CN106598040A - Automatic following shopping cart system - Google Patents

Automatic following shopping cart system Download PDF

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Publication number
CN106598040A
CN106598040A CN201510677045.7A CN201510677045A CN106598040A CN 106598040 A CN106598040 A CN 106598040A CN 201510677045 A CN201510677045 A CN 201510677045A CN 106598040 A CN106598040 A CN 106598040A
Authority
CN
China
Prior art keywords
sonar
shopping cart
avoidance
automatically
module
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201510677045.7A
Other languages
Chinese (zh)
Inventor
杨奇峰
徐方
邹风山
韩策
栾显晔
李崇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenyang Siasun Robot and Automation Co Ltd
Original Assignee
Shenyang Siasun Robot and Automation Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenyang Siasun Robot and Automation Co Ltd filed Critical Shenyang Siasun Robot and Automation Co Ltd
Priority to CN201510677045.7A priority Critical patent/CN106598040A/en
Publication of CN106598040A publication Critical patent/CN106598040A/en
Pending legal-status Critical Current

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Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00Application
    • G05D2201/02Control of position of land vehicles
    • G05D2201/0216Vehicle for transporting goods in a warehouse, factory or similar

Abstract

The present invention provides an automatic following shopping cart system. The system comprises a shopping cart body, a sonar emission terminal, four sonar receivers and a central processing unit. The sonar emission terminal is arranged at the outer portion of the shopping cart body, the sonar receivers are arranged at four corners of the shopping cart body, and the central processing unit is arranged on the shopping cart body; the sonar emission terminal emits the sonar signals, and the sonar receivers receive sonar signals and transmit the sonar signals to the central processing unit; and the central processing unit monitors the relative time difference of receiving sonar signals through the sonar receivers, calculates the signal source direction according to the time difference and controls the process of the shopping cart body. The automatic following shopping cart system emits sonar signals through the sonar emission terminal, and the sonar receivers receive the sonar signals and transmit the sonar signals to the central processing unit; and the central processing unit monitors the relative time difference of receiving sonar signals, calculates the signal source direction according to the time difference and control the process of the shopping cart body; and the conditions are solved that the infrared navigation encounters obstacles and a tracking object is lost.

Description

One kind follows shopping cart system automatically
【Technical field】
The present invention relates to indoor moving equipment technical field, more particularly to one kind follows shopping cart system automatically.
【Background technology】
As people's living standard is improved constantly, supermarket is progressively incorporated in people's life, the shopping cart in supermarket Greatly facilitate citizen's buying daily necessities.But, current most of shopping cart is hand propelled, is pushed away Get up laborious, affect purchase experiences.
In prior art, the mode for indoor navigation mainly has laser navigation, ultrasonic listening, infrared ray Guiding, vision guide and map retrieval mode.Wherein, laser navigation due to laser light beam concentrate characteristic, The accuracy highest of adjusting to a line;But, laser is not suitable for the guiding in polarizers of big angle scope, is only suitable for most The auxiliary docking calibration in stage afterwards, and laser aid is relatively costly.
Vision guide and map retrieval mode are all emerging technologies, and technology is not mature enough, relatively costly, And to software algorithm and database in terms of design requirement it is very high;Heat homing high directivity, is easily hindered Hinder impact, be not suitable for being used in crowded public place;Ultrasonic measuring distance technology is at this stage using very Extensively, technology maturity is higher, and coverage is big, angularity extensive, is relatively adapted to long-range vectoring.
Follow dolly mostly based on infrared navigation automatically at this stage, when infrared emission port and receiving port it Between when there is barrier, infrared being likely to occur partly is blocked, or even situation about blocking completely, this kind of situation Under can make dolly lose tracking target, be not suitable for the public place of this densely populated place of supermarket.
Automatically follow whether the signal that dolly is only received by frequency identification mostly is useful signal, when only When one transmitting terminal and a receiving terminal, typically will not be problematic;But there are multiple transmitting terminals or multiple connecing During receiving end, it is impossible to be effectively identified, i.e., one car is when different people are met, in fact it could happen that with wrong target Situation.
【The content of the invention】
Based on this, it is an object of the invention to provide one kind follows shopping cart system automatically.
