CN106275035B - A kind of intelligence follows shopping cart - Google Patents
A kind of intelligence follows shopping cart Download PDFInfo
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- CN106275035B CN106275035B CN201610639182.6A CN201610639182A CN106275035B CN 106275035 B CN106275035 B CN 106275035B CN 201610639182 A CN201610639182 A CN 201610639182A CN 106275035 B CN106275035 B CN 106275035B
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- 238000000034 method Methods 0.000 claims description 10
- 230000000903 blocking effect Effects 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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- 201000010041 presbyopia Diseases 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/14—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor characterised by provisions for nesting or stacking, e.g. shopping trolleys
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Remote Sensing (AREA)
- Combustion & Propulsion (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
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- Electromagnetism (AREA)
- Handcart (AREA)
Abstract
The shopping cart is followed to include the invention discloses a kind of intelligence：Car body is used for contain things；Direction acquisition device is set in front of car body, for obtaining directional information of the person of being followed relative to shopping cart in a manner of based on surrounding；It is set in front of car body apart from acquisition device, for obtaining range information of the person of being followed relative to shopping cart；Control device is connected to direction acquisition device with apart from acquisition device, and drive command is generated for being controlled with range information relative to the direction of shopping cart according to the person of being followed；Driving device is set to below car body, is connected to control device, for making shopping cart be moved to the person of being followed according to drive command.The present invention allows shopping cart to follow the mankind to move automatically, facilitates shopping.
Description
Technical field
The present invention relates to daily necessitiess, particularly, are related to a kind of intelligence and follow shopping cart.
Background technology
Extensive the first transaction of a day's business with supermarket in each city, selects the common people of supermarket shopping also more and more, undeniable supermarket
Important role is play in we live.But also inevitably there is following problem in supermarket：
1, there are many some large supermarket's articles, area is big, consumer may be allowed to be difficult to accurately find correct road for the moment
Line is even got lost in supermarket.
2, child cannot facilitate shopping as adult, and heavy shopping cart is very hard use for children after all
, without using if shopping cart, action is just very inconvenient when having taken some articles in hand.
3, the elderly does shopping inconvenient, if old man has presbyopia to be difficult to see Item Information clearly for the moment and can also be brought to its shopping
Inconvenience is even more that there are inconveniences for handicapped the elderly's shopping.
4, article has been loaded and unloaded after shopping cart is shifted onto parking lot by consumer, shopping cart, which is at will placed, can also give other passerbys
It brings inconvenience, the shopping cart for employing professional to collect after use is also needed to this.
For the problem that shopping cart in the prior art causes shopping inconvenient, there has been no effective solution schemes at present.
Invention content
In view of this, it is an object of the invention to propose that a kind of intelligence follows shopping cart, shopping cart is allowed to follow people automatically
Class moves, and facilitates shopping.
Based on above-mentioned purpose, technical solution provided by the invention is as follows：
According to an aspect of the invention, there is provided a kind of intelligence follows shopping cart, including：
Car body is used for contain things；
Direction acquisition device is set in front of car body, for being obtained the person of being followed in a manner of based on surrounding relative to purchase
The directional information of object vehicle；
Apart from acquisition device, it is set in front of car body, for obtaining range information of the person of being followed relative to shopping cart；
Control device, be connected to direction acquisition device with apart from acquisition device, for according to the person of being followed relative to shopping
The direction of vehicle generates drive command with range information control；
Driving device is set to below car body, is connected to control device, for according to drive command make shopping cart to by with
It is moved with person.
Wherein, direction acquisition device includes：
Image-forming module, for continuously acquiring the image information on shopping cart direction of travel；
Identification module is connected to image-forming module, the image for identifying the person of being followed from image information, and to be based on
The mode of surrounding obtains directional information of the person of being followed relative to shopping cart.
Also, identification module includes：
Blocking unit, for carrying out piecemeal to image information；
Feature unit builds pixel region for pixel and uses normalizing for specifying each pixel successively from image information
Change method is by pixel region processing for normalization as a result, and calculating acquisition for local feature of the specified pixel based on surrounding；
Grouped element, for according to the local feature for specified pixel, specified pixel being included into fixed group, is returned
The specified pixel entered in same fixed group is considered as the image with same type texture；
Unit is compareed, for comparing each group of texture type and the image for the person of being followed, determines the person of being followed
The direction of motion on image information.
