CN108983767A - Quotient based on Internet of Things is outstandingly intelligent can shopping cart system - Google Patents
Quotient based on Internet of Things is outstandingly intelligent can shopping cart system Download PDFInfo
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- CN108983767A CN108983767A CN201810550259.1A CN201810550259A CN108983767A CN 108983767 A CN108983767 A CN 108983767A CN 201810550259 A CN201810550259 A CN 201810550259A CN 108983767 A CN108983767 A CN 108983767A
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- 238000004891 communication Methods 0.000 claims abstract description 22
- 238000000034 method Methods 0.000 claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 230000005347 demagnetization Effects 0.000 claims abstract description 13
- 230000008569 process Effects 0.000 claims abstract description 7
- 230000008859 change Effects 0.000 claims description 10
- 238000004458 analytical method Methods 0.000 claims description 7
- 230000003287 optical effect Effects 0.000 claims description 5
- 230000029052 metamorphosis Effects 0.000 claims description 2
- 230000000306 recurrent effect Effects 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 241001465382 Physalis alkekengi Species 0.000 description 1
- 238000009414 blockwork Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/51—Discovery or management thereof, e.g. service location protocol [SLP] or web services
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/52—Network services specially adapted for the location of the user terminal
Abstract
The outstandingly intelligent energy shopping cart system of a kind of quotient based on Internet of Things proposed by the present invention, characterized by comprising: intelligent shopping trolley, remote server and mobile intelligent terminal；The shopping cart includes: car body, the walking mechanism assembly being arranged in below car body, obtains shopping cart current location, tracking/navigation elements, communication unit and the control unit that guidance shopping cart is advanced；In shopping cart traveling process, the communication unit obtains external command, by the control unit parsing instruction, generates current shopping cart traveling mode, which includes at least navigation traveling mode and roaming follow the mode；The shopping cart also has self-checkout unit；The unit, which includes at least, to be arranged at the shopping cart postnotum, bar code scanning module and demagnetization module towards shopping cart framework；User scans the total price of selected commodity by bar code scanning module, and after payment, demagnetization module carries out demagnetization to purchased commodity.
Description
Technical field
The present invention relates to the outstandingly intelligent energy shopping cart systems of intelligent shopping trolley system more particularly to a kind of quotient based on Internet of Things.
Relate generally to Patent classificating number G physics G06 calculating；It calculates；It counts G06Q and is specially adapted for administrative, business, finance, management, prison
Superintend and direct or predict the data processing system or method of purpose；What other classifications did not included is specially adapted for administrative, business, finance, pipe
Reason, the processing system of supervision or prediction purpose or method G06Q30/00 business, such as shopping or e-commerce G06Q30/06 purchase
Buy, sell or lease transaction.
Background technique
With the continuous improvement of people's living standards, supermarket shopping more has been favored by people.Horse cloud says client instantly
That wants does not service, experience.And the shopping mode of preceding supermarket is not able to satisfy the demand of Customer Shopping experience: can not find desire
Purchase commodity push away that shopping cart is hard, payment is lined up commodity needed for long, payment small change is inconvenient, leakage is purchased etc..
Although super shopping cart pattern currently on the market is more, function is excessively single, and being only able to achieve loading, this is single
Function.Currently on the market there are no the intelligent shopping trolley for integrating barcode scanning, pack, valuation, Supermarket account-settling efficiency it is very low because
This wastes the shopping cart that disappears, and Supermarket account-settling efficiency is very low therefore wastes the plenty of time of consumer, eventually leads to supermarket's passenger flow
Amount is reduced, and affects the long term growth of supermarket.
