CN205844897U - Intelligent shopping trolley - Google Patents
Intelligent shopping trolley Download PDFInfo
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- CN205844897U CN205844897U CN201620796822.XU CN201620796822U CN205844897U CN 205844897 U CN205844897 U CN 205844897U CN 201620796822 U CN201620796822 U CN 201620796822U CN 205844897 U CN205844897 U CN 205844897U
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Abstract
A kind of Intelligent shopping trolley, including movable chassis, carrier, lowering or hoisting gear, acquisition device and controller.Described carrier is arranged on described movable chassis, and described carrier is used for loaded object.Described lowering or hoisting gear is connected between described movable chassis and described carrier.Described acquisition device follows clarification of objective information for acquisition.Described controller and described acquisition device communicate to connect, and the described characteristic information got according to described acquisition device control described movable chassis automatically follow described in follow target, and described lowering or hoisting gear can be controlled described carrier liter is down to preset height.Intelligent shopping trolley simple in construction of the present utility model, can the most automatically follow user, and can be according to the characteristic information of user, automatically and flexibly easily carrier is elevated to suitable position, convenient and labor-saving, bring great convenience to user especially some elderly and infirm shopping.
Description
Technical field
This utility model relates to a kind of Intelligent shopping trolley.
Background technology
Traditional shopping cart, including movable chassis and the carrier that is carried on movable chassis, such as material carrying basket, load
Thing bag, loading frame etc., and moved by the movable chassis band mobile carrier that moves, bring great side to the life of people
Just.But, current this shopping cart is typically necessary people and pulls, and the height of carrier keeps constant, it has not been convenient to people
Taking and placing article, also the people of inconvenient different height uses, and people the most usually need to bend over to place an article within carrier,
Needing also exist for afterwards bending over to take out article in carrier making to be finished, do so is cumbersome and painstaking, especially to some years
For old or weakling all the more so.Currently also there are some to need manually and regulate mechanical switch to regulate the height of carrier
Shopping cart, but due to needs manual operation, it is the most convenient to use.
Utility model content
In view of this, it is necessary to propose a kind of Intelligent shopping trolley, to solve the problems referred to above.
A kind of Intelligent shopping trolley, including movable chassis, carrier, lowering or hoisting gear, acquisition device and controller.Described load
Body is arranged on described movable chassis, and described carrier is used for loaded object.Described lowering or hoisting gear is connected to the described removable end
Between dish and described carrier.Described acquisition device follows clarification of objective information for acquisition.Described controller and described acquisition
Device communicates to connect.Wherein, the described characteristic information that described controller gets according to described acquisition device can move described in controlling
Target is followed described in automatically following in dynamic chassis, and can control described lowering or hoisting gear described carrier liter is down to preset height.
Further, described acquisition device include following at least one: vision sensor, infrared sensor, electromagnetic wave pass
Sensor, sonic sensor.
Further, described characteristic information includes tracking characteristics information, and described controller is according to described tracking characteristics information
Target and described Intelligent shopping trolley is followed relative to the described positional information following target described in determining, and according to described position
Information control described movable chassis near described in follow target direction motion, to realize described Intelligent shopping trolley to described
Follow automatically following of target.
Further, described positional information at least includes azimuth information and range information.
Further, described acquisition device includes the sensor with communication function, and described acquisition device can be with setting
Carrying out radio communication in the described control device followed in target, to obtain described tracking characteristics information, described tracking characteristics is believed
Breath include following at least one: the intensity of the signal of communication that described control device that described acquisition device receives is launched and described
The reception direction of signal of communication, described acquisition device are launched signal of communication to described control device and receive described control device
The positional information of the described control device that the time difference of signal of communication returned, described acquisition device receive.
Further, described tracking characteristics information be described in follow the characteristic information of image of target, described acquisition device
Including a vision sensor, being used for following described in gathering the characteristic information of the image of target, described controller is for regarding from described
In the characteristic information of the image that sense sensor collects extract target characteristic, and according to extract target characteristic determine described in follow
Target and described Intelligent shopping trolley are relative to the described positional information following target.
Further, described Intelligent shopping trolley also includes fault avoidnig device, and described fault avoidnig device is with described controller communication even
Connect, for detecting the obstacle information of surrounding；
Wherein, described controller is used for cooking up motion path according to described positional information and described obstacle information,
And control described movable chassis and move according to described motion path, to realize described Intelligent shopping trolley to described target of following
Automatically follow.
Further, described characteristic information includes height beacon information, and described controller is according to described height beacon information
Control the deformation of described lowering or hoisting gear, make described carrier rise or fall motion relative to described movable chassis, until described
The height of carrier reaches the height that described height beacon information is corresponding.
Further, described height beacon information at least includes following the first relevant elevation information of target and to described
Two elevation informations, wherein, follow the height in target less than described second elevation information described in described first elevation information correspondence
The height in target is followed described in correspondence.
Further, the height in target is followed described in described first elevation information correspondence for facilitating user when upright
Operation carrier；
And/or, follow the height in target described in described second elevation information correspondence for facilitating user to grasp when bending over
Make carrier.
Further, described Intelligent shopping trolley also includes the communicator being connected with described controller, described communicator
Communicate and receive, for controlling device with one, the altitude mixture control signal that described control device sends；
Wherein, described controller controls described acquisition after described communicator receives described altitude mixture control signal again
Device obtains described height beacon information, and the described height beacon information got according to described acquisition device controls described liter
Falling unit deforms.
Further, described Intelligent shopping trolley also includes the communicator being connected with described controller, described communicator
Communicate and receive, for controlling device with one, the altitude mixture control signal that described control device sends；
Wherein, described controller controls described lifting dress according to the described altitude mixture control signal that described communicator receives
Put deformation, make described carrier rise or fall motion relative to described movable chassis, until the height of described carrier reaches
The height that described altitude mixture control signal is corresponding.
Further, described characteristic information include described in follow the status information of target, described controller according to described with
Kinestate and/or the adjustable height of described lowering or hoisting gear of described movable chassis is controlled with the status information of target.
Further, described status information include described in follow the motion velocity information of target, described controller is according to institute
State the speed of the motion velocity information described movable chassis of regulation following target；
Or, described status information include described in follow the motion velocity information of target, described controller according to described with
Motion velocity information with target regulates the adjustable height of described lowering or hoisting gear；
Or, described status information include described in follow the motion velocity information of target, in the described motion following target
When speed is more than pre-set velocity, described controller controls described lowering or hoisting gear and described carrier is dropped to minimum altitude.