Also, blocking unit is additionally operable to：
Image information is divided into multiple block of pixels residue-free, N number of block of pixels is square pixel set；
Multiple block of pixels are handled using method for normalizing, obtain the normalization of multiple block of pixels as a result, and calculating multiple pictures
The average value of the normalization result of plain block.
Also, feature unit is used for：
Select each pixel successively from image information；
Centered on specified pixel, chosen to multiple neighborhood territory pixels, multiple neighborhood territory pixels to specified picture from image information
The distance of element is definite value；
Respectively centered on each in multiple neighborhood territory pixels, multiple neighborhood blocks are intercepted out from image information, it is multiple
Neighborhood block is the square pixel set centered on each neighborhood territory pixel respectively；
Multiple neighborhood blocks are handled using method for normalizing, obtain the normalization of multiple neighborhood blocks as a result, and calculating multiple neighbours
The average value of the normalization result of domain block；
According to the average value of the normalization result of multiple neighborhood blocks and the normalization result of multiple neighborhood blocks, obtain for referring to
The local feature based on surrounding of fixation element.
Meanwhile including apart from acquisition device：
Transmitting module, for the person of being followed direction transmission of electromagnetic signals；
Receiving module is connected to transmitting module, the electromagnetic signal for receiving the person's of being followed reflection, and according to reflection signal
Obtain range information of the person of being followed relative to shopping cart.
In addition, control device includes：
Acquisition module, for receiving direction and range information of the person of being followed relative to shopping cart；
Computing module is rotated, should be turned for calculating shopping cart relative to the directional information of shopping cart according to the person of being followed
Dynamic angle and direction；
Be translatable computing module, should be protected for calculating shopping cart relative to the range information of shopping cart according to the person of being followed
The speed held；
Output module is connected to rotation computing module and translation computing module, the angle for that should be rotated according to shopping cart
Degree generates drive command with direction, the speed that should be kept.
Also, rotation computing module calculates shopping cart according to the person of being followed relative to the directional information of shopping cart to be turned
Dynamic angle includes with direction：
When the person of being followed is more than boundary relative to the deflection of shopping cart and limits, with maximum rotation angle to the person of being followed
Direction rotates；
When the person of being followed is less than boundary limitation relative to the deflection of shopping cart and is more than error range, with standard rotary
Angle is rotated to the person's of being followed direction；
When the person of being followed is less than error range relative to the deflection of shopping cart, without rotation.
Meanwhile the computing module that is translatable calculates shopping cart relative to the range information of shopping cart according to the person of being followed and should protect
The speed held includes：
It is in place to the person of being followed institute to pursue speed when the person of being followed is more than tracking range relative to the distance of shopping cart
Set movement；
The person of being followed relative to shopping cart distance be less than tracking range and more than safe distance when, with follow speed to
The person of being followed position moves；
When the person of being followed is less than safe distance relative to the distance of shopping cart, remains stationary.
Above-mentioned car body is Shopping Basket；Direction acquisition device is the combination of camera and microcontroller；It is sharp apart from acquisition device
The combination of shaven head and laser pickoff；Driving device is Electric Motor Wheel.
From the above it can be seen that technical solution provided by the invention is by using direction acquisition device and apart from acquisition
Device obtains direction and distance of the person of being followed relative to shopping cart, and being controlled the driving device with this makes shopping cart to the person of being followed
The technological means of movement allows shopping cart to follow the mankind to move automatically, facilitates shopping.
Description of the drawings
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the structure chart that shopping cart is followed according to a kind of intelligence of the embodiment of the present invention；
Fig. 2 is the structure chart for the identification module that shopping cart is followed according to a kind of intelligence of the embodiment of the present invention.
Specific implementation mode
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction in the embodiment of the present invention
Attached drawing, technical solution in the embodiment of the present invention further carry out it is clear, complete, describe in detail, it is clear that it is described
Embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field
The every other embodiment that those of ordinary skill is obtained, shall fall within the protection scope of the present invention.
