CN103839341B - Intelligence flowing cash collecting system - Google Patents
Intelligence flowing cash collecting system Download PDFInfo
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- CN103839341B CN103839341B CN201410103080.3A CN201410103080A CN103839341B CN 103839341 B CN103839341 B CN 103839341B CN 201410103080 A CN201410103080 A CN 201410103080A CN 103839341 B CN103839341 B CN 103839341B
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- mobile terminal
- control unit
- rotary shaft
- client
- terminal system
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Abstract
The invention discloses a kind of intelligence flowing cash collecting system, comprising: central control unit, mobile terminal system and customer information communication unit; In use procedure, client, by described customer information communication unit, sends check-out request to central control unit; Request and client position are sent to described central control unit by described client communication unit; Central control unit is according to client position and mobile terminal system position, and real-time calculating and sending send path and dispatch command to described mobile terminal system; Mobile terminal system arrives near client by described path; Traditional fixing counter type cash register mode is changed into the flexible management mode that shopper self-service carries out settling accounts.This system has advantages such as arranging flexibly, portability is strong, can effectively save labour turnover, belongs to a kind of new Kind of Supermarket/market circulating collection system integrating practicality and scientific and technical innovation.
Description
Technical field
The present invention relates to a kind of circulating collection system, particularly relating to one can ask according to client, and programme path is cash collecting system and the automatic intelligence arriving client appointed area flows.
Background technology
Along with living standard improves constantly, people propose requirements at the higher level for the convenience of daily shopping.At present, large supermarket, market generally adopt fixed cashier to carry out checkout by full-time staff and serve, this is conducive to the daily management of service side and ensures fund security, but because shopper needs unification to settle accounts to appointed place, therefore often form a large amount of client's queuing phenomenas before the cashier of shopping peak period, this defines very big puzzlement to purchase and consumption person and service supplier.On the one hand, consumer is for avoiding queuing to select not doing shopping or easy access is walked in few shopping; On the other hand, supermarket/market administrative authority arranges the balance of closing with customer flow and fastening and must make optimum in cashier quantity.But because the randomness of passenger flow is comparatively large, therefore regulatory authorities can not provide decision policy accurately.
In order to improve above-mentioned present situation, the present invention attempts traditional fixing counter type cash register mode to change into the flexible management mode that shopper self-service carries out settling accounts.This system has advantages such as arranging flexibly, portability is strong, can effectively save labour turnover, belongs to a kind of new Kind of Supermarket/market circulating collection system integrating practicality and scientific and technical innovation.
Summary of the invention
The present invention is directed to above problem, propose a kind of intelligence flowing cash collecting system, comprising: central control unit, mobile terminal system and customer information communication unit;
In use procedure, client, by described customer information communication unit, sends check-out request to central control unit; Request and client position are sent to described central control unit by described client communication unit; Central control unit is according to client position and mobile terminal system position, and real-time calculating and sending send path and dispatch command to described mobile terminal system; Mobile terminal system arrives near client by described path;
Described mobile terminal system comprises: by balance car and the settlement device be integrated on balance car of In-wheel motor driving;
Described balance car has anti-rolling device, this is arranged on vehicle bottom, structure mainly comprises: driven the central rotary shaft and multiple balancing weight revolved round the sun around central rotary shaft that rotate by motor, the revolution orbit of described multiple balancing weights does not overlap, and namely balancing weight can not collide with other balancing weight and rub in the process of revolution.
Under institute's mounting vehicle is in equilibrium state or is described as normal transport condition, the center of gravity of described multiple balancing weights is positioned on the axis of described turning axle, and namely described multiple balancing weights are in dynamic balance state.
When rolling generation, the center of gravity of the multiple balancing weights described in described turning axle drives rotates the reverse direction to rolling, and prevents inclination; Rolling condition terminates, and the center of gravity of the multiple balancing weights described in central rotary shaft drives comes back on described axis, and multiple balancing weight comes back to dynamic balance state.
Relative to the anti-inclination mechanism that tradition is complicated, the technical scheme that the present invention proposes, suppresses to roll, do not changing on the basis of suspension frame structure, effectively inhibit the generation of inclination, and structure is simple by the mode changing center of gravity, is convenient to install.
As a preferably embodiment, described balancing weight quantity is two, and the revolution orbit of two described balancing weights lays respectively at epimere and the hypomere of described central rotary shaft.When vehicle is in dynamic balance state, two described balancing weights are relative, are in dynamic balance state, ensure that center of gravity is in the axis of central rotary shaft.