Further, described movable chassis at least includes the first support and the second support, described first support and institute
State the second support to connect side by side, and described second support can select to move to the direction closer or far from described first support.
Further, described first support includes the first main shaft and is approximately perpendicular to described first main shaft and to same side
To at least one pair of first loop bar extended；
Described second support includes the second main shaft and is approximately perpendicular to described second main shaft and extends to same direction
At least one pair of second loop bar；
Wherein, described second loop bar respectively with described first loop bar one_to_one corresponding, described second loop bar can be inserted in described
In first loop bar and can move reciprocatingly in described first loop bar.
Further, described movable chassis also includes:
Connecting rod, is connected between at least one pair of described first loop bar；
First driving means, is installed in described connecting rod, and electrically connects with described controller；
First connecting portion, is installed in described connecting rod, logical between described first connecting portion and described first driving means
Cross a Timing Belt to connect；
Drive rod, described drive rod is provided with the second connecting portion, and described second main shaft is fixed in described drive rod one end
On, the other end passes described first connecting portion, and makes described first connecting portion coordinate with described second connecting portion；
Described controller is used for controlling described first driving means and rotates, thus drives described first by described Timing Belt
Connecting portion rotates, and makes described drive rod to close under described first connecting portion with the effect of being connected of described second connecting portion
Or the direction motion away from described first main shaft, so that described second loop bar moves reciprocatingly in described first loop bar.
Further, described lowering or hoisting gear includes the first elevating lever and the second elevating lever, in described first elevating lever
Portion is rotationally connected with the middle part of described second elevating lever；Wherein,
One end of described first elevating lever is rotationally connected with described first support, and the other end is rotationally connected with described carrier
Bottom is the most relative with described second support；
One end of described second elevating lever is rotationally connected with described second support, and the other end is rotationally connected with described carrier
Bottom is the most relative with described first support；
Described second support moves to the direction closer or far from described first support can promote described second elevating lever
One end move to the direction of the one end closer or far from described first elevating lever so that described lowering or hoisting gear deformation with change
Described first elevating lever and described second elevating lever standoff height on described movable chassis, make described carrier relative to
Described movable chassis rises or falls motion.
Further, described movable chassis also include gripper shoe, described gripper shoe be installed on described first support and
On described second support, wherein, one end of described gripper shoe is fixed with described first main shaft, and it is main that the other end is carried on described second
On axle, the opposite sides of the other end of described gripper shoe arranges baffle plate, and described baffle plate offers slideway, described second main shaft
Opposite end is provided with fixture corresponding to described slideway, a connection piece through described slideway by one end of described second elevating lever with
Described fixture is rotatably connected, so that described one end by the second elevating lever is rotationally connected with described second master
Axle.
Further, described gripper shoe is provided with circuit board, and described controller is located on described circuit board.
Further, described drive rod is screw mandrel, and described first connecting portion is feed screw nut, and described second connecting portion is outward
Screw thread.
Further, described first driving means is motor.
Further, described movable chassis also includes:
Wheel, is respectively arranged in opposite end and the opposite end of described second support of described first support；
Second driving means, is respectively arranged between the end of described wheel and described first support and is respectively mounted
Between the end of described wheel and described second support；
Wherein, described second driving means also electrically connects with described controller, and described controller is used for controlling described second
Driving means rotates, thus drives described wheel turns.
Further, described wheel is omni-directional wheel.
Intelligent shopping trolley simple in construction of the present utility model, it is possible to the most automatically follow user, and energy
Enough characteristic informations according to user health, automatically and are elevated to suitable position, as long as making people flexibly easily by carrier
Bend over a little to be even not required to bend over to place an article within carrier, or in carrier, take out article, convenient and labor-saving, give
User especially some elderly and infirm shopping brings great convenience.
Accompanying drawing explanation
Fig. 1 is the three-dimensional structure diagram of a kind of Intelligent shopping trolley of this utility model embodiment.
Fig. 2 is the construction module figure of the Intelligent shopping trolley of Fig. 1.
Fig. 3 is the structure chart of the movable chassis of the Intelligent shopping trolley of Fig. 1.
Fig. 4 is the schematic diagram after the carrier rising of the Intelligent shopping trolley of Fig. 1.
Fig. 5 is the schematic diagram after the carrier decline of the Intelligent shopping trolley of Fig. 1.
Fig. 6 is the control method schematic flow sheet of a kind of Intelligent shopping trolley of this utility model embodiment.
Main element symbol description
Intelligent shopping trolley 100
Movable chassis 20
First support 21
First main shaft 211
First loop bar 212
Second support 22
Second main shaft 221
Second loop bar 222
Fixture 223
Wheel 23
Connecting rod 24
First driving means 25
First connecting portion 26
Timing Belt 27
Drive rod 28
Carrier 30 as one kind
Opening 31
Lowering or hoisting gear 40
First elevating lever 41
Second elevating lever 42
Gripper shoe 50
Baffle plate 51
Slideway 52
Acquisition device 611
Communicator 612
Fault avoidnig device 613
Second driving means 614
Controller 62
Connector 70
Step 601-602
Following detailed description of the invention will further illustrate this utility model in conjunction with above-mentioned accompanying drawing.
Detailed description of the invention
It should be noted that when element is referred to as " being fixed on " another element, and it can be directly on another element
Or element placed in the middle can also be there is.When an element is considered as " connection " another element, and it can be to be directly connected to
To another element or may be simultaneously present centering elements.Term as used herein " vertical ", " level ", " left ",
" right " and similar statement are for illustrative purposes only.
Unless otherwise defined, all of technology used herein and scientific terminology are led with belonging to technology of the present utility model
The implication that the technical staff in territory is generally understood that is identical.At term used in the description of the present utility model it is simply herein
The purpose of specific embodiment is described, it is not intended that in limiting this utility model.Term as used herein " and/or " include
Arbitrary and all of combination of one or more relevant Listed Items.
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of this utility model rather than whole
Embodiment.Based on the embodiment in this utility model, those of ordinary skill in the art are not under making creative work premise
The every other embodiment obtained, broadly falls into the scope of this utility model protection.
Specifically, refer to Fig. 1, be the three-dimensional structure diagram of a kind of Intelligent shopping trolley 100 in this utility model embodiment.
In the present embodiment, described Intelligent shopping trolley 100 can automatically be followed target (not shown) and moved, in order to follow for described
Target provides loading service whenever and wherever possible.Wherein, following target described in can be to use the user of described Intelligent shopping trolley 100.
