the chassis, south-oriented image capturing unit can capture images of the south side of the chassis, and north-oriented image capturing unit can capture images of the north side of the chassis.
The recognition unit 123a can recognize the object image in the image acquired by the image acquisition unit 123b, and determine whether the image of the target exists in the image according to the recognition result. When the recognition unit 123a determines that the image of the object exists in the image, the final positioning signal is generated, which includes the position of the image acquisition unit where the object was captured.
The control module 122 can control the walking module 121 to move in the direction of the image capturing unit 123b where the object is captured.
When the image of the object exists in the image captured by one of the image capturing units 123b, it indicates that the object is located in front of the image capturing unit 123 b. At this time, the control module 22 controls the walking module 121 to move in the direction of the image capturing unit 123b in which the target is captured, that is, to approach the target. "moving in the direction of the image pickup unit 123b picked up the object" means that the moving direction is the same as the direction of the image pickup unit 123b picked up the object.
Generally, the object is a human, and thus, the recognition unit 123a may recognize a human image in the image.
The image capturing unit 123b may capture an image in which only one person exists or a plurality of persons exist. When only one human body image exists in the image acquired by the image acquiring unit 123b, the identifying unit 123b determines the human body image as the image of the target. When a plurality of human images are present in the image acquired by the image acquiring unit 123b, the identifying unit 123b takes the human image having the largest area as the target image.
It is easy to understand that the larger the image area is, the closest the person corresponding to the image acquisition unit 123a is, and when the user uses the intelligent storage vehicle including the chassis, the user can ensure that the person is closest to the chassis, so that the person image with the largest image is the target image.
In the present invention, there is no particular limitation on how to control the walking module to move according to the direction of the image capturing unit that captures the target, and in order to accurately control the moving direction of the walking module, it is preferable that the walking module 121 includes a plurality of walking members, and the plurality of walking members correspond to the plurality of image capturing units one to one.
Further, the walking assembly includes a driving unit 121a and a walking wheel 121b, and the control module 122 can send a walking trigger signal to the corresponding driving unit after receiving the final positioning signal, so as to drive the walking wheel 121b to roll according to the orientation of the corresponding image acquisition unit.
Each walking assembly is movable in one direction, for example, when the chassis includes four image capturing units, the chassis correspondingly includes four walking assemblies, each walking assembly is movable in one direction, and the four walking assemblies are movable in four different directions.
In the present invention, the specific structure of the driving unit 121a and the traveling wheels 121b is also not particularly limited. For example, as a preferred embodiment, the road wheels may be mecanum wheels, and the driving unit 121a may include a motor driver, a motor, an encoder, and a decelerator.
The control end of the motor driver is in communication connection with the control module, the control module can send a driving trigger signal to the corresponding motor driver, and the motor driver drives the corresponding motor to operate after receiving the driving trigger signal. The encoder sets up on the output shaft of motor for the number of turns that the output shaft of calculation motor rotated, and the retarder connection is also between the walking wheel at the output shaft of motor, is used for driving the walking wheel and rotates. Can grasp the number of turns that the output shaft of motor has rotated through the encoder, can calculate the distance that the walking wheel walked through the reduction ratio of reduction gear accurately to can carry out detailed control to the direction and the distance that the chassis removed.
In order to quickly determine the image capturing unit that needs to be turned on and reduce the amount of computation of the control module, it is preferable that the follower assembly 120 further includes an initial positioning unit 124 and at least three bluetooth transmission modules 125.
All bluetooth transmission modules 125 can be matched with the same bluetooth terminal module, and the initial positioning unit 124 can determine the relative angle between the bluetooth terminal module and the chassis according to the matching result of any three bluetooth transmission modules and generate a corresponding angle position signal, and is configured to send the angle position signal to the control module 122.
Accordingly, the control module 122 can control the image capturing unit towards the angular position to be turned on after receiving the angular position signal.
In the present invention, the bluetooth terminal module may be a wearable device such as a bracelet, and is worn on the body of a user (i.e., a target). The initial positioning unit 124 may determine a relative angle between the bluetooth terminal module and the chassis according to the three-point positioning, which is a relative angle between the object and the chassis. After determining the relative angle, the control module 122 may determine the number of the image capturing unit facing the angle by calculating, and control the image capturing unit with the number to turn on, and take a picture of the area facing the image capturing unit.