Summary of the invention
In view of the above problems, the outstandingly intelligent energy shopping cart system of a kind of quotient based on Internet of Things proposed by the present invention, comprising: intelligence
Shopping cart, remote server and mobile intelligent terminal；
The shopping cart includes: car body, the walking mechanism assembly being arranged in below car body, obtains shopping cart present bit
It sets, tracking/navigation elements, communication unit and the control unit that guidance shopping cart is advanced；
In shopping cart traveling process, the communication unit obtains external command, as described in the control unit parsing
Instruction, generate current shopping cart traveling mode, which includes at least navigation traveling mode and roaming follow the mode；
When shopping, user selects current shopping mode by mobile intelligent terminal, which includes at least and lead
Model plane formula and roam mode；
Under navigation mode, user selects shopping list on mobile intelligent terminal in advance, and mobile intelligent terminal is clear by this
Singly be sent to the remote server, remote server according to the kinds of goods in shopping list, to the mobile intelligent terminal
The intelligent shopping trolley of pairing sends commodity present position in inventory；
At this point, shopping cart selection navigation traveling mode, the tracking/navigation elements obtain one that shopping cart advances or
Fixed obstacle in multiple destination coordinates and space generates travelling route, by the described control unit control walking
Mechanism assembly advances along the travelling route；
Under roam mode, shopping cart follows directly after user's traveling, and shopping cart selection follows traveling mode, it is described with
Track/navigation elements obtain the identification feature of the currently used person of shopping cart, by described control unit according to the identification feature control
Shopping cart processed follows advance；
The shopping cart also has self-checkout unit；
The unit, which includes at least, to be arranged at the shopping cart postnotum, bar code scanning module towards shopping cart framework and
Demagnetization module；
User scans the total price of selected commodity by bar code scanning module, after payment, demagnetization module to purchased commodity into
Row demagnetization.
As preferred embodiment, the tracking/navigation elements include:
Video acquiring module, the module include the video image in front of one or more camera acquisition shopping carts；
When shopping cart is in roaming follow the mode, by the processing module analysis video image in tracking/navigation elements
Sequence of frames of video in image, pass through and store in the communication unit and remote server and/or processing locality module
Indoor panoramic picture is compared, and confirms that current shopping cart is presently in position, the control unit root according to comparison result
Travelling route is generated according to position is presently in.
Further, when the fixed point in the acquired sequence of frames of video of processing module analyses and comparison in shopping cart, lead to
Picture tracking algorithm is crossed, obtains the shank image of recurrent user in each image in sequence of frames of video, and according to two
Position and metamorphosis of the shank in different video frame sequence judge that shopping cart is purchased at a distance from user with user relatively
The angle that object vehicle deviates is advanced, stops and is turned to as the walking mechanism is controlled.
Further, the optical sensor that also there is the tracking/navigation elements reception to be presently in position light source,
When shopping cart is in navigation traveling mode, the frequency of received light source is analyzed by the processing module in tracking/navigation elements
Rate feature is compared by the light source frequency feature stored in the communication unit and remote server, is tied according to comparing
Fruit confirms current shopping cart present position.
Further, when shopping cart is in navigation traveling mode, the processing module is according to the video frame of acquisition
Character image change in size in sequence determines that current shopping cart controls shopping at a distance from user, and then by control unit
Vehicle follows user to advance.
Further, the tracking/navigation elements further include being separately positioned on shopping cart surrounding, detection shopping cart with
The distance sensor module of adjacent objects distance；
When shopping cart detects that left and right has object, and object spacing is less than threshold value, control unit controls shopping cart
It is bonded with side object.
Further, display unit is additionally provided in the shopping cart framework；
Under the navigation traveling mode, in the super internal plane of quotient locating for the current shopping cart of display unit real-time display
Position, the display travelling route.
Further, the shopping cart also has voice alerting unit；
When the tracking/navigation elements confirm the node that current shopping cart is in travelling route, destination；When described
Distance sensor module discovery with adjacent objects be within the threshold range when；Voice alerting unit issues early warning.
Detailed description of the invention
For the clearer technical solution for illustrating the embodiment of the present invention or the prior art, to embodiment or will show below
There is attached drawing needed in technical description to do one simply to introduce, it should be apparent that, drawings discussed below is only this
Some embodiments of invention are not making the creative labor and not using business as mesh for those of ordinary skill in the art
Under the premise of, it can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is system module figure of the invention
Fig. 2 is system operational flow diagram of the invention
Fig. 3 is the system module figure of shopping cart of the present invention
Specific embodiment
It elaborates with reference to the accompanying drawing to the method for the present invention, this example is carried out real premised on inventive technique scheme
It applies, the detailed implementation method and specific operation process are given, but the protection scope invented is not limited to following embodiments.
As shown in Figs. 1-3: a kind of outstandingly intelligent energy shopping cart system of quotient based on Internet of Things is mainly purchased by the intelligence of the system core
Object vehicle, the remote server being generally positioned in Shang Chao data center and the mobile intelligent terminal used for customer.
As the intelligent shopping trolley of the system core, it can realize that intelligence follows user by internal control, it also can be real
Target area (such as shelf, specified retail shop) are now marched to automatically.