It is understood that in other embodiments, presented in described Intelligent shopping trolley 100 can be as a kind of robot.
Described Intelligent shopping trolley 100 includes movable chassis 20, carrier 30 as one kind and lowering or hoisting gear 40, wherein, described carrier
30 are arranged on described movable chassis 20.Described carrier 30 as one kind is used for being loaded with object for direct loaded object or carrying
Article carrying piece, such as, described carrier 30 as one kind can be article carrying platform, material carrying basket, bag, and loading frame is used for carrying material carrying basket, loading
Support of bag or loading frame etc..It is concrete that described carrier 30 as one kind illustrates as a example by material carrying basket in the illustrated embodiment, its
Including an opening 31, and described opening 31 is upward, picks and places article to facilitate.Described lowering or hoisting gear 40 is connected to the described removable end
Between dish 20 and described carrier 30 as one kind.
Seeing also Fig. 1-2, in the present embodiment, described Intelligent shopping trolley 100 also includes acquisition device 611 and controls
Device 62.Described acquisition device 611 follows clarification of objective information described in being used for obtaining.
Described controller 62 is communicatively coupled with described acquisition device 611, and gets according to described acquisition device 611
Described characteristic information control described movable chassis 20 automatically follow described in follow target, and described lowering or hoisting gear can be controlled
Described carrier 30 as one kind liter is down to preset height by 40.Thus, described Intelligent shopping trolley 100 can either automatically follow described in follow mesh
Mark, can use described carrier 30 as one kind to provide convenience as much as possible for described target of following again automatically.
In the present embodiment, described acquisition device 611 can include following at least one: vision sensor, infrared sensor,
Electromagnetic sensor, sonic sensor.
In the present embodiment, described characteristic information can include tracking characteristics information, and described controller 62 is according to described tracking
Characteristic information follows target and described Intelligent shopping trolley 100 relative to the described positional information following target described in determining, and
According to described positional information control described movable chassis 20 near described in follow target direction motion, to realize described intelligence
Automatically following of target can be followed by shopping cart 100 to described.Wherein, described positional information at least can include azimuth information and away from
From information.
Wherein in a kind of embodiment, described Intelligent shopping trolley 100 can include being arranged on described Intelligent shopping trolley more than 100
Multiple communication antennas of individual diverse location.Described acquisition device 611 can include the sensor with communication function, the most infrared biography
Sensor, electromagnetic sensor, sonic sensor etc., described acquisition device 611 can be directly or by the plurality of communication antenna
Be arranged at described in follow in target control device (not shown) carry out radio communication, to obtain described tracking characteristics information.
Wherein, described tracking characteristics information can include following at least one: the described control that described acquisition device 611 receives
The intensity of the signal of communication that device processed is launched and the reception direction of described signal of communication, described acquisition device 611 are to described control
Device launches signal of communication with the time difference of signal of communication receiving described control device and returning, described acquisition device 611 connects
The positional information of the described control device received.
Specifically, using vehicle-mounted end as Intelligent shopping trolley, using handheld terminal as controlling as a example by device, in the first embodiment
In, can communicate by the communication such as infrared ray, bluetooth, WIFI, ZigBee and position: first, vehicle-mounted end and hands
Holding end and set up radio communication connection, vehicle-mounted end launches signal to the handheld terminal connected, and handheld terminal returns after receiving signal should
Answering signal, vehicle-mounted end calculates distance between the two according to time difference, and receives the intensity judgement side of signal according to different antennae
To.Wherein, described handheld terminal can exist with bracelet form or be integrated on the portable electric appts such as mobile phone, and described handheld terminal can
Including reception antenna and transmitting antenna, the reception antenna of described handheld terminal can be omnidirectional antenna.Described vehicle-mounted end may also comprise and connects
Receiving antenna and launch antenna, the reception antenna of described vehicle-mounted end is such as made up of No. 8 beam antennas, by the antenna in each direction
Receive the intensity of signal determine described in follow the direction of target.
Or, in the second embodiment, acoustic location can be passed through: vehicle-mounted end launches the sound wave of characteristic frequency to handheld terminal
Signal, handheld terminal returns corresponding acoustic signals after receiving sound wave, vehicle-mounted end calculates distance between the two according to time difference, with
And the intensity of the acoustic signals received according to different antennae judges direction.
Or, in the third embodiment, can be positioned by outdoor GPS: handheld terminal and vehicle-mounted end built-in GPS module respectively
And wireless communication module, the GPS module of handheld terminal obtains self current location information, and is sent to car by wireless communication module
Carrying end, vehicle-mounted end determines relative position, distance the most between the two and direction by the gps coordinate of both sides.
Or, in the 4th kind of embodiment, can be by indoor UWB(Ultra Wideband, carrierfree communication technology) fixed
Position: handheld terminal and vehicle-mounted end built-in UWB location label and wireless communication module respectively, it is current that handheld terminal location label obtains self
Positional information, and it is sent to vehicle-mounted end by wireless communication module, vehicle-mounted end is determined between the two by the positional information of both sides
Distance and direction.
Wherein in another kind of embodiment, described tracking characteristics information can be described in follow the feature letter of image of target
Breath.Described acquisition device 611 can include a vision sensor, is used for following described in gathering the characteristic information of the image of target.Its
In, described vision sensor can use photographic head, such as, by being arranged on the photographic head of described Intelligent shopping trolley 100 front end, use
In obtaining image information in front.
Described controller 62 extracts target characteristic for the characteristic information of the image collected from described vision sensor,
And according to the target characteristic extracted determine described in follow target and described Intelligent shopping trolley 100 relative to described target of following
Positional information.
In the present embodiment, described Intelligent shopping trolley 100 may also include fault avoidnig device 613, described fault avoidnig device 613 and institute
State controller 62 communication to connect, for detecting the obstacle information of surrounding.Described fault avoidnig device 613 can use photographic head, laser
Radar, ultrasonic sensor etc., described fault avoidnig device 613 is mountable on described movable chassis 20, and towards described intelligence
One or more directions in the front of shopping cart 100, rear, left, right, before being used for sensing described Intelligent shopping trolley 100
The obstacle information of side, rear, left or right.
Described controller 62 is further used for cooking up motion road according to described positional information and described obstacle information
Footpath, and control described movable chassis 20 and move according to described motion path, with realize described Intelligent shopping trolley 100 to described with
Automatically following with target.