In order to realize the purpose of the present invention, there is provided one kind follows shopping cart system, including shopping cart body automatically, It is described to follow shopping cart system also to include sonar launch terminal, four sonar receivers, central processing units automatically; The sonar launch terminal is arranged on shopping cart sheet in vitro, and the sonar receiver is arranged in the shopping cart sheet The corner of body, the central processing unit is arranged on the shopping cart body;The sonar launch terminal transmitting Sonar Signal, the sonar receiver receives respectively the Sonar Signal and is sent to the central processing unit; The relative time that the central processing unit monitors the sonar receiver reception Sonar Signal is poor, and according to described Time difference calculates signal source direction, so as to control the traveling of the shopping cart body.
It is in certain embodiments, described to follow shopping cart system also to include four sonar sensors to pipe automatically, The sonar sensor is arranged on the corner of the shopping cart body to pipe, and the sonar sensor is monitored to pipe The distance of barrier is simultaneously sent to the central processing unit, and the central processing unit controls institute according to range information State the avoidance of shopping cart body.
In certain embodiments, the central processing unit includes telecommunication circuit, Acquisition Circuit, processing system; The telecommunication circuit is used to receive and send messages pipe with the sonar sensor, and the Acquisition Circuit is used to gather electricity Code-disc value in machine motion;The processing system is connected with the telecommunication circuit and Acquisition Circuit, the process System calculates signal source direction and controls the shopping cart sheet according to the range information according to the time difference The traveling of body.
In certain embodiments, the processing system includes navigation pattern and avoidance pattern, the navigation pattern The traveling that signal source direction controls the shopping cart body, the avoidance pattern root are calculated according to the time difference The avoidance of the shopping cart body is controlled according to the range information.
In certain embodiments, the processing system avoidance pattern includes sonar sensor acquisition module, tracking Logic module, avoidance logic module, motion-control module;The sonar sensor acquisition module, for controlling The sonar sensor is made, and communications reception range information is carried out with the sonar sensor;The tracking is patrolled Volume module, for receiving range information and formulating the pursuit path of shopping cart body;The avoidance logic module, For formulating avoidance route according to range information;The motion-control module, for according to the tracking rail formulated Mark and avoidance route control the traveling of the shopping cart body.
In certain embodiments, the processing system avoidance pattern also includes tracking parsing module, the tracking Parsing module is used to parse range information, extracts information header, information tail and data field, and the distance that will be parsed Information transmission is to the trace logic module.
In certain embodiments, the processing system avoidance pattern also includes miscue module, the mistake Prompt modes are used to produce false alarm information, and are sent to the shopping cart body.
In certain embodiments, the processing system avoidance pattern also includes master control logic module, the master control Logic module is used to choose suitable movement locus, and control according to trace logic module, avoidance logic module Motion-control module.
In certain embodiments, the central processing unit includes universal input/output circuit, the universal input / output circuit includes emergency stop switch, warning flashing light and toggle switch.
Prior art is different from, it is above-mentioned to follow shopping cart system automatically, sonar is launched by sonar launch terminal Signal, sonar receiver receives respectively Sonar Signal and is sent to central processing unit;Central processing unit monitoring connects The relative time for receiving Sonar Signal is poor, and calculates signal source direction according to the time difference, so as to control shopping cart sheet The traveling of body;Solve infrared navigation and run into obstacle, track the situation that target is lost.
【Description of the drawings】
Fig. 1 is sonar receiver in the navigation pattern for follow automatically in one embodiment of the invention shopping cart system Install and signal receiving area schematic diagram.
Fig. 2 is sonar sensor in the avoidance pattern for follow automatically in one embodiment of the invention shopping cart system To pipe scheme of installation.
【Specific embodiment】
To describe technology contents of the invention, structural feature in detail, being realized purpose and effect, below in conjunction with Embodiment simultaneously coordinates accompanying drawing to be explained in detail.It should be appreciated that specific embodiment described herein is only to solve The present invention is released, is not used to limit the present invention.
One kind follows shopping cart system, including shopping cart body automatically, described to follow shopping cart system automatically also Including sonar launch terminal, four sonar receivers, central processing units.