In the present invention, the specific number of bluetooth transmission modules is not particularly limited. As long as the number of bluetooth transmission modules is greater than three.
As an embodiment, the bearing surface may be a rectangular surface with four corners, each provided with a bluetooth transmission module, so that the relative angle between the object and the chassis can be quickly determined no matter in which orientation of the bearing surface the object is located.
In order to reduce energy consumption and control the chassis to accurately follow the target, preferably, the initial positioning unit is capable of determining an initial distance between the bluetooth terminal module and the chassis according to matching results of any three bluetooth transmission modules. The image acquisition unit is opened only when the distance between the Bluetooth terminal module and the chassis is close enough, otherwise, the image acquisition unit is not opened, so that the purpose of reducing energy consumption can be achieved.
In order to accurately follow the target, it is preferable that the image pickup unit is configured to pick up a video including a region to which the image pickup unit is directed, the video including a plurality of consecutive frames of the image picked up by the image pickup unit.
Correspondingly, the identifying unit 123a is configured to predict the position of the image of the target in the next frame of image according to the position of the image of the target in the current frame of image according to a predetermined algorithm, and determine a corresponding response value, the identifying unit 123a is capable of generating a number representing the image acquiring unit and the final positioning signal of the response value, and the control module 122 is configured to control the running component corresponding to the image acquiring unit to run when the response value is greater than a preset threshold and the initial distance is less than a predetermined distance.
In the present invention, there is no particular requirement for the predetermined algorithm. For example, the predetermined algorithm may be a KCF algorithm.
Here, the "response value" refers to a probability that the image of the target appears at the predicted position in the next frame, and is greater than 0 and less than or equal to 1. In the present invention, there is no particular requirement on the specific value of the preset threshold, for example, the preset threshold may be any value greater than 0.5 and less than or equal to 1. Preferably, the preset threshold may be selected from any one of 0.7, 0.8, 0.9. The response value is larger than the preset threshold value, which indicates that the probability that the image of the target appears at the predicted position in the next frame is higher; and when the response value is smaller than the preset threshold value, the probability that the image of the target appears at the predicted position in the next frame is smaller.
When the image of the object appears at the predicted position, it indicates that the object is still within the photographing range of the image acquisition unit, and if not, indicates that the object may not be within the photographing range of the image acquisition unit.
In the invention, it is preferable that the corresponding walking unit is controlled to operate only when the target has a high probability of appearing at the predicted position of the next frame (i.e., the response value is large), so that the accuracy of following can be ensured.
When the response value in the next frame calculated by the control module is smaller than the preset value, which indicates that the image acquisition unit currently being shot may no longer be facing the target, at this time, the relative angle between the target and the chassis may be recalculated.
In order to ensure that the chassis 100 can accurately follow the target, preferably, the control module 122 is further configured to control the initial positioning unit to recalculate the relative angle between the bluetooth terminal module and the chassis and regenerate the corresponding angle position signal when the response value is smaller than the preset threshold, and the initial positioning unit is configured to send the regenerated angle position signal to the control module.
Since the chassis provided by the invention comprises a plurality of image acquisition units with different directions, the chassis provided by the invention always comprises the image acquisition units capable of shooting the target. The control module 122 can control the image acquisition unit to be turned on toward the angular position obtained by the recalculation upon receiving the regenerated angular position signal.
In order to prevent the phenomenon of "loss of heel", preferably, the control module 122 is further configured to generate an alarm signal when the initial distance is greater than a preset distance, and send the alarm signal to the bluetooth terminal module through the bluetooth transmission module.
The user wears the Bluetooth terminal module, and after the Bluetooth terminal module receives the alarm signal, the alarm signal is converted into a reminding signal. The reminding signal can be a vibration signal, a sound signal or a light signal. After receiving the reminding signal, the wearer of the Bluetooth terminal module can move to the side of the chassis.
For facilitating storage and accurately acquiring an image of the target, the chassis preferably further includes a plurality of lift pins 126, and the plurality of lift pins 126 correspond to the plurality of image acquiring units 123b one by one.