Intelligent shopping trolley 100 of the present utility model can be by following target with described, and such as client is the most interactive, or logical
Crossing and the described control device followed and carry with target, such as remote controller carries out interaction, when being applied to market, and can be in shopping
During automatically follow client, without client's push-and-pull shopping cart, and by the barrier around of fault avoidnig device 613 detecting on car body
Hinder thing information and automatic dodging barrier, allow client liberate both hands, and have the most comfortable purchase experiences, effectively solve
Shopping cart of the prior art needs artificial to carry out, inconvenient problems with use.
In the present embodiment, described characteristic information may also include height beacon information, and described controller 62 is according to described height
Degree beacon information control described lowering or hoisting gear 40 deform, make described carrier 30 as one kind do relative to described movable chassis 20 rise or under
Fall motion, until the height of described carrier 30 as one kind reaches the height that described height beacon information is corresponding.
In the present embodiment, described height beacon information at least includes following, to described, the first elevation information that target is relevant
With the second elevation information.Wherein, the height in target is followed described in described first elevation information correspondence less than described second height
The height in target is followed described in information correspondence.
Further, described first elevation information can follow the height in target for facilitating user uprightly described in correspondence
Time operation carrier 30 as one kind.Described second elevation information can follow the height in target for facilitating user to grasp when bending over described in correspondence
Make carrier 30 as one kind.
Such as, described first elevation information can for following at least one: described in follow the first position or the attaching of target
Follow in target described, on the most described first position first instruction pattern at the described elevation information followed in target,
Waist location or the palm position of target are followed described in can being in described first position.
Described second elevation information can for following at least one: described in follow the second position of target or be attached to described
Follow in target, the second instruction pattern at the most described second position at the described elevation information followed in target, described second
Chest locations or the elbow position of target are followed described in can being in position.
In the present embodiment, described acquisition device 611 can include vision sensor, such as photographic head, described visual sensing
Device can be located at the upper end position of described carrier 30 as one kind, the upper end position of the side surface of the most described carrier 30 as one kind.
When the height corresponding with described height beacon information when the position of described vision sensor is substantially flush, it is believed that
The height of described carrier 30 as one kind reaches the height that described height beacon information is corresponding.
Specifically, it is located substantially at the pickup area of described vision sensor when the height that described height beacon information is corresponding
Medium position time, it is believed that the position of the described vision sensor height corresponding with described height beacon information is the neatest
Flat, the height of described carrier 30 as one kind reaches the height that described height beacon information is corresponding.So, the height of described carrier 30 as one kind with make
The most in the same horizontal line, user places thing in carrier 30 as one kind to the height of the particular body portion of user, such as elbow
As long as bending over a little during product, the most even must not bend over, convenient and labor-saving.
If the corresponding height of described height beacon information is positioned at the bottom of the pickup area of described vision sensor, then may be used
Thinking the described height beacon information corresponding height height less than described carrier 30 as one kind, described controller 62 can control described load
The most described movable chassis of body 30 20 does descending motion, to reduce the height of described carrier 30 as one kind, makes the height of described carrier 30 as one kind
Drop to the height corresponding with described height beacon information substantially flush, described in facilitating, follow the target described carrier of use
30, such as taking and placing article etc..Otherwise, if the corresponding height of described height beacon information is positioned at the collection of described vision sensor
The top in region, then it is believed that the corresponding height of described height beacon information is higher than the height of described carrier 30 as one kind, described control
Device 62 can control the most described movable chassis of described carrier 30 as one kind 20 and do ascending motion, to improve the height of described carrier 30 as one kind.
In the present embodiment, described Intelligent shopping trolley 100 may also include the communicator being connected with described controller 62
612, described communicator 612 communicates and receives, for controlling device with one, the altitude mixture control letter that described control device sends
Number.
Described controller 62 can control described lifting according to the described altitude mixture control signal that described communicator 612 receives
Device 40 deforms, and makes described carrier 30 as one kind rise or fall motion relative to described movable chassis 20, until described carrier 30 as one kind
Height reach the height that described altitude mixture control signal is corresponding.
It is understood that in other embodiments, described controller 62 can receive described at described communicator 612
Control described acquisition device 611 after altitude mixture control signal again and obtain described height beacon information, and according to described acquisition device
The described height beacon information that 611 get controls described lowering or hoisting gear 40 and deforms.
Intelligent shopping trolley 100 of the present utility model can by follow described in automatically obtaining the height of target represent information from
The dynamic height regulating described carrier 30 as one kind, or the height of described carrier 30 as one kind is regulated by the control signal of receiving control device,
Or the height following target described in by the control signal of receiving control device and automatically obtaining represents that information is automatically adjusted
The height of described carrier 30 as one kind, control mode is relatively flexible, make traditional shopping cart become intelligent, is saving the muscle power of user
Return user uses described carrier 30 as one kind to provide the most simultaneously.
In the present embodiment, described characteristic information may also include described in follow the status information of target.Described controller 62
The kinestate of described movable chassis 20 and/or described lowering or hoisting gear 40 is controlled according to the described status information following target
Adjustable height.
Wherein in a kind of embodiment, described status information can include described in follow the motion velocity information of target, described
Controller 62 can regulate the speed of described movable chassis 20 according to the described motion velocity information following target.
Wherein in a kind of embodiment, described status information can include described in follow the motion velocity information of target, described
Controller 62 regulates the adjustable height of described lowering or hoisting gear 40 according to the described motion velocity information following target.
Wherein in a kind of embodiment, described status information can include described in follow the motion velocity information of target, in institute
When stating the movement velocity following target more than a pre-set velocity, described controller 62 controls described lowering or hoisting gear 40 by described carrier
30 drop to minimum altitude.
Refer to Fig. 3, be the structure chart of the movable chassis 20 of described Intelligent shopping trolley 100.In the present embodiment, described
Movable chassis 20 at least includes the first support 21 and the second support 22, and described first support 21 is with described second support 22 also
Row connects, and described second support 22 can select to move to the direction closer or far from described first support 21.
Specifically, described first support 21 include the first main shaft 211 and be approximately perpendicular to described first main shaft 211 and to
At least one pair of first loop bar 212 that same direction extends.Described second support 22 includes the second main shaft 221 and is approximately perpendicular to
Described second main shaft 221 at least one pair of second loop bar 222 extended to same direction.Wherein, described second loop bar 222 is respectively
With described first loop bar 212 one_to_one corresponding, described second loop bar 222 can be inserted in described first loop bar 212 and can be in institute
State in the first loop bar 212 and move reciprocatingly.
In the present embodiment, described movable chassis 20 also includes connecting rod the 24, first driving means the 25, first connecting portion
26 and drive rod 28.Wherein, described connecting rod 24 is connected between at least one pair of described first loop bar 212.