User can enter supermarket before with supermarket provide cell phone application check all commodity of supermarket (including give a discount promote
The activities such as pin) situation, select this shopping forward purchasing inventory.Into after supermarket, with moving on mobile phone scanning intelligent shopping trolley
State two dimensional code, shopping cart are realized with client and are bound.Client can be in mobile phone terminal/intelligent mobile terminal APP selection shopping mould at this time
Formula:
Navigation mode: the inventory selected in advance according to customer is led the way by shopping cart intelligent selection to required commodity shelf.
Roam mode: if customer does not select commodity in mobile phone terminal in advance, then intelligent shopping trolley can follow client, in market
In stroll selection commodity.When selected commodity are taken in and out shopping cart by customer, shopping cart meeting automatic identification realizes charging meter
It calculates, and the amount of money is synchronous with customer's mobile phone.When customer complete do shopping when, can by on-line payments such as mobile-phone payment treasured, wechats,
Exit can directly be arrived.Shopping cart is synchronous with cashier data, customer can direct payment, complete shopping.
As preferred embodiment, the shopping cart by car body, the walking mechanism assembly being arranged in below car body, obtain
Shopping cart current location is taken, tracking/navigation elements, communication unit and the control unit composition that guidance shopping cart is advanced.
As preferred embodiment, existing shopping cart is may be selected in car body, reduces upgrading cost, by improving purchase
The walking mechanism of object vehicle bottom increases the mode of battery pack to realize.Walking mechanism selection has steering mechanism and hub motor
Independent driving wheel, facilitate upgrading.
In shopping cart traveling process, the communication unit obtains external command, as described in the control unit parsing
Instruction, generate current shopping cart traveling mode, which includes at least navigation traveling mode and roaming follow the mode.
When shopping, user selects current shopping mode by mobile intelligent terminal, which includes at least and lead
Model plane formula and roam mode.
Under navigation mode, user selects shopping list on mobile intelligent terminal in advance, and mobile intelligent terminal is clear by this
Singly be sent to the remote server, remote server according to the kinds of goods in shopping list, to the mobile intelligent terminal
The intelligent shopping trolley of pairing sends commodity present position in inventory；
At this point, shopping cart selection navigation traveling mode, the tracking/navigation elements obtain one that shopping cart advances or
Fixed obstacle in multiple destination coordinates and space generates travelling route, by the described control unit control walking
Mechanism assembly advances along the travelling route；
Under roam mode, shopping cart follows directly after user's traveling, and shopping cart selection follows traveling mode, it is described with
Track/navigation elements obtain the identification feature of the currently used person of shopping cart, by described control unit according to the identification feature control
Shopping cart processed follows advance.
As preferred embodiment, the shopping cart also has self-checkout unit.The unit includes at least setting and exists
At the shopping cart postnotum, (specific location can also be according to not for bar code scanning module and demagnetization module towards shopping cart framework
It is adjusted with shopping cart, the shopping cart for not having Shopping Basket for itself can be placed at Shopping Basket fixed frame).
Under specific usage scenario, user scans the total price of selected commodity by bar code scanning module, by self-service knot
Account unit record, the inventory for generating this shopping (can be compared with the shopping list selected in mobile intelligent terminal APP in advance
It is right, remind user not complete the list of articles of buying)；After user's payment, demagnetization module carries out demagnetization to purchased commodity, saves
But peak time, time of the customer in checkout counter queuing checkout.
Other shopping, checkout mode, such as traditional supermarket, the sales counter knot in market can also be selected according to the actual situation
Account mode.For example, selectable checkout auxiliary mode, user only utilizes bar code scanning module items scanning total price, and generates
Corresponding two-dimensional barcode information surpasses checkout counter in quotient, and staff only scans the two-dimensional code information, can be obtained the purchased whole of customer
The information of commodity eliminates the step of scanning kinds of goods one by one, after consumer/user completes checkout at sales counter, demagnetization mould
Interior purchased commodity unilateral side magnetic characteristic is eliminated in block work, completes the checkout auxiliary of this shopping.
The miscellaneous function of self-checkout unit also achievable traditional checkout mode, such as
As preferred embodiment, the control logic in the control unit and tracking/navigation elements of shopping cart be can be used
STC89C516RD+ chip microcontroller.