According to an embodiment of the invention, it provides a kind of intelligence and follows shopping cart.
It provides a kind of intelligence as shown in Figure 1, according to an embodiment of the invention and follows the shopping cart to include：
Car body 11 is used for contain things；
Direction acquisition device 12 is set in front of car body, for obtained in a manner of based on surrounding the person of being followed relative to
The directional information of shopping cart；
Apart from acquisition device 13, it is set in front of car body, for obtaining range information of the person of being followed relative to shopping cart；
Control device 14, be connected to direction acquisition device with apart from acquisition device, for according to the person of being followed relative to purchase
The direction of object vehicle generates drive command with range information control；
Driving device 15 is set to below car body, control device is connected to, for making shopping cart to quilt according to drive command
Follower moves.
Wherein, direction acquisition device includes：
Image-forming module, for continuously acquiring the image information on shopping cart direction of travel；
Identification module is connected to image-forming module, the image for identifying the person of being followed from image information, and to be based on
The mode of surrounding obtains directional information of the person of being followed relative to shopping cart.
As shown in Fig. 2, identification module includes：
Blocking unit 21, for carrying out piecemeal to image information；
Feature unit 22 builds pixel region use for pixel and returns for specifying each pixel successively from image information
One change method is by pixel region processing for normalization as a result, and calculating acquisition for local feature of the specified pixel based on surrounding；
Grouped element 23, for according to the local feature for specified pixel, specified pixel being included into fixed group, quilt
The specified pixel being included into same fixed group is considered as the image with same type texture；
Unit 24 is compareed, for comparing each group of texture type and the image for the person of being followed, determination is followed
The direction of motion of the person on image information.
Also, blocking unit is additionally operable to：
Image information is divided into multiple block of pixels residue-free, N number of block of pixels is square pixel set；
Multiple block of pixels are handled using method for normalizing, obtain the normalization of multiple block of pixels as a result, and calculating multiple pictures
The average value of the normalization result of plain block.
Also, feature unit is used for：
Select each pixel successively from image information；
Centered on specified pixel, chosen to multiple neighborhood territory pixels, multiple neighborhood territory pixels to specified picture from image information
The distance of element is definite value；
Respectively centered on each in multiple neighborhood territory pixels, multiple neighborhood blocks are intercepted out from image information, it is multiple
Neighborhood block is the square pixel set centered on each neighborhood territory pixel respectively；
Multiple neighborhood blocks are handled using method for normalizing, obtain the normalization of multiple neighborhood blocks as a result, and calculating multiple neighbours
The average value of the normalization result of domain block；
According to the average value of the normalization result of multiple neighborhood blocks and the normalization result of multiple neighborhood blocks, obtain for referring to
The local feature based on surrounding of fixation element.
Specifically, the workflow of feature unit is as follows：
Select each pixel x successively from image informationc；
With specified pixel xcCentered on, it is chosen to p neighborhood territory pixel x from image informationR, p, n, p neighborhood territory pixel xR, p, n
To specified pixel xcDistance be r, wherein n takes p integer in [0, p-1] respectively；
Respectively with p neighborhood territory pixel xR, p, nIn each centered on, p neighborhood block is intercepted out from image informationP neighborhood blockAll be size be wr×wr, respectively with each neighborhood territory pixel xR, p, nCentered on pros
Shape pixel set；
P neighborhood block is handled using method for normalizing φObtain p neighborhood blockNormalization resultAnd calculate p neighborhood blockNormalization result average value
According to p neighborhood blockNormalization resultWith p neighborhood blockNormalization knot
The average value of fruitIt obtains for specified pixel xcThe local feature RELBP_NI based on surroundingR, p(xc)
Wherein,
Meanwhile including apart from acquisition device：
Transmitting module, for the person of being followed direction transmission of electromagnetic signals；
Receiving module is connected to transmitting module, the electromagnetic signal for receiving the person's of being followed reflection, and according to reflection signal
Obtain range information of the person of being followed relative to shopping cart.