Described first driving means 25 is installed in described connecting rod 24, and electrically connects with described controller 62.In this reality
Executing in example, described first driving means 25 can be motor.
Described first connecting portion 26 is installed in described connecting rod 24, and described first connecting portion 26 drives dress with described first
Put and connected by a Timing Belt 27 between 25.
Being provided with the second connecting portion (not shown) on described drive rod 28, described drive rod 28 one end is fixed on described second
On main shaft 221, the other end passes described first connecting portion 26, and makes described first connecting portion 26 join with described second connecting portion
Close.
In the present embodiment, described drive rod 28 can be screw mandrel, and described first connecting portion 26 can be feed screw nut, described
Two connecting portions can be external screw thread.
Described controller 62 rotates specifically for controlling described first driving means 25, thus is carried by described Timing Belt 27
Dynamic described first connecting portion 26 rotates, and makes described drive rod 28 coordinating at described first connecting portion 26 and described second connecting portion
Move to the direction closer or far from described first main shaft 211 under interconnection function, so that described second loop bar 222 is described the
One loop bar 212 moves reciprocatingly.
Referring to Fig. 1, described lowering or hoisting gear 40 includes the first elevating lever 41 and the second elevating lever 42, described first
The middle part of elevating lever 41 is rotationally connected with the middle part of described second elevating lever 42.
Wherein, one end of described first elevating lever 41 is rotationally connected with described first support 21, and the other end is rotationally connected with
The bottom of described carrier 30 as one kind is the most relative with described second support 22.One end of described second elevating lever 42 is rotationally connected with described
Two supports 22, the other end is rotationally connected with the bottom of described carrier 30 as one kind relative with described first support 21.
So, as illustrated in figures 4-5, described second support 22 moves energy to the direction closer or far from described first support 21
The one end enough promoting described second elevating lever 42 is moved to the direction of the one end closer or far from described first elevating lever 41, thus
Described lowering or hoisting gear 40 is made to deform to change described first elevating lever 41 and described second elevating lever 42 at the described removable end
Standoff height on dish 20, makes described carrier 30 as one kind rise or fall motion relative to described movable chassis 20.
The movable chassis 20 of Intelligent shopping trolley 100 of the present utility model, while shrinking or unfolding, can drive described
Lowering or hoisting gear 40 deforms, it is achieved rising or falling of described carrier 30 as one kind.Wherein, at described first loop bar 212 and described second set
In the case of the length of bar 222 is substantially flush, the volume of described movable chassis 20 I narrows down to original 1/2nd.
In the present embodiment, described movable chassis 20 may also include gripper shoe 50, and described gripper shoe 50 is installed on described
On first support 21 and described second support 22.Wherein, one end of described gripper shoe 50 is fixed with described first main shaft 211,
The other end is carried on described second main shaft 221, and the opposite sides of the other end of described gripper shoe 50 arranges baffle plate 51, described gear
Offering slideway 52 on plate 51, the opposite end of described second main shaft 221 is provided with fixture 223 corresponding to described slideway 52, and one
One end of described second elevating lever 42 is rotated with described fixture 223 by connector 70, such as screw etc. through described slideway 52
Link together, so that described one end by the second elevating lever 42 is rotationally connected with described second main shaft 221.
In the present embodiment, described gripper shoe 50 can be provided with circuit board, described controller 62 can be located at described circuit board
On.
It is understood that in other embodiments, described gripper shoe 50 can be omitted.
In the present embodiment, described movable chassis 20 also includes wheel 23 and the second driving means 614(such as Fig. 2 institute
Show), wherein, described wheel 23 is respectively arranged in opposite end and the phase of described second support 22 of described first support 21
To two ends.In the present embodiment, described wheel 23 is omni-directional wheel.
Described second driving means 614 is respectively arranged between the end of described wheel 23 and described first support 21, with
And be respectively arranged between the end of described wheel 23 and described second support 22.
Wherein, described second driving means 614 also electrically connects with described controller 62, and described controller 62 is used for controlling institute
State the second driving means 614 to rotate, thus drive described wheel 23 to rotate.
Merit based on the height automatically following function and Intelligent adjustment carrier 30 as one kind that above-mentioned Intelligent shopping trolley 100 has
Can, described Intelligent shopping trolley 100 can be applicable to the place such as market, supermarket, can follow the thing that carrying consumer of consumer is bought
Product.
Fig. 6 is a kind of control method schematic flow sheet of this utility model embodiment.Described control method is for control automatically
Make the height that above-mentioned Intelligent shopping trolley 100 moved and regulated the carrier 30 as one kind of described Intelligent shopping trolley 100.Should illustrate
It is that the described method of this utility model embodiment is not limited to the step in the flow chart shown in Fig. 6 and order.According to different
Embodiment, the step in the flow chart shown in Fig. 6 can increase, remove or change order.In the present embodiment, described
Method can be from the beginning of step 601.
Step 601, obtains and follows clarification of objective information.
Step 602, according to the described characteristic information that gets control described movable chassis automatically follow described in follow mesh
Mark, and control described lowering or hoisting gear described carrier liter is down to preset height.Thus, described Intelligent shopping trolley can either automatically with
Follow target with described, automatically described carrier can be used to provide convenience as much as possible for described target of following again.
In the present embodiment, described characteristic information can include tracking characteristics information.The described feature that described basis gets
Information control described movable chassis automatically follow described in follow the step of target and specifically include:
According to described tracking characteristics information determine described in follow target and described Intelligent shopping trolley is followed relative to described
The positional information of target；And
According to described positional information control described movable chassis near described in follow target direction motion, with realize
Described Intelligent shopping trolley follows automatically following of target to described.
Wherein, described positional information at least can include azimuth information and range information.
Wherein in a kind of embodiment, described acquisition is followed the step of clarification of objective information and is specifically included:
Be arranged at described in follow in target control device carry out radio communication, to obtain described tracking characteristics information.
Wherein, described tracking characteristics information can include following at least one: the signal of communication that described control device is launched
Receiving intensity with receive direction, to described control device launch signal of communication and receive described control device return the letter that communicates
Number time difference, the positional information of described control device.