The sonar launch terminal is arranged on shopping cart sheet in vitro, and the sonar receiver is arranged in the shopping The corner of car body, the central processing unit is arranged on the shopping cart body;The sonar launch terminal Transmitting Sonar Signal, the sonar receiver receives respectively the Sonar Signal and is sent to the central authorities and processes Device;The relative time that the central processing unit monitors the sonar receiver reception Sonar Signal is poor, and according to The time difference calculates signal source direction, so as to control the traveling of the shopping cart body.
The present invention launches Sonar Signal by sonar launch terminal, and sonar receiver receives respectively Sonar Signal simultaneously It is sent to central processing unit;The relative time that central processing unit monitoring receives Sonar Signal is poor, and according to the time Difference calculates signal source direction, so as to control traveling and the avoidance of shopping cart body;Solve infrared navigation and run into barrier Hinder, track the situation that target is lost.
In a particular embodiment of the present invention, one kind follows shopping cart system, including shopping cart body automatically, This follows shopping cart system also to include sonar launch terminal, four sonar receivers, central processing units automatically.
Sonar launch terminal is arranged on shopping cart sheet in vitro, and specifically, sonar launch terminal is entered by shopper Get in supermarket and carry with;Sonar receiver is arranged in the corner of shopping cart body, and central processing unit sets Put on shopping cart body.
Sonar launch terminal launches Sonar Signal, is arranged in four sonar receivers point of shopping cart body corner Sonar Signal and central processing unit Jie Shou not be sent to;Central processing unit monitoring sonar receiver receives sonar letter Number relative time it is poor, and according to the time difference calculate signal source direction, so as to control the traveling of shopping cart body.
Wherein, above-mentioned monitoring is specially central processing unit four sonar sensors of monitoring and receives same frame sonar letter Number relative time it is poor;The traveling control of the shopping cart body by the direction of advance of shopping cart body two-wheeled and The difference in rotation of advance, makes shopping cart be turned to and be advanced.
In preferable scheme, this follows shopping cart system also to include four sonar sensors to pipe automatically, The sonar sensor is arranged on the corner of shopping cart body to pipe, to realize barrier avoiding function, prevents shopping cart Body bumps against shelf or personnel.
Sonar sensor to pipe monitor barrier distance and be sent to central processing unit, central processing unit according to Range information simultaneously analyzes distance, controls the traveling of shopping cart body, and the traveling includes advancing and adjusts or stop Car.
Specifically, the sonar sensor includes transmitting terminal and receiving terminal, when the signal that transmitting terminal sends encounters barrier Hinder thing return receiving terminal when, the sonar sensor according to sound wave return duration calculation obstacle distance to pipe away from From.
Central processing unit include telecommunication circuit, Acquisition Circuit, processing system, processing system respectively with the electricity that communicates Road, Acquisition Circuit connection.Processing system calculates signal source direction and range information control purchase according to the time difference The traveling of thing car body.
Wherein, telecommunication circuit is used to be received and sent messages with sonar sensor, and control sonar sensor, completes Detection to surrounding environment, more specifically, the telecommunication circuit is I2C telecommunication circuits;Acquisition Circuit is used to gather Code-disc value in motor movement, the state of motor in real time, so that subsequently to motor control, the collection is electric Road is QEP (Quadrature Encoder Pulse, quadrature coding pulse circuit) Acquisition Circuit.
Preferably, central processing unit also includes universal input/output circuit, and universal input/output circuit includes Emergency stop switch, warning flashing light and toggle switch.
Emergency stop switch, in emergency circumstances forcing lower power electric;Transporting, occurs for shopping cart in warning flashing light Flashing light during dynamic or control mistake, informs shopper;Toggle switch, the ID for car body distributes.
It is furthermore preferred that the shopping cart body totally four wheel, wherein, front two-wheeled be driven pulley, rear two-wheeled For driving wheel.Central processing unit adopts F28M35, and (4 sonar sensors are to pipe, 4 sound for 8 sensors Receiver) pass through I2C telecommunication circuits convey data to the ARM of central processing unit, and ARM carries out logic and sentences It is disconnected, will determine that result is transferred to DSP in the way of data interaction in piece, and control shopping cart body avoidance.