As preferred embodiment, following embodiment is can be used in communication unit:
Shopping cart end uses FC-201/VB micropower data transmission module, this module characteristic is as follows: the transmitting of 1. micropowers:
Transmission power is only 10mW；2. working frequency is in ISM band: without applying for frequency point, carrier frequency 489MHz.Spectrum environment is clean
Only, interference is few；3. long transmission distance: in sighting distance, transmission range is greater than 300m (power 10mW), so this distance applications
It is enough in large supermarket；4. providing transparent data-interface, any standard or non-standard User Agreement is adapted to.With highly resistance
The noise signal generated in the air and false data (send out and received) are fallen in interference performance and low error rate, energy automatic fitration, therefore should
The mobile phone signal that equipment can be effectively prevented from customer transmits interference caused by data to it；5. interface mode FC-201/VB
Pattern block provides serial line interface, and interface level is Transistor-Transistor Logic level, is not needed when connecting with single-chip microcontroller by level conversion, very just
Just.Air transmission baud rate is 1200bps, using even parity check mode (other verification modes need to customize)；6. intelligent data controls:
FC-201/VB is the half duplex mode of communication of standard, and user transmits/receives without writing extra program as long as connecing from asynchronous serial
Data out, other such as to transmit/receive conversion, control operation in the air, FC-201/VB can be automatically performed；7. low-power consumption: receiving
In the case of electric current≤25mA, electric current≤35mA in the case of transmitting.
Server end is same, and FC201/VB digital transmission module can be used and receive data, output end is through TTL-EIA level conversion
It is connected after circuit with server (host i.e. at Supermarket), makes the shopping list information Wireless transceiver of customer to supermarket's host
Place.System uses many-one communication modes, i.e., multiple shopping carts are communicated with a server.If supermarket is larger,
Shopping cart quantity is more, and in order to make customer not have to wait in line at clearing, supermarket can also set up multiple servers (i.e. multiple knots
At calculation), each server is responsible for being communicated with a certain number of shopping carts, receives shopping information.
As preferred embodiment, the tracking/navigation elements include:
Video acquiring module, the module include the video image in front of one or more camera acquisition shopping carts；Work as purchase
When object vehicle is in navigation traveling mode, by the sequence of frames of video in the processing module analysis video image in tracking/navigation elements
In image, by the indoor panoramic picture that is stored in the communication unit and remote server or processing locality module into
Row compares, and confirms that current shopping cart is presently in position according to comparison result, and the control unit is according to being presently in position
Generate travelling route.
In specific application scenarios, the data of indoor panoramic picture can be stored in shopping cart beat tracking/navigation
In unit, corresponding panoramic image data, when quotient, which surpasses internal environment, to change, remote service can be stored in remote server
By the verification with each track navigation unit in device, change the panorama image information stored in each unit, with reduce each unit with
The communication of server, guarantee shopping peak period, may because communication saturation caused by the various possible system failures.
Further, it in order to guarantee positioning accuracy, avoids in the feelings that veil occurs in optical alignment or background changes
Caused positioning failure under condition, as preferred embodiment, system also has optical alignment mechanism.As preferred embodiment party
Formula, the optical sensor that also there is the tracking/navigation elements reception to be presently in position light source, when shopping cart is in navigation
When traveling mode, the frequecy characteristic of received light source is analyzed by the processing module in tracking/navigation elements, by described
The light source frequency feature stored in communication unit and remote server is compared, and confirms current shopping cart institute according to comparison result
Locate position.
Correspondingly, the super internal each light source of quotient all has unique frequecy characteristic, in lamps and lanterns distribution, guarantee same
One vehicle can receive the light of 3 lamps sending simultaneously, can guarantee to form triangulation location mechanism, can effectively complete
Positioning.
Further, in order to guarantee shopping cart when following user to advance, it can remain appropriately distance, make
For preferred embodiment, when shopping cart is in navigation traveling mode, the processing module is according to the video frame sequence of acquisition
Character image change in size in column determines that current shopping cart controls shopping cart at a distance from user, and then by control unit
User is followed to advance.
As preferred embodiment, user is selected in the present invention, i.e. the shopping cart two posterior calf figures that follow object
As analyzing object as algorithm.
In the specific implementation process, profile/key that processing module passes through the different images in analysis sequence of frames of video
Point (may be selected detect poor method identified, other foreground/background selection algorithms can be used), identifies the shank figure of user
Picture.