Specifically, using vehicle-mounted end as Intelligent shopping trolley, using handheld terminal as controlling as a example by device, in the first embodiment
In, can communicate by the communication such as infrared ray, bluetooth, WIFI, ZigBee and position: first, vehicle-mounted end and hands
Holding end and set up radio communication connection, vehicle-mounted end launches signal to the handheld terminal connected, and handheld terminal returns after receiving signal should
Answering signal, vehicle-mounted end calculates distance between the two according to time difference, and receives the intensity judgement side of signal according to different antennae
To.Wherein, described handheld terminal can exist with bracelet form or be integrated on the portable electric appts such as mobile phone, and described handheld terminal can
Including reception antenna and transmitting antenna, the reception antenna of described handheld terminal can be omnidirectional antenna.Described vehicle-mounted end may also comprise and connects
Receiving antenna and launch antenna, the reception antenna of described vehicle-mounted end is such as made up of No. 8 beam antennas, by the antenna in each direction
Receive the intensity of signal determine described in follow the direction of target.
Or, in the second embodiment, acoustic location can be passed through: vehicle-mounted end launches the sound wave of characteristic frequency to handheld terminal
Signal, handheld terminal returns corresponding acoustic signals after receiving sound wave, vehicle-mounted end calculates distance between the two according to time difference, with
And the intensity of the acoustic signals received according to different antennae judges direction.
Or, in the third embodiment, can be positioned by outdoor GPS: handheld terminal and vehicle-mounted end built-in GPS module respectively
And wireless communication module, the GPS module of handheld terminal obtains self current location information, and is sent to car by wireless communication module
Carrying end, vehicle-mounted end determines relative position, distance the most between the two and direction by the gps coordinate of both sides.
Or, in the 4th kind of embodiment, can be by indoor UWB(Ultra Wideband, carrierfree communication technology) fixed
Position: handheld terminal and vehicle-mounted end built-in UWB location label and wireless communication module respectively, it is current that handheld terminal location label obtains self
Positional information, and it is sent to vehicle-mounted end by wireless communication module, vehicle-mounted end is determined between the two by the positional information of both sides
Distance and direction.
Wherein in another kind of embodiment, described tracking characteristics information can be described in follow the feature letter of image of target
Breath.Described control method specifically includes:
The characteristic information of the image of target is followed described in collection；
From the characteristic information of the image collected, extract target characteristic, and according to the target characteristic extracted determine described with
With target and described Intelligent shopping trolley relative to the described positional information following target.
In the present embodiment, described control method may further comprise the step of:
Detection obstacle information around；And
Cook up motion path according to described positional information and described obstacle information, and control described movable chassis
Move according to described motion path, follow automatically following of target to described realizing described Intelligent shopping trolley.
Control method of the present utility model can be by following target with described, and such as client is the most interactive, or by with
Described following the control device carried with target, such as remote controller carries out interaction, when described Intelligent shopping trolley is applied to market
Time, described shopping cart can be controlled in shopping process and automatically follow client, without client's push-and-pull shopping cart, and can detect around
Obstacle information and automatic dodging barrier, allow client liberate both hands, and have the most comfortable purchase experiences, effectively
Solve shopping cart of the prior art and need artificial implementation, inconvenient problem with use.
In the present embodiment, described characteristic information may also include height beacon information.According to the described feature letter got
Breath controls described lowering or hoisting gear and the step that described carrier liter is down to preset height is specifically comprised the steps that
Control the deformation of described lowering or hoisting gear according to described height beacon information, make described carrier relative to the described removable end
Dish rises or falls motion, until the height of described carrier reaches the height that described height beacon information is corresponding.
In the present embodiment, described height beacon information at least includes following, to described, the first elevation information that target is relevant
With the second elevation information.Wherein, the height in target is followed described in described first elevation information correspondence less than described second height
The height in target is followed described in information correspondence.
Further, described first elevation information can follow the height in target for facilitating user uprightly described in correspondence
Time operation carrier.Described second elevation information can follow the height in target for facilitating user to operate when bending over described in correspondence
Carrier.
Such as, described first elevation information can for following at least one: described in follow the first position or the attaching of target
Follow in target described, on the most described first position first instruction pattern at the described elevation information followed in target,
Waist location or the palm position of target are followed described in can being in described first position.
Described second elevation information can for following at least one: described in follow the second position of target or be attached to described
Follow in target, the second instruction pattern at the most described second position at the described elevation information followed in target, described second
Chest locations or the elbow position of target are followed described in can being in position.
In the present embodiment, described control method specifically can include step:
Control device with one and communicate and receive the altitude mixture control signal that described control device sends；And
Control the deformation of described lowering or hoisting gear according to the described altitude mixture control signal received, make described carrier relative to described
Movable chassis rises or falls motion, until the height of described carrier reaches the height that described altitude mixture control signal is corresponding
Degree.
It is understood that in other embodiments, described control method specifically can include step:
Control device with one and communicate and receive the altitude mixture control signal that described control device sends；And
Described height beacon information is obtained after receiving described altitude mixture control signal, and according to the described height got
Degree beacon information controls the deformation of described lowering or hoisting gear, makes described carrier rise or fall fortune relative to described movable chassis
It is dynamic, until the height of described carrier reaches the height that described altitude mixture control signal is corresponding.
By following the height of target described in acquisition automatically, control method of the present utility model can represent that information is adjusted automatically
Save the height of the carrier of described Intelligent shopping trolley, or regulated the height of described carrier by the control signal of receiving control device
Degree, or by the control signal of receiving control device and automatically follow the height of target described in acquisition and represent that information is adjusted automatically
Saving the height of described carrier, control mode is relatively flexible, make traditional shopping cart become intelligent, is saving the muscle power of user
Return user uses described carrier to provide the most simultaneously.
In the present embodiment, described characteristic information may also include described in follow the status information of target.Described control method
May further comprise the step of:
Kinestate and/or the described lifting dress of described movable chassis is controlled according to the described status information following target
The adjustable height put.
Wherein in a kind of embodiment, described status information can include described in follow the motion velocity information of target.Described
Control method specifically can include step:
The speed of described movable chassis is regulated according to the described motion velocity information following target.
Wherein in a kind of embodiment, described status information can include described in follow the motion velocity information of target.Described
Control method specifically can include step:
The adjustable height of described lowering or hoisting gear is regulated according to the described motion velocity information following target.
Wherein in a kind of embodiment, described status information can include described in follow the motion velocity information of target.Described
Control method specifically can include step:
When the described movement velocity following target is more than a pre-set velocity, control described lowering or hoisting gear by under described carrier
It is down to minimum altitude.
Finally it should be noted that above example only in order to the technical solution of the utility model to be described and unrestricted, although
With reference to preferred embodiment, this utility model is described in detail, it will be understood by those within the art that, can be right
The technical solution of the utility model is modified or equivalent, without deviating from spirit and the model of technical solutions of the utility model
Enclose.