Further, described balancing weight revolution is driven by driving pawl, this driving pawl and described central rotary shaft internal messing, and described central rotary shaft is by driving the driving pawl rotation described in ratchet drive, and then the balancing weight revolution described in driving.
Further, described central rotary shaft is driven by a motor, completes forward and rotates backward; The revolution direction of two described balancing weights is contrary, drives the sense of rotation of the driving pawl of described two balancing weights contrary.
When preventing inclination action, first described central rotary shaft rotates to a direction, and drive a balancing weight to rotate to assigned address, then reverse rotation, another balancing weight described in drive rotates to assigned address; At the end of inclination, first described central rotary shaft rotates, and drives a balancing weight first to get back to original position; Then overturn, drive another balancing weight to get back to original position.
Mobile terminal system is at least integrated with infrared code reader, cash inspecting machine, till, mobile POS, printer, image recorder and alarm.
Described mobile terminal system also has independent navigation unit, after this unit receives the dispatch command of central control unit transmission, it obtains the image information of set path (leading line) by a vehicle-mounted vision sensor, this information obtains azimuth deviation and the lateral deviation of Current vehicle after Vision information processing, in conjunction with power state information, independent navigation unit is implemented electric current and voltage to vehicle-mounted wheel hub motor and is controlled, thus realizes the movement of terminal balance car.
Described balance car also has: the posture control unit of obliquity sensor and the described anti-rolling device of control, this unit obtains the current balance car of signal determining that described obliquity sensor uploads and whether is in rolling condition: if run-off the straight, controls described anti-rolling device and suppresses to roll.
Accompanying drawing explanation
In order to the technical scheme of clearer explanation embodiments of the invention or prior art, introduce doing one to the accompanying drawing used required in embodiment or description of the prior art simply below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the present invention's anti-rolling device setting position schematic diagram
Fig. 2 is the structural representation of the anti-rolling device of the present invention
Fig. 3 is the present invention anti-rolling device A-A cross-sectional view
Fig. 4 is system module figure of the present invention
Fig. 5 is central control unit dynamic dispatching process flow diagram of the present invention
Fig. 6 is that navigation flowcharts subsidized by balance car of the present invention
Embodiment
For making the object of embodiments of the invention, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, clear complete description is carried out to the technical scheme in the embodiment of the present invention:
As shown in Figure 4: a kind of intelligence flowing cash collecting system, comprising: central control unit, mobile terminal system and customer information communication unit;
In use procedure, client, by described customer information communication unit, sends check-out request to central control unit; Request and client position are sent to described central control unit by described client communication unit; Central control unit is according to client position and mobile terminal system position, and real-time calculating and sending send path and dispatch command to described mobile terminal system; Mobile terminal system arrives near client by described path.
Preferably, under central control unit, mobile terminal system and customer information communication unit are arranged on same WIFI network, client sends relevant information by the mobile phone of oneself to the customer information communication unit be arranged in market, obtained identity information and the positional information of existing customer simultaneously by WIFI location technology, request, identity information and positional information are uploaded to described central control unit jointly.
When central control unit receives customer demand information on services, task schedule information is added task list by central control system, path planning program carries out initial path planning according to the related status information of each balance car to balance car position and aiming station, if plan successfully, send dispatch command to called terminal balance car, balance car moves according to path planning after this, before balance car moves to aiming station, central control unit Real-time Obtaining balance car status information, if the balance car generation path conflict that balance car is being executed the task with other in traveling process, central control unit carries out again path planning to current balance car or makes its parking waiting, until balance car moves to aiming station, control flow as shown in Figure 5.
After balance car receives the dispatch command of central control system transmission, it obtains the image information of set path (leading line) by vehicle-mounted vision sensor, this information obtains azimuth deviation and the lateral deviation of Current vehicle after Vision information processing, in conjunction with power state information, navigation controller is implemented electric current and voltage to vehicle-mounted wheel hub motor and is controlled, thus realizes the movement of terminal balance car.Need to keep away barrier Sensor monitoring periphery obstacle by vehicle-mounted in real time in navigation procedure, by the whether run-off the straight of obliquity sensor monitoring car body, if abnormality detected, call corresponding sub-handling procedure respectively, if do not detect, given current of electric realizes the drive actions of balance car, above-mentioned flow cycles performs, until balance car arrives aiming station, flow of navigation as shown in Figure 6.