As shown in fig. 3, one end of each of the lifting rods 126 is fixed on the bearing seat 110, the other end of each of the lifting rods 126 is provided with a corresponding image capturing unit 123b, the control module 122 can control the corresponding lifting rod 126 to lift when controlling the image capturing unit 123b to be opened, and the control module 122 can control the corresponding lifting rod to fall when controlling the image capturing unit to be closed.
As a preferred embodiment of the present invention, the control module may be integrated on an Advanced reduced instruction set Machine (ARM) control panel. It will be readily appreciated that the follower assembly 120 may also include a power module for powering the entire base and a power switch module for turning the power module on or off, as shown in fig. 4.
In the specific embodiment including the bluetooth transmission module, the bluetooth transmission module is connected with the ARM control panel through an RS232 serial port.
In the present invention, there is no particular requirement on the specific structure and the specific type of the image capturing unit, for example, the image capturing unit may be a monocular camera.
As described above, the walking assembly 121 includes the driving unit 121a, and the driving unit 121a may include a motor driver, a motor, an encoder, and a decelerator, and in this embodiment, the control module may transmit the walking trigger signal to the driving unit of the walking assembly through the R485/ethernet.
As a second aspect of the present invention, an intelligent storage vehicle is provided, wherein as shown in fig. 3, the intelligent storage vehicle comprises a storage box 200 and the above-mentioned chassis 100 provided in the present invention, and the storage box 200 is detachably disposed on the carrying surface.
As described above, after the storage box is arranged on the bearing surface of the chassis, the following assembly is opened, the chassis can drive the storage box to move along with a user, the user does not need to push the intelligent storage vehicle, and the life of the user can be facilitated.
As described above, the bluetooth transport module determines the initial distance between the target and the chassis by matching with the bluetooth terminal module. The intelligent shopping system further comprises a Bluetooth terminal module, all the Bluetooth transmission modules can be matched with the Bluetooth terminal module, as an optimal implementation mode, the Bluetooth terminal module is wearable equipment, and a user wears the wearable equipment on the body.
As a preferred embodiment of the present invention, the bluetooth terminal module may further include a reminding unit, and the bluetooth module controls the reminding unit to generate a reminding signal after receiving the alarm signal. As described above, the reminding unit may be a vibration unit, a sound-producing unit, or a light-emitting unit.
The working distance of the intelligent storage vehicle provided by the invention is described below with reference to fig. 3 and 5.
The intelligent storage vehicle comprises a chassis 100 and a storage box 200, wherein the storage box 200 is arranged on a bearing surface of a bearing seat 110 of the chassis 100. The following assembly 120 includes a walking module 121, a control module 122, a positioning module 123, an initial positioning unit 124, and four bluetooth transmission modules 125. The positioning module 123 includes a recognition unit 123a, four image capturing units 123b, and four lift pins. The traveling module 121 includes a driving unit 121a and a traveling wheel 121b, wherein the driving unit 121a includes a motor driving circuit, a motor, an encoder, and a speed reducer, and the traveling wheel is a mecanum wheel. The bluetooth terminal module 300 is a bracelet, and is worn by a shopper.