This patent document disclosure comprises material protected by copyright.This copyright is that copyright holder owns.Copyright
Everyone does not oppose that anyone replicates this patent document in the presence of the proce's-verbal of Patent&Trademark Office and archives or should
Patent discloses.
Claims (23)
1. an Intelligent shopping trolley, including:
Movable chassis；
Carrier, is arranged on described movable chassis, and described carrier is used for loaded object；
Lowering or hoisting gear, is connected between described movable chassis and described carrier；
Acquisition device, follows clarification of objective information for acquisition；And
Controller, communicates to connect with described acquisition device；
Wherein, the described characteristic information described movable chassis of control that described controller gets according to described acquisition device is automatic
Follow target described in following, and described lowering or hoisting gear can be controlled described carrier liter is down to preset height.
2. Intelligent shopping trolley as claimed in claim 1, it is characterised in that: described acquisition device include following at least one: regard
Sense sensor, infrared sensor, electromagnetic sensor, sonic sensor.
3. Intelligent shopping trolley as claimed in claim 1, it is characterised in that: described characteristic information includes tracking characteristics information, institute
State controller according to described tracking characteristics information determine described in follow target and described Intelligent shopping trolley is followed relative to described
The positional information of target, and according to described positional information control described movable chassis near described in follow target direction fortune
Dynamic, follow automatically following of target to described realizing described Intelligent shopping trolley.
4. Intelligent shopping trolley as claimed in claim 3, it is characterised in that: described positional information at least include azimuth information and
Range information.
5. Intelligent shopping trolley as claimed in claim 4, it is characterised in that: described acquisition device includes the biography with communication function
Sensor, described acquisition device can be arranged at described in follow in target control device carry out radio communication, described to obtain
Tracking characteristics information, described tracking characteristics information include following at least one: described acquisition device receive described control dress
Intensity and the reception direction of described signal of communication, the described acquisition device of putting the signal of communication of transmitting are launched to described control device
Signal of communication and the described control receiving the time difference of signal of communication of described control device return, described acquisition device receives
The positional information of device processed.
6. Intelligent shopping trolley as claimed in claim 3, it is characterised in that: described tracking characteristics information be described in follow target
The characteristic information of image, described acquisition device includes a vision sensor, is used for following described in gathering the feature of the image of target
Information, described controller extracts target characteristic, and root for the characteristic information of the image collected from described vision sensor
According to the target characteristic extracted determine described in follow target and described Intelligent shopping trolley relative to the described position following target letter
Breath.
7. Intelligent shopping trolley as claimed in claim 3, it is characterised in that: described Intelligent shopping trolley also includes fault avoidnig device, institute
State fault avoidnig device to be connected with described controller communication, for detecting the obstacle information of surrounding；
Wherein, described controller cooks up motion path according to described positional information and described obstacle information, and controls institute
State movable chassis to move according to described motion path, with realize described Intelligent shopping trolley to described follow target automatic with
With.
8. Intelligent shopping trolley as claimed in claim 1, it is characterised in that: described characteristic information includes height beacon information, institute
State controller and control the deformation of described lowering or hoisting gear according to described height beacon information, make described carrier relative to the described removable end
Dish rises or falls motion, until the height of described carrier reaches the height that described height beacon information is corresponding.
9. Intelligent shopping trolley as claimed in claim 8, it is characterised in that: described height beacon information at least include with described with
First elevation information relevant with target and the second elevation information, wherein, follow target described in described first elevation information correspondence
On height less than following the height in target described in described second elevation information correspondence.
10. Intelligent shopping trolley as claimed in claim 9, it is characterised in that: follow mesh described in described first elevation information correspondence
The height put on operates carrier for facilitating user when upright；
And/or, follow the height in target described in described second elevation information correspondence for facilitating user to operate load when bending over
Body.
11. Intelligent shopping trolleys as claimed in claim 8, it is characterised in that: described Intelligent shopping trolley also includes and described control
The communicator that device connects, described communicator communicates and receives what described control device sent for controlling device with one
Altitude mixture control signal；
Wherein, described controller controls described acquisition device after described communicator receives described altitude mixture control signal again
Obtain described height beacon information, and the described height beacon information got according to described acquisition device controls described lifting dress
Put deformation.
12. Intelligent shopping trolleys as claimed in claim 1, it is characterised in that: described Intelligent shopping trolley also includes and described control
The communicator that device connects, described communicator communicates and receives what described control device sent for controlling device with one
Altitude mixture control signal；
Wherein, described controller controls the change of described lowering or hoisting gear according to the described altitude mixture control signal that described communicator receives
Shape, makes described carrier rise or fall motion relative to described movable chassis, until the height of described carrier reaches described
The height that altitude mixture control signal is corresponding.
13. Intelligent shopping trolleys as claimed in claim 1, it is characterised in that: described characteristic information include described in follow target
Status information, described controller according to described in follow target status information control described movable chassis kinestate or/
And the adjustable height of described lowering or hoisting gear.
14. Intelligent shopping trolleys as claimed in claim 13, it is characterised in that: described status information include described in follow target
Motion velocity information, described controller according to described in follow target motion velocity information regulate described movable chassis speed
Degree；
Or, described status information include described in follow the motion velocity information of target, described controller according to described in follow mesh
Target motion velocity information regulates the adjustable height of described lowering or hoisting gear；
Or, described status information include described in follow the motion velocity information of target, in the described movement velocity following target
During more than pre-set velocity, described controller controls described lowering or hoisting gear and described carrier is dropped to minimum altitude.
15. Intelligent shopping trolleys as claimed in claim 1, it is characterised in that: described movable chassis at least includes the first support
And second support, described first support is connected side by side with described second support, and described second support can select to close
Or the direction away from described first support moves.
16. Intelligent shopping trolleys as claimed in claim 15, it is characterised in that: described first support includes the first main shaft and big
Cause to be perpendicular to described first main shaft at least one pair of first loop bar extended to same direction；
Described second support includes the second main shaft and is approximately perpendicular to described second main shaft and extends at least to same direction
A pair second loop bars；
Wherein, described second loop bar respectively with described first loop bar one_to_one corresponding, described second loop bar can be inserted in described first
In loop bar and can move reciprocatingly in described first loop bar.