After identification, the given threshold time/frame number, in threshold time/frame number, the shank image of user occurs to repeat to become
Change (only size, position difference of the two shank key points of left and right in consecutive frame), determines that currently used person is normal forward shape
State.
When the two shank images (or key point) of user are superimposed, the change in location according to the key point of tracking is suitable
Sequence, determine user relative to shopping cart turn left or turn right (such as in turn-left process, the key point of left leg is in consecutive frame sequence
Relative position variation in column is little, mainly the crucial most emphasis of right leg, having reciprocating movement when by keeping straight on, being converted to
Significantly transverse shifting in the picture), the steering opportunity of vehicle is determined as a result, meanwhile, according to the information of physical sensors,
It remains the linear distance with user, completes model- following control.
In the other preferred embodiments of the present invention, other close shots, auxiliary can be increased in shopping cart tracking/navigation elements
Navigational communications means, such as bluetooth navigator fix mode, the mobile intelligent terminal of user bluetooth mould corresponding with shopping cart
Block establishes communication connection, and multiple bluetooth modules preferably are arranged in the different location of vehicle, establishes the basic point of triangulation location, passes through perception
Mobile terminal with do not allow at a distance from bluetooth module and relative angle change, carry out locating and tracking, as aforementioned video positioning it is auxiliary
Assistant's section.
Further, it is contemplated that, shopping cart of the present invention is under supermarket applications scene, especially in user and shopping cart
It when by gorge between shelf, is easy to collide with surrounding population and shopping cart, pretend as preferred embodiment,
Tracking/the navigation elements further include being separately positioned on shopping cart surrounding, detect the distance of shopping cart and adjacent objects distance
Sensor module；When shopping cart detects that left and right has an object, and object spacing when being less than threshold value (between two shelf
Away from when), control unit control shopping cart be bonded with side object, that is, shopping cart is followed behind user, and
It is bonded side shopping cart, concedes passage space for other shopping carts and customer.
As preferred embodiment, AT89C52, HC-R04 ultrasonic distance measuring module, nothing is can be used in tracking/navigation elements
Line communication module, PWM speed control, motor drive ic L298N, are able to achieve the positioning of specific objective, measure distance, intelligently sentence
Disconnected behavior, including advance, retrogressing, turning, and analysis and control to these signals, are adjusted automatically according to feedback information
The various target following functions such as speed and turning.
It is considered that user in the case where following shopping cart travel condition, needs more intuitive video and audio prompt, pretend
For preferred embodiment, shopping cart also integrative display unit.Under the navigation traveling mode, the display unit real-time display
Position, the display travelling route in the super internal plane of quotient locating for current shopping cart.In the specific implementation scenario, Ke Yixuan
It selects in shopping cart electric-control system, integrated memory cell stores the information such as the super internal map/layout of quotient, in display unit
Show travel path etc..
As preferred embodiment, typical 12864 graphic dot matrix liquid crystal display, the P0 of single-chip microcontroller is may be selected in display unit
Mouth connects the data line (DB0-DB7) that LCD is connected after the pull-up resistor of 10K, and P2.0 meets the RS of LCD, for generating the choosing of register
Select signal；P2.1 meets the RW of LCD, for generating read and write signal；P2.2 connects the enable end E of LCD；P2.3 and P2.4 connect respectively
The CS1 and CS2 of LCD is respectively used to generate the right half screen signal of selection and left half screen signal.The RET of LCD is reset signal end, is connect
High level；V0 and VOUT connect slide rheostat respectively, for adjusting the contrast of liquid crystal display.P1 mouthfuls with CCD camera assembly be used for into
Row human-computer interaction.