As a preferably embodiment, described mobile terminal system comprises: by balance car and the settlement device that is integrated on balance car of In-wheel motor driving.
Settlement device comprises the settlement device such as conventional infrared code reader, cash inspecting machine, till, mobile POS, printer, image recorder and alarm.Also other hardware device can be increased as required during actual use.
Described balance car mainly comprises two driving wheels (wheel 8) and wheel hub motor 9.Consider, balance car in the process of moving, may be rolled by pedestrian impact, in order to ensure the stable of balance car, preferably, is provided with anti-rolling device in the below of balance car.
As shown in Figure 1-Figure 3: anti-rolling device comprises casing and inner anti-inclination mechanism: a cylindrical case 4 and upper end cover 5.
Central rotary shaft 1 is arranged on described casing 4 central authorities, and the inside of central rotary shaft 1 is provided with the motor 6 of a drive self rotation, and this motor is fixed on the central authorities of casing 4 base plate.
Described balancing weight quantity is two, is respectively balancing weight 23 and lower breeding block 33, stationary state, and upper balancing weight 23 and lower breeding block 33 are oppositely arranged, and are located along the same line, and ensures on the axis being centrally located at described central rotary shaft 1 of two balancing weights.Upper balancing weight 23 is fixed with upper driving pawl 22, and upper driving pawl 22 and central rotary shaft 1 internal messing, driven by the upper driving pawl pawl 21 be arranged on central rotary shaft 1.
Lower balancing weight 33 is fixed with lower driving pawl 32, and lower driving pawl 32 and central rotary shaft 1 internal messing, driven by the lower driving pawl pawl 31 be arranged on central rotary shaft 1.
The rotation direction of upper and lower driving pawl is contrary, when namely central rotary shaft 1 is to a sideway swivel, a driving pawl can only be driven to rotate, when overturning, another driving pawl could be driven to rotate.In order to prevent central rotary shaft 1 when reversing, suppressing the balancing weight of position to have an impact to moving to roll, also there is corresponding anti-reverse ratchet accordingly, comprise anti-reverse ratchet 24 and lower anti-reverse ratchet 34.
Casing 4 is also provided with the anti-reverse ratchet pawl 25 that coordinates respectively with upper anti-reverse ratchet 24 and lower anti-reverse ratchet 34 and anti-reverse ratchet grabs 35
When preventing inclination action, first described central rotary shaft 1 rotates to a direction, and drive balancing weight to rotate to assigned address, then reverse rotation, another balancing weight described in drive rotates to assigned address;
At the end of inclination, first described central rotary shaft rotates to a direction, drives a balancing weight to continue original sense of rotation, gets back to original position; Then overturn, drive another balancing weight by original sense of rotation, get back to original position.
The above; be only the present invention's preferably embodiment; but protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; be equal to according to technical scheme of the present invention and inventive concept thereof and replace or change, all should be encompassed within protection scope of the present invention.
Claims (6)
1. an intelligence flowing cash collecting system, comprising: central control unit, mobile terminal system and customer information communication unit;
In use procedure, client, by described customer information communication unit, sends check-out request to central control unit; Request and client position are sent to described central control unit by described client communication unit; Central control unit is according to client position and mobile terminal system position, and real-time calculating and sending send path and dispatch command to described mobile terminal system; Mobile terminal system arrives near client by described path;
Described mobile terminal system comprises: by balance car and the settlement device be integrated on balance car of In-wheel motor driving;
Described balance car has anti-rolling device, and this device is arranged on the below of vehicle axles, has: central rotary shaft and multiple balancing weight around central rotary shaft revolution, and the revolution orbit of described multiple balancing weights does not overlap;
Under equilibrium state, the center of gravity of described multiple balancing weights is positioned on the axis of described turning axle; Under rolling condition, the center of gravity of the multiple balancing weights described in described turning axle drives rotates the reverse direction to rolling, and prevents from rolling; Rolling condition terminates, and the center of gravity of the multiple balancing weights described in central rotary shaft drives comes back on described axis;
Described balancing weight quantity is two, and the revolution orbit of two described balancing weights lays respectively at epimere and the hypomere of described central rotary shaft;
Also have: the driving pawl of the balancing weight revolution described in drive, this driving pawl and described central rotary shaft internal messing, described central rotary shaft is by driving the driving pawl rotation described in ratchet drive, and then the balancing weight revolution described in driving.