In preferable scheme, the processing system includes two kinds of mode of operations:Navigation pattern and avoidance pattern, Under navigation pattern, processing system calculates the traveling that signal source direction controls shopping cart body according to the time difference, Under avoidance pattern, processing system controls the avoidance of the shopping cart body according to range information.
Wherein, in navigation pattern, different equipment is distinguished by device ID, frame number distinguishes four sensors Whether what is received is same frame data.The sonar launch terminal sends a frame information every 83ms, in information Including frame head, postamble, data field, frame format is as shown in table 1:
Table 1
Frame head:0xffe, represents the beginning of a frame;
Postamble:0xfff, represents the end of a frame;
Device ID:It is adjusted by 12 toggle switch, represents shopping cart body and transmission equipment is corresponding only One numbering;
Frame number:Different frames are represented, frame number+1 after sending per frame after adding to 255, returns 0 to restart.
There are four sonar receivers each shopping cart body corner, when the corner connection in corner receive it is a certain effectively Frame, i.e. frame head, postamble, frame number, device ID have and when device ID and shopping cart Ontology Matching, time delay Wait 30ms.And after 30ms, calculated.
As shown in figure 1, four sonar receivers occur 2 times of a shopping cart body plane area after installing The blind area of size, when shopper station is in blind area, tetra- sonar receivers of A, B, C, D cannot have been received Signal is imitated, now shopping cart body stops at current location;When people leaves blind area, may have 1 or Multiple sonar receivers receive data-signal, below divide situation discussion:
1 sonar receiver receives data:
A:Advance left front;
B:Advance right front;
C:Fall back left back;
D:Fall back right back.
2 sonar receivers receive data:
A、B:A is first connected to signal, advances to left front;B is first connected to signal, advances to right front;Connect Below collection of letters time phase difference 0.5ms, then advance forward;
A、C:A is first connected to signal, advances to left front:C is first connected to signal, retreats to left back;
B、D:B is first connected to signal, advances to right front:D is first connected to signal, retreats to right back;
C、D:C is first connected to signal, retreats to left back:D is first connected to signal:Retreat to right back; Signal time difference below 0.5ms is received, is then retreated backward.
Other situations:The invalidating signal that acquiescence is followed by, and receive data according to 1 sonar receiver Processed.
3 sonar receivers receive data:
Give tacit consent to last data invalid being connected to, and data are received according to 2 and judged, if Judged result is fallen in other situations, then give up the data, is advanced by original mode.
4 sonar receivers receive data:
The acquiescence data invalid that most latter two is received, if it is judged that falling in other situations, then gives up The data are abandoned, is advanced by original mode.
In preferable scheme, processing system avoidance pattern includes that sonar sensor acquisition module, tracking are patrolled Collect module, avoidance logic module, motion-control module.
Wherein, sonar sensor acquisition module, for controlling the sonar sensor, and and sonar sensor Communications reception range information is carried out to pipe, specifically, for opening sonar, sonar data is read, and number According to being stored in buffer area, use to track parsing module and avoidance parsing module.
Trace logic module, for receiving range information and formulating the pursuit path of shopping cart body;Avoidance is patrolled Module is collected, for formulating avoidance route according to range information;Motion-control module, for according to formulate with Track track and avoidance route control the traveling of shopping cart body, including differential gear enable, go to enable, advance The control of the actions such as speed, acceleration, parking.
Preferably, processing system avoidance pattern also includes tracking parsing module, and tracking parsing module is used to parse Range information, extracts information header, information tail and data field, and the range information of parsing is sent to into tracking and patrol Collect module;After being verified, data are processed, filter out effective data, and be transferred to tracking Logic module.
In certain embodiments, processing system avoidance pattern also includes miscue module, miscue pattern For producing false alarm information, and shopping cart body is sent to, a series of mistakes that shopping cart body is produced Report to the police, and reported to the police in the way of flashing light, and by universal input/output circuit output.
Processing system avoidance pattern also includes master control logic module, and master control logic module is used for according to trace logic Module, avoidance logic module choose suitable movement locus, and control motion-control module, and sonar is adopted Safeguarded collection data buffer area.And preferably in scheme, also including power management module, for doing shopping The power-on and power-off of car body.