As preferred embodiment, the shopping cart also has voice alerting unit；When the tracking/navigation elements
Confirm the node, destination that current shopping cart is in travelling route；When the distance sensor module discovery and neighbors
When body is within the threshold range；Voice alerting unit issues early warning.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (8)
1. a kind of outstandingly intelligent energy shopping cart system of quotient based on Internet of Things, characterized by comprising: intelligent shopping trolley, remote server
And mobile intelligent terminal；
The shopping cart includes: car body, the walking mechanism assembly being arranged in below car body, obtains shopping cart current location, is drawn
Shopping guide's object garage into tracking/navigation elements, communication unit and control unit；
In shopping cart traveling process, the communication unit obtains external command, by the control unit parsing finger
It enables, generates current shopping cart traveling mode, which includes at least navigation traveling mode and roaming follow the mode；
When shopping, user selects current shopping mode by mobile intelligent terminal, which includes at least navigation mould
Formula and roam mode；
Under navigation mode, user selects shopping list on mobile intelligent terminal in advance, and mobile intelligent terminal sends out the inventory
It send to the remote server, remote server is matched according to the kinds of goods in shopping list to the mobile intelligent terminal
Intelligent shopping trolley send inventory in commodity present position；
At this point, shopping cart selection navigation traveling mode, the tracking/navigation elements obtain the one or more that shopping cart is advanced
Fixed obstacle in destination coordinate and space generates travelling route, by the described control unit control walking mechanism
Assembly advances along the travelling route；
Under roam mode, shopping cart follows directly after user's traveling, and shopping cart selection follows traveling mode, the tracking/lead
The unit that navigates obtains the identification feature of the currently used person of shopping cart, controls shopping according to the identification feature by described control unit
Vehicle follows advance；
The shopping cart also has self-checkout unit；
The unit, which includes at least, to be arranged at the shopping cart postnotum, bar code scanning module and demagnetization towards shopping cart framework
Module；
Except conventional payment checkout mode, user scans the total price of selected commodity, after payment, demagnetization mould by bar code scanning module
Block carries out demagnetization to purchased commodity.
2. the outstandingly intelligent energy shopping cart system of a kind of quotient based on Internet of Things according to claim 1, it is further characterized in that: it is described
Tracking/navigation elements include:
Video acquiring module, the module include the video image in front of one or more camera acquisition shopping carts；
When shopping cart is in navigation traveling mode, by the view in the processing module analysis video image in tracking/navigation elements
Image in frequency frame sequence passes through the interior stored in the communication unit and remote server and/or the processing module
Panoramic picture is compared, and confirms that current shopping cart is presently in position according to comparison result, and the control unit is according to working as
Preceding present position generates travelling route.
3. the outstandingly intelligent energy shopping cart system of a kind of quotient based on Internet of Things according to claim 1 or 2,
It is further characterized in that: the optical sensor that also there is the tracking/navigation elements reception to be presently in position light source, when
When shopping cart is in navigation traveling mode, the frequency of received light source is analyzed by the processing module in tracking/navigation elements
Feature is compared, according to comparison result by the light source frequency feature stored in the communication unit and remote server
Confirm current shopping cart present position.
4. the outstandingly intelligent energy shopping cart system of a kind of quotient based on Internet of Things according to claim 3, it is further characterized in that: work as purchase
When object vehicle is in roaming follow the mode, the processing module becomes according to the character image size in the sequence of frames of video of acquisition
Change, determines that current shopping cart follows user to advance at a distance from user, and then by control unit control shopping cart.
5. the outstandingly intelligent energy shopping cart system of a kind of quotient based on Internet of Things according to claim 4, it is further characterized in that: work as purchase
The fixed point in the acquired sequence of frames of video of processing module analyses and comparison in object vehicle, passes through picture tracking algorithm, obtains video
In frame sequence in each image recurrent user shank image, and according to two shanks in different video frame sequence
Position and metamorphosis judge shopping cart at a distance from user and user are with respect to the angle that shopping cart deviates, as control
The walking mechanism is advanced, stops and is turned to.
6. the outstandingly intelligent energy shopping cart system of a kind of quotient based on Internet of Things according to claim 4 or 5,
It is further characterized in that tracking/the navigation elements further include being separately positioned on shopping cart surrounding, shopping cart and phase are detected
The distance sensor module of adjacent object distance；
When shopping cart detects that left and right has object, and object spacing is less than threshold value, control unit controls shopping cart and one
The fitting of side object.
7. the outstandingly intelligent energy shopping cart system of a kind of quotient based on Internet of Things according to claim 6, it is further characterized in that described
Shopping cart framework in be additionally provided with display unit；
Position under the navigation traveling mode, in the super internal plane of quotient locating for the current shopping cart of display unit real-time display
It sets, show the travelling route.
8. according to the outstandingly intelligent energy shopping cart system of a kind of quotient based on Internet of Things that claim 7 is stated, it is further characterized in that the purchase
Object vehicle also has voice alerting unit；
When the tracking/navigation elements confirm the node that current shopping cart is in travelling route, destination；When it is described away from
When being within the threshold range with adjacent objects from sensor module discovery；Voice alerting unit issues early warning.
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