2. intelligence flowing cash collecting system according to claim 1, is characterized in that also having: the anti-reverse ratchet coaxial with described driving pawl, sense of rotation is consistent.
3. intelligence flowing cash collecting system according to claim 2, is further characterized in that having described central rotary shaft is driven by a motor, completes forward and rotate backward;
The revolution direction of two described balancing weights is contrary, drives the sense of rotation of the driving pawl of described two balancing weights contrary;
When preventing inclination action, first described central rotary shaft rotates to a direction, drives a balancing weight to rotate to assigned address, then reverse rotation, drives another balancing weight to rotate to assigned address;
At the end of inclination, first described central rotary shaft rotates, and drives a balancing weight first to get back to original position; Then overturn, drive another balancing weight to get back to original position.
4. intelligence flowing cash collecting system according to claim 1, is further characterized in that: mobile terminal system is at least integrated with infrared code reader, cash inspecting machine, till, mobile POS, printer, image recorder and alarm.
5. intelligence flowing cash collecting system according to claim 1, be further characterized in that: described mobile terminal system also has independent navigation unit, after this unit receives the dispatch command of central control unit transmission, it obtains the image information of set path by a vehicle-mounted vision sensor, this information obtains azimuth deviation and the lateral deviation of Current vehicle after Vision information processing, in conjunction with power state information, independent navigation unit is implemented electric current and voltage to vehicle-mounted wheel hub motor and is controlled, thus realizes the movement of terminal balance car.
6. intelligence flowing cash collecting system according to claim 1, be further characterized in that: described balance car also has: the posture control unit of obliquity sensor and the described anti-rolling device of control, this unit obtains the current balance car of signal determining that described obliquity sensor uploads and whether is in rolling condition: if run-off the straight, controls described anti-rolling device and suppresses to roll.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410103080.3A CN103839341B (en) | 2014-03-19 | 2014-03-19 | Intelligence flowing cash collecting system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410103080.3A CN103839341B (en) | 2014-03-19 | 2014-03-19 | Intelligence flowing cash collecting system |
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| CN103839341A CN103839341A (en) | 2014-06-04 |
| CN103839341B true CN103839341B (en) | 2016-03-09 |
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| CN201410103080.3A Expired - Fee Related CN103839341B (en) | 2014-03-19 | 2014-03-19 | Intelligence flowing cash collecting system |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106406324B (en) * | 2016-12-28 | 2019-04-19 | 苏州大唐伟业金属制品有限公司 | A kind of water conservancy diversion automatic running system based on commodity clearing area |
| CN108198024B (en) * | 2017-12-28 | 2021-05-18 | 纳恩博（北京）科技有限公司 | Information processing method and device, electronic device and storage medium |
| CN113022722B (en) * | 2021-04-14 | 2021-11-26 | 北京林业大学 | A suspension system that prevents toppling for forest land fire engine |
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| CN202703492U (en) * | 2012-05-15 | 2013-01-30 | 上海市奉贤中学 | Automobile steering assisting apparatus |
| CN102923204A (en) * | 2012-11-19 | 2013-02-13 | 北京理工大学 | Multi-degree-of-freedom two-wheeled robot with variable gravity center |
| CN103064377A (en) * | 2012-12-20 | 2013-04-24 | 南京航空航天大学 | Third generation telecommunication (3G) dual-redundancy control system of police mobile robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20120098257A (en) * | 2011-02-28 | 2012-09-05 | 노틸러스효성 주식회사 | A cashier robot for casino |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101953172A (en) * | 2008-02-13 | 2011-01-19 | 塞格瑞德公司 | Distributed multi-robot system |
| CN102478657A (en) * | 2010-11-23 | 2012-05-30 | 上海新世纪机器人有限公司 | Self-navigation robot system |
| CN102749918A (en) * | 2012-04-23 | 2012-10-24 | 山东大陆科技有限公司 | All-region intelligent full-automatic service system |
| CN202703492U (en) * | 2012-05-15 | 2013-01-30 | 上海市奉贤中学 | Automobile steering assisting apparatus |
| CN102923204A (en) * | 2012-11-19 | 2013-02-13 | 北京理工大学 | Multi-degree-of-freedom two-wheeled robot with variable gravity center |
| CN103064377A (en) * | 2012-12-20 | 2013-04-24 | 南京航空航天大学 | Third generation telecommunication (3G) dual-redundancy control system of police mobile robot |
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| CN103839341A (en) | 2014-06-04 |
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Granted publication date: 20160309 Termination date: 20190319 |