Specifically, in avoidance pattern, sonar sensor selects the sonar module of model KS103 to pipe, Look-in frequency up to 500HZ, using I2C telecommunication circuits and main-machine communication, automated to respond to the I of main frame2C communication electricity Road control instruction.Address is respectively 0xd0,0xd2,0xd4,0xd6;Investigative range 1cm-800cm.
Sonar sensor realizes to the transmitting terminal and receiving terminal of pipe in same module, the ultrasound that sonar sends out Ripple encounters barrier back reflection tieback receiving end, by the time difference between transmission and reception can determine whether sonar with The distance between barrier.
As shown in Fig. 2 the position installed for avoidance sonar:Two avoidance sonar sensors of E, F are to pipe and purchase Thing car body headstock is parallel, installs forward;Two avoidance sonar sensors of GH are to pipe and the shopping cart body tailstock It is parallel, install backwards so that without blind area on shopping cart body forward-reverse direction, with ensure shopper and The safety of goods.
When four avoidance sonar sensors detect barrier to managing any one, then shopping cart body traveling road Line by pattern switching of navigating to avoidance pattern, no longer accepted and believed by the data that navigation sonar is collected.
As distance of obstacle 20cm, obstacle can be hidden by traveling:
Only one of which sensor is detected and have in 20cm obstacle:
Under forward travel state, E detects obstacle, turns to the right;
Under forward travel state, F detects obstacle, turns to the left;
Under fallback state, G detects obstacle, turns to the right;
Under fallback state, H detects obstacle, turns to the left;
Other situations think accessible.
When 2 sensor detection 20cm have obstacle:
Under forward travel state, EF detects obstacle, and disturbance in judgement is far and near, and which is away from then to which direction Turn;
Under fallback state, GH detects obstacle, and disturbance in judgement is far and near, and which is away from then to which direction Turn;
If tetra- kinds of situations of EG, EH, FG, FH, ignore GH during advance, EF is ignored during retrogressing, afterwards Obstacle is detected by only one of which sensor to be processed.
When 3 or 4 sensors detect 20cm and have obstacle:
Ignore GH during advance, EF is ignored during retrogressing, having detected obstacle by 2 sensors afterwards is carried out Process.
As distance of obstacle 5cm, it is impossible to again to the situation of former direction movement:
Advance in way, have any one distance of obstacle in E or F less than 5cm, then stop, after time delay 3s, If obstacle is not still released, reversing back;
In retreating way, there is any one distance of obstacle in G or H less than 5cm, then stop, after time delay 3s, If obstacle is not still released, advance forward;
If there is EG, EH, FG, FH, EFG, EFH, EGH, FGH, EFGH have obstacle therein One kind, then stop and advanced again till obstacle is released.
In shopping cart body traveling process, complete to turn in the differential mode of two-wheel, during avoidance, turn Nearside wheel reduction of speed is 1/5th of gait of march, and outside wheel speed is reduced to 4/5ths of traveling, detects After accessible 1s, navigation pattern is switched to.
The present invention's follows shopping cart system automatically, is navigated by the way of sonar, solves infrared navigation Obstacle is run into, the situation that target is lost is tracked.Install avoidance sonar sensor on shopping cart body additional, it is to avoid people Member and shopping cart are damaged, and optimize obstacle avoidance algorithm so as to more intelligent, can in advance carry out avoidance, it is to avoid run into The problem that obstacle can only stop;Shopping cart body controls its ID by toggle switch so that multiple stage shopping cart is not Can be in target cross occurrence with wrong target.
It should be noted that in the present invention, such as first and second or the like relational terms are used merely to One entity or operation are made a distinction with another entity or operation, and is not necessarily required or is implied this There is any this actual relation or order between a little entities or operation.And, term " including ", " bag Containing " or its any other variant be intended to including for nonexcludability so that including a series of key elements Process, method, article or terminal device not only include those key elements, but also including clearly not arranging Other key elements for going out, or also include intrinsic for this process, method, article or terminal device Key element.In the absence of more restrictions, limited by sentence " including ... " or " including ... " Key element, it is not excluded that also exist in the process including above-mentioned key element, method, article or terminal device another Outer key element.Additionally, herein, " being more than ", " being less than ", " exceeding " etc. are interpreted as not including this number; " more than ", " below ", " within " etc. be interpreted as including this number.