17. Intelligent shopping trolleys as claimed in claim 16, it is characterised in that: described movable chassis also includes:
Connecting rod, is connected between at least one pair of described first loop bar；
First driving means, is installed in described connecting rod, and electrically connects with described controller；
First connecting portion, is installed in described connecting rod, by one between described first connecting portion and described first driving means
Timing Belt connects；
Drive rod, described drive rod is provided with the second connecting portion, and described drive rod one end is fixed on described second main shaft, separately
One end passes described first connecting portion, and makes described first connecting portion coordinate with described second connecting portion；
Described controller is used for controlling described first driving means and rotates, thus drives described first to connect by described Timing Belt
Portion rotates, and makes described drive rod to close or remote under described first connecting portion with the effect of being connected of described second connecting portion
Move from the direction of described first main shaft, so that described second loop bar moves reciprocatingly in described first loop bar.
18. Intelligent shopping trolleys as claimed in claim 17, it is characterised in that: described lowering or hoisting gear include the first elevating lever and
Second elevating lever, the middle part of described first elevating lever is rotationally connected with the middle part of described second elevating lever；Wherein,
One end of described first elevating lever is rotationally connected with described first support, and the other end is rotationally connected with the bottom of described carrier
And it is relative with described second support；
One end of described second elevating lever is rotationally connected with described second support, and the other end is rotationally connected with the bottom of described carrier
And it is relative with described first support；
Described second support moves to the direction closer or far from described first support can promote the one of described second elevating lever
End moves to the direction of the one end closer or far from described first elevating lever, so that the deformation of described lowering or hoisting gear is described to change
First elevating lever and described second elevating lever standoff height on described movable chassis, make described carrier relative to described
Movable chassis rises or falls motion.
19. Intelligent shopping trolleys as claimed in claim 18, it is characterised in that: described movable chassis also includes gripper shoe, institute
State gripper shoe to be installed on described first support and described second support, wherein, one end of described gripper shoe and described first
Main shaft is fixed, and the other end is carried on described second main shaft, and the opposite sides of the other end of described gripper shoe arranges baffle plate, described
Offering slideway on baffle plate, the opposite end of described second main shaft is provided with fixture corresponding to described slideway, and a connection piece passes
One end of described second elevating lever is rotatably connected by described slideway with described fixture, passes through second liter so that described
One end of fall bar is rotationally connected with described second main shaft.
20. Intelligent shopping trolleys as claimed in claim 19, it is characterised in that: described gripper shoe is provided with circuit board, described control
Device processed is located on described circuit board.
21. Intelligent shopping trolleys as claimed in claim 17, it is characterised in that: described drive rod is screw mandrel, and described first connects
Portion is feed screw nut, and described second connecting portion is external screw thread；
And/or, described first driving means is motor.
22. Intelligent shopping trolleys as claimed in claim 15, it is characterised in that: described movable chassis also includes:
Wheel, is respectively arranged in opposite end and the opposite end of described second support of described first support；
Second driving means, is respectively arranged between the end of described wheel and described first support and is respectively arranged in institute
State between the end of wheel and described second support；
Wherein, described second driving means also electrically connects with described controller, and described controller is used for controlling described second and drives
Device rotates, thus drives described wheel turns.
23. Intelligent shopping trolleys as claimed in claim 22, it is characterised in that: described wheel is omni-directional wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620796822.XU CN205844897U (en) | 2016-07-27 | 2016-07-27 | Intelligent shopping trolley |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620796822.XU CN205844897U (en) | 2016-07-27 | 2016-07-27 | Intelligent shopping trolley |
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| CN205844897U true CN205844897U (en) | 2016-12-28 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106647760A (en) * | 2016-12-30 | 2017-05-10 | 东南大学 | Intelligent shopping cart and intelligent shopping method |
| CN106828574A (en) * | 2016-12-30 | 2017-06-13 | 北京科技大学 | Automatically supermarket shopping car is followed |
| CN107187480A (en) * | 2017-07-07 | 2017-09-22 | 湖州师范学院 | Automatic lifting intelligent shopping trolley |
| CN107231799A (en) * | 2016-07-27 | 2017-10-03 | 深圳市大疆创新科技有限公司 | Carrying apparatus and its control method |
| CN107608345A (en) * | 2017-08-26 | 2018-01-19 | 深圳力子机器人有限公司 | A kind of robot and its follower method and system |
| CN108664032A (en) * | 2018-06-08 | 2018-10-16 | 东北大学秦皇岛分校 | A kind of automatic control system and method for following carrier based on machine vision |
| CN109890581A (en) * | 2017-05-08 | 2019-06-14 | 深圳市大疆创新科技有限公司 | Elevating mechanism and barricade system for robot match |
| CN111435259A (en) * | 2019-01-14 | 2020-07-21 | 北京京东尚科信息技术有限公司 | Intelligent following vehicle movement control device and intelligent following vehicle |
| CN112785382A (en) * | 2021-01-28 | 2021-05-11 | 黄强 | Shopping cart, shopping cart control method, and computer-readable storage medium |
-
2016
- 2016-07-27 CN CN201620796822.XU patent/CN205844897U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107231799A (en) * | 2016-07-27 | 2017-10-03 | 深圳市大疆创新科技有限公司 | Carrying apparatus and its control method |
| CN107231799B (en) * | 2016-07-27 | 2019-08-13 | 深圳市大疆创新科技有限公司 | Carrying apparatus and its control method |
| CN106647760A (en) * | 2016-12-30 | 2017-05-10 | 东南大学 | Intelligent shopping cart and intelligent shopping method |
| CN106828574A (en) * | 2016-12-30 | 2017-06-13 | 北京科技大学 | Automatically supermarket shopping car is followed |
| CN109890581A (en) * | 2017-05-08 | 2019-06-14 | 深圳市大疆创新科技有限公司 | Elevating mechanism and barricade system for robot match |
| CN107187480A (en) * | 2017-07-07 | 2017-09-22 | 湖州师范学院 | Automatic lifting intelligent shopping trolley |
| CN107608345A (en) * | 2017-08-26 | 2018-01-19 | 深圳力子机器人有限公司 | A kind of robot and its follower method and system |
| CN108664032A (en) * | 2018-06-08 | 2018-10-16 | 东北大学秦皇岛分校 | A kind of automatic control system and method for following carrier based on machine vision |
| CN111435259A (en) * | 2019-01-14 | 2020-07-21 | 北京京东尚科信息技术有限公司 | Intelligent following vehicle movement control device and intelligent following vehicle |
| CN112785382A (en) * | 2021-01-28 | 2021-05-11 | 黄强 | Shopping cart, shopping cart control method, and computer-readable storage medium |
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