The working process of the intelligent storage vehicle comprises the following steps:
in step S110, the bluetooth terminal module and the power switch module of the chassis are turned on, so that the bluetooth transmission module is paired with the bluetooth terminal module;
in step S120, the initial positioning unit 124 determines an initial distance between a wearer wearing the bluetooth terminal module and the chassis using a three-point positioning principle;
in step S121, the control module 122 determines whether the initial distance is smaller than a predetermined distance;
if the determination result is negative, in step S122, the control module 122 sends an alarm signal to the bluetooth terminal module through the bluetooth transmission module, and re-executes step S120;
when the determination result is yes, in step S123, the initial positioning unit 124 determines a relative angle between the wearer and the chassis, and transmits an angular position signal indicating the relative angle to the control module;
in step S124, the control module 122 determines the number of the image capturing unit facing the angle, controls the lifting rod corresponding to the image capturing unit with the number to lift up, and controls the image capturing unit with the number to open, and captures the area facing the image capturing unit;
in step S125, the identifying unit identifies the number of human body images in the captured live image;
in step S126, when the image includes a plurality of human body images, the human body image with the largest area is used as the target image, and when the image includes one human body image, the image is used as the target image;
in step S127, tracking the target area by using a KCF target tracking algorithm, predicting a position where an image of the target appears in the next frame image, and a response value appearing at the position;
in step S128, three-point positioning away from measuring an initial distance and a relative angle between the user and the chassis using bluetooth;
in step S129, it is determined whether the response value in step S127 is greater than a preset threshold value;
when the judgment result in step S129 is yes, in step S130, it is judged whether the initial distance is smaller than a predetermined distance;
when the judgment result in the step S130 is yes, in a step S131, the control module controls the walking component to move according to the direction of the image acquisition unit which shoots the target;
when the determination result in step S130 is negative, in step S132, the control module sends an alarm signal to the bluetooth terminal module through the bluetooth transmission module, and repeatedly executes step S127;
when the determination result in step S129 is no, in step S133, according to the relative angle between the object and the chassis, the currently photographed image capturing unit is controlled to be closed, the lift lever below the currently photographed image capturing unit is controlled to be lowered, the image capturing unit on the opposite side is controlled to be opened, and the lift lever on the opposite side is raised, and step S125 is repeatedly performed.
According to the steps, the intelligent storage vehicle can move along with the target.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (10)
1. A chassis for an intelligent storage vehicle is characterized by comprising a bearing seat and a following assembly,
the bearing seat comprises a bearing surface for bearing the storage box;
the following assembly is arranged on the bearing seat and comprises a walking module, a control module and a positioning module,
the positioning module is used for generating a final positioning signal representing the position of the target according to the position of the target after the position of the target is determined, and the positioning module can send the final positioning signal to the control module;
the control module can control the walking module to move according to a track matched with the moving track of the target according to the final positioning signal after receiving the final positioning signal so as to drive the bearing seat to move, the positioning module comprises an identification unit and a plurality of image acquisition units, and the orientations of the plurality of image acquisition units are different from each other;
each image acquisition unit can acquire an image of an area towards which the image acquisition unit faces;
the identification unit can identify an object image in the image acquired by the image acquisition unit, judge whether the image of the target exists in the image according to an identification result, and generate the final positioning signal when the identification unit judges that the image of the target exists in the image, wherein the final positioning signal comprises the position of the image acquisition unit which shoots the target;
the control module can control the walking module to move according to the direction of the image acquisition unit which shoots the target;
the following assembly further comprises an initial positioning unit and at least three Bluetooth transmission modules,
all the Bluetooth transmission modules can be matched with the same Bluetooth terminal module;
the initial positioning unit can determine the relative angle between the Bluetooth terminal module and the chassis according to the matching result of any three Bluetooth transmission modules and generate a corresponding angle position signal, and is used for sending the angle position signal to the control module;
the control module can control the image acquisition unit facing the angle position to be started after receiving the angle position signal.
2. The chassis of claim 1, wherein the object is a person, the image of the object is an image of the person,
the identification unit may be configured to determine a person image as the image of the target when the image acquired by the image acquisition unit includes the image of one person, and the identification unit may be configured to determine a person image having a largest area as the image of the target when the image acquired by the image acquisition unit includes the images of a plurality of persons.
3. The chassis of claim 1, wherein the walking module comprises a plurality of walking assemblies, the plurality of walking assemblies are in one-to-one correspondence with the plurality of image acquisition units,
the walking assembly comprises walking wheels, and the control module can send walking trigger signals to the corresponding driving units after receiving the final positioning signals so as to drive the walking wheels to roll according to the orientation of the corresponding image acquisition units.
4. The chassis of claim 1, wherein the initial positioning unit is capable of determining an initial distance between the Bluetooth terminal module and the chassis according to a matching result of any three Bluetooth transmission modules,
the image acquisition unit is used for acquiring a video including the area which is oriented by the image acquisition unit, and the video comprises a plurality of continuous frames of images acquired by the image acquisition unit;
the identification unit is used for predicting the position of the image of the target in the next frame image according to the position of the image of the target in the current frame image according to a preset algorithm and determining a corresponding response value, the identification unit can generate a number representing the image acquisition unit and the final positioning signal of the response value, and the control module is used for controlling the running component corresponding to the image acquisition unit to run when the response value is larger than a preset threshold value and the initial distance is smaller than a preset distance.