Although being described to the various embodiments described above, those skilled in the art once know Basic creative concept, then can make other change and modification to these embodiments, so the above is above-mentioned only For the embodiment of type of the present invention, the scope of patent protection of the present invention is not thereby limited, it is every using the present invention Equivalent structure or equivalent flow conversion that specification and accompanying drawing content are made, or directly or indirectly it is used in other Related technical field, is included in the same manner within the scope of patent protection of the present invention.

Claims (9)

1. one kind follows shopping cart system, including shopping cart body automatically, it is characterised in that it is described automatically with Also include sonar launch terminal, four sonar receivers, central processing units with shopping cart system;
The sonar launch terminal is arranged on shopping cart sheet in vitro, and the sonar receiver is arranged in the shopping The corner of car body, the central processing unit is arranged on the shopping cart body;
The sonar launch terminal launches Sonar Signal, and the sonar receiver receives respectively the Sonar Signal And it is sent to the central processing unit;
The relative time that the central processing unit monitors the sonar receiver reception Sonar Signal is poor, and according to The time difference calculates signal source direction, so as to control the traveling of the shopping cart body.
2. it is according to claim 1 to follow shopping cart system automatically, it is characterised in that it is described automatically with Also include four sonar sensors to pipe with shopping cart system, the sonar sensor is arranged on the purchase to pipe The corner of thing car body, the sonar sensor is monitored the distance of barrier to pipe and is sent to the centre Reason device, the central processing unit controls the avoidance of the shopping cart body according to range information.
3. it is according to claim 2 to follow shopping cart system automatically, it is characterised in that the centre Reason device includes telecommunication circuit, Acquisition Circuit, processing system;The telecommunication circuit is used for and sonar sensing Device is received and sent messages to pipe, and the Acquisition Circuit is used to gather the code-disc value in motor movement;The processing system It is connected with the telecommunication circuit and Acquisition Circuit, the processing system calculates signal source side according to the time difference To and the traveling of the shopping cart body controlled according to the range information.
4. it is according to claim 3 to follow shopping cart system automatically, it is characterised in that the processing system System includes navigation pattern and avoidance pattern, and the navigation pattern calculates signal source direction control according to the time difference The traveling of the shopping cart body is made, the avoidance pattern controls the shopping cart sheet according to the range information The avoidance of body.
5. it is according to claim 4 to follow shopping cart system automatically, it is characterised in that the processing system System avoidance pattern includes sonar sensor acquisition module, trace logic module, avoidance logic module, motion control Molding block;
The sonar sensor acquisition module, for controlling the sonar sensor, and senses with the sonar Device carries out communications reception range information;
The trace logic module, for receiving range information and formulating the pursuit path of shopping cart body;
The avoidance logic module, for formulating avoidance route according to range information;
The motion-control module, for controlling the shopping cart according to the pursuit path and avoidance route formulated The traveling of body.
6. it is according to claim 5 to follow shopping cart system automatically, it is characterised in that the processing system System avoidance pattern also includes tracking parsing module, and the tracking parsing module is used to parse range information, extracts Information header, information tail and data field, and the range information of parsing is sent to into the trace logic module.
7. it is according to claim 5 to follow shopping cart system automatically, it is characterised in that the processing system System avoidance pattern also includes miscue module, and the miscue pattern is used to produce false alarm information, And it is sent to the shopping cart body.
8. it is according to claim 5 to follow shopping cart system automatically, it is characterised in that the processing system System avoidance pattern also includes master control logic module, the master control logic module be used for according to trace logic module, Avoidance logic module chooses suitable movement locus, and controls motion-control module.
9. it is according to claim 3 to follow shopping cart system automatically, it is characterised in that the centre Reason device includes universal input/output circuit, and the universal input/output circuit includes emergency stop switch, reports to the police and dodge Lamp and toggle switch.
CN201510677045.7A 2015-10-19 2015-10-19 Automatic following shopping cart system Pending CN106598040A (en)

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Application publication date: 20170426