In addition, control device includes：
Acquisition module, for receiving direction and range information of the person of being followed relative to shopping cart；
Computing module is rotated, should be turned for calculating shopping cart relative to the directional information of shopping cart according to the person of being followed
Dynamic angle and direction；
Be translatable computing module, should be protected for calculating shopping cart relative to the range information of shopping cart according to the person of being followed
The speed held；
Output module is connected to rotation computing module and translation computing module, the angle for that should be rotated according to shopping cart
Degree generates drive command with direction, the speed that should be kept.
Also, rotation computing module calculates shopping cart according to the person of being followed relative to the directional information of shopping cart to be turned
Dynamic angle includes with direction：
When the person of being followed is more than boundary relative to the deflection of shopping cart and limits, with maximum rotation angle to the person of being followed
Direction rotates；
When the person of being followed is less than boundary limitation relative to the deflection of shopping cart and is more than error range, with standard rotary
Angle is rotated to the person's of being followed direction；
When the person of being followed is less than error range relative to the deflection of shopping cart, without rotation.
Meanwhile the computing module that is translatable calculates shopping cart relative to the range information of shopping cart according to the person of being followed and should protect
The speed held includes：
It is in place to the person of being followed institute to pursue speed when the person of being followed is more than tracking range relative to the distance of shopping cart
Set movement；
The person of being followed relative to shopping cart distance be less than tracking range and more than safe distance when, with follow speed to
The person of being followed position moves；
When the person of being followed is less than safe distance relative to the distance of shopping cart, remains stationary.
Above-mentioned car body is Shopping Basket；Direction acquisition device is the combination of camera and microcontroller；It is sharp apart from acquisition device
The combination of shaven head and laser pickoff；Driving device is Electric Motor Wheel.
In conclusion by means of the above-mentioned technical proposal of the present invention, filled with apart from acquisition by using direction acquisition device
The direction and distance for obtaining the person of being followed relative to shopping cart are set, and being controlled the driving device with this makes shopping cart be transported to the person of being followed
Dynamic technological means allows shopping cart to follow the mankind to move automatically, facilitates shopping.
Those of ordinary skills in the art should understand that：The above is only a specific embodiment of the present invention, and
It is not used in the limitation present invention, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done,
It should be included within protection scope of the present invention.
Claims (8)
1. a kind of intelligence follows shopping cart, which is characterized in that including：
Car body is used for contain things；
Direction acquisition device is set in front of car body, for being obtained the person of being followed in a manner of based on surrounding relative to shopping cart
Directional information；The direction acquisition device includes：Image-forming module, for continuously acquiring the letter of the image on shopping cart direction of travel
Breath；Identification module is connected to image-forming module, the image for identifying the person of being followed from the image information, and to be based on
The mode of surrounding obtains directional information of the person of being followed relative to shopping cart；The identification module includes：Blocking unit, for pair
The image information carries out piecemeal；Feature unit is the pixel for specifying each pixel successively from the image information
Structure pixel region is normalized pixel region processing using method for normalizing as a result, and calculating acquisition for specifying picture
Local feature of the element based on surrounding；Grouped element, for the local feature for specified pixel according to, by the specified picture
Element is included into fixed group, and the specified pixel being included into same described fixed group is considered as having same type texture
Image；Unit is compareed, for comparing each group of texture type and the image for the person of being followed, determines the person of being followed in institute
State the direction of motion on image information；
Apart from acquisition device, it is set in front of car body, for obtaining range information of the person of being followed relative to shopping cart；
Control device, is connected to the direction acquisition device with described apart from acquisition device, for according to the person of being followed relative to
The direction of shopping cart generates drive command with range information control；
Driving device is set to below car body, is connected to control device, for according to the drive command make shopping cart to by with
It is moved with person.
2. shopping cart according to claim 1, which is characterized in that the blocking unit is additionally operable to：
The image information is divided into multiple block of pixels residue-free, the multiple block of pixels is square pixel set；
The multiple block of pixels is handled using method for normalizing, obtains the normalization of the multiple block of pixels as a result, and calculating institute
State the average value of the normalization result of multiple block of pixels.