5. The chassis of claim 4, wherein the control module is configured to control the initial positioning unit to recalculate the relative angle between the Bluetooth terminal module and the chassis and to regenerate the corresponding angular position signal when the response value is smaller than the preset threshold value, and the initial positioning unit is configured to send the regenerated angular position signal to the control module,
the control module is capable of controlling the image acquisition unit to be turned on toward the recalculated angular position upon receiving the regenerated angular position signal.
6. The chassis of claim 4 or 5, wherein the control module is further configured to generate an alarm signal when the initial distance is greater than a preset distance, and send the alarm signal to the Bluetooth terminal module through the Bluetooth transmission module.
7. The chassis of any one of claims 1 to 5, further comprising a plurality of lift pins in one-to-one correspondence with a plurality of image acquisition units,
the one end of lifter is fixed bear on the seat, the other end of lifter is provided with corresponding image acquisition unit, control module can be in control corresponding lifter of image acquisition unit control rises when opening, just control module can be in control corresponding lifter descends when image acquisition unit closes.
8. An intelligent storage vehicle, characterized in that the intelligent storage vehicle comprises a storage box and the chassis of any one of claims 1 to 7, wherein the storage box is detachably arranged on the bearing surface.
9. The intelligent storage cart of claim 8, further comprising a bluetooth terminal module, wherein all of the bluetooth transmission modules are capable of being matched with the bluetooth terminal module.
10. The intelligent storage cart of claim 9, wherein the initial positioning unit is capable of determining an initial distance between the Bluetooth terminal module and the chassis according to a matching result of any three Bluetooth transmission modules, the control module is further configured to generate an alarm signal when the initial distance is greater than a preset distance, and send the alarm signal to the Bluetooth terminal module through the Bluetooth transmission module,
the Bluetooth terminal module can generate a reminding signal after receiving the alarm signal.
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| CN201810325478.XA CN108528484B (en) | 2018-04-12 | 2018-04-12 | Intelligent storage vehicle and chassis thereof |
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| CN201810325478.XA CN108528484B (en) | 2018-04-12 | 2018-04-12 | Intelligent storage vehicle and chassis thereof |
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| CN108528484B true CN108528484B (en) | 2020-01-07 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US12032381B2 (en) | 2019-01-22 | 2024-07-09 | Honda Motor Co., Ltd. | Accompanying mobile body |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109358626B (en) * | 2018-10-29 | 2021-05-11 | 深圳市丰巢科技有限公司 | Intelligent express box and pickup control method thereof |
| EP3882731B1 (en) * | 2019-01-22 | 2023-01-18 | Honda Motor Co., Ltd. | Accompanying mobile body |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20020167916A1 (en) * | 2001-05-14 | 2002-11-14 | Clapper Edward O. | Processor-based shopping cart |
| CN101171147B (en) * | 2005-03-18 | 2011-07-06 | 看门人***公司 | Navigation systems and methods for wheeled objects |
| CN102393739B (en) * | 2011-05-27 | 2014-12-03 | 严海蓉 | Intelligent trolley and application method thereof |
| KR20130055280A (en) * | 2011-11-18 | 2013-05-28 | 삼성전기주식회사 | Apparatus and method for preventing collision of shopping carts |
| MY194068A (en) * | 2012-03-26 | 2022-11-10 | MDT Innovations SdN Bhd | Ubiquitous monitoring of trolleys |
| CN204595199U (en) * | 2015-04-30 | 2015-08-26 | 上海博冕科技有限公司 | Sub-meter grade bluetooth positioning system |
| CN106741028B (en) * | 2016-12-05 | 2018-11-02 | 四川西部动力机器人科技有限公司 | A kind of airport Intelligent baggage car |
| CN107845212B (en) * | 2017-11-02 | 2020-11-17 | 华北理工大学 | Intelligent shopping system based on identity recognition |
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| US12032381B2 (en) | 2019-01-22 | 2024-07-09 | Honda Motor Co., Ltd. | Accompanying mobile body |
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