3. shopping cart according to claim 2, which is characterized in that the feature unit is used for：
Select each pixel successively from the image information；
Centered on the specified pixel, chosen to multiple neighborhood territory pixels, the multiple neighborhood territory pixel from the image information
Distance to the specified pixel is definite value；
Respectively centered on each in the multiple neighborhood territory pixel, multiple neighborhood blocks are intercepted out from the image information,
The multiple neighborhood block is the square pixel set centered on each neighborhood territory pixel respectively；
The multiple neighborhood block is handled using method for normalizing, obtains the normalization of the multiple neighborhood block as a result, and calculating institute
State the average value of the normalization result of multiple neighborhood blocks；
According to the average value of the normalization result of the multiple neighborhood block and the normalization result of the multiple neighborhood block, acquisition pair
In the local feature based on surrounding of specified pixel.
4. shopping cart according to claim 1, which is characterized in that described to include apart from acquisition device：
Transmitting module, for the person of being followed direction transmission of electromagnetic signals；
Receiving module is connected to transmitting module, the electromagnetic signal for receiving the person's of being followed reflection, and according to reflection signal acquisition
Range information of the person of being followed relative to shopping cart.
5. shopping cart according to claim 1, which is characterized in that the control device includes：
Acquisition module, for receiving direction and range information of the person of being followed relative to shopping cart；
Computing module is rotated, for calculating what shopping cart should rotate relative to the directional information of shopping cart according to the person of being followed
Angle and direction；
Be translatable computing module, for calculating what shopping cart should be kept relative to the range information of shopping cart according to the person of being followed
Speed；
Output module is connected to the rotation computing module and the translation computing module, for that should be rotated according to shopping cart
Angle and direction, the speed that should keep generate drive command.
6. shopping cart according to claim 5, which is characterized in that the rotation computing module according to the person of being followed relative to
The directional information of shopping cart calculates the angle that shopping cart should rotate：
When the person of being followed is more than boundary relative to the deflection of shopping cart and limits, with where maximum rotation angle to the person of being followed
Direction rotates；
When the person of being followed is less than boundary limitation relative to the deflection of shopping cart and is more than error range, with standard rotary angle
It is rotated to the person's of being followed direction；
When the person of being followed is less than error range relative to the deflection of shopping cart, without rotation.
7. shopping cart according to claim 5, which is characterized in that the translation computing module according to the person of being followed relative to
The range information of shopping cart calculates the speed that shopping cart should be kept：
When the person of being followed is more than tracking range relative to the distance of shopping cart, transported to the person of being followed position with pursuing speed
It is dynamic；
The person of being followed relative to shopping cart distance be less than tracking range and more than safe distance when, with follow speed to by with
It is moved with person position；
When the person of being followed is less than safe distance relative to the distance of shopping cart, remains stationary.
8. shopping cart according to any one of claims 1-7, which is characterized in that the car body is Shopping Basket；It is described
Direction acquisition device is the combination of camera and microcontroller；It is described apart from acquisition device be laser head and laser pickoff group
It closes；The driving device is Electric Motor Wheel.
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| CN109144043A (en) * | 2017-06-27 | 2019-01-04 | 金宝电子工业股份有限公司 | The method for tracking object |
| CN108732946A (en) * | 2017-12-28 | 2018-11-02 | 北京猎户星空科技有限公司 | A kind of apparatus control system, method and device |
| CN108706034A (en) * | 2018-05-28 | 2018-10-26 | 吴静 | A kind of supermarket shopping car based on ZigBee wireless communication techniques |
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| JPH04316105A (en) * | 1991-04-15 | 1992-11-06 | Esuto:Kk | Automatically tracking type golf cart |
| JP2006155039A (en) * | 2004-11-26 | 2006-06-15 | Toshiba Corp | Store robot |
| CN202225891U (en) * | 2011-05-27 | 2012-05-23 | 严海蓉 | Intelligent trolley |
| CN204309852U (en) * | 2014-12-11 | 2015-05-06 | 浙江大学 | Controlled in wireless follows shopping cart automatically |
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