CN108528484A - Intelligent storage vehicle and its chassis - Google Patents
Intelligent storage vehicle and its chassis Download PDFInfo
- Publication number
- CN108528484A CN108528484A CN201810325478.XA CN201810325478A CN108528484A CN 108528484 A CN108528484 A CN 108528484A CN 201810325478 A CN201810325478 A CN 201810325478A CN 108528484 A CN108528484 A CN 108528484A
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- image
- module
- unit
- target
- chassis
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- Engineering & Computer Science (AREA)
- Signal Processing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Multimedia (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention provides a kind of chassis for Intelligent storage vehicle, including bearing seat and to follow component, the bearing seat include the loading end for carrying storage tank；It is described that component is followed to be arranged on the bearing seat, it is described that follow component include walking module, control module and locating module, final positioning signal of the locating module for generating the position for characterizing the target according to the position of the target behind the position for determining target, and the final positioning signal can be sent to the control module by the locating module；The control module can control the walking module according to the final positioning signal after receiving the final positioning signal and be moved according to the matched track of the motion track of the target, to drive the bearing seat to move.The present invention also provides a kind of Intelligent storage vehicle, the Intelligent storage vehicle can facilitate the life of user.
Description
Technical field
The present invention relates to consumer goods industries, and in particular, to a kind of chassis for Intelligent storage vehicle and a kind of intelligence
Storage cart.
Background technology
When in supermarket shopping, it usually needs consumer's hand-push shopping cart is walked, more inconvenient.Especially, work as shopping cart
When being inside mounted with more commodity, boosts and come more arduously.Also, it when consumer's hand-push shopping cart, can not check on shelf
Cargo.
Therefore, consumer's shopping how to be facilitated to become this field technical problem urgently to be resolved hurrily.
Invention content
The purpose of the present invention is to provide a kind of chassis for Intelligent storage vehicle and a kind of intelligence storage including the chassis
Object vehicle, the Intelligent storage vehicle can follow user, be pushed in person without using person, the life for the person of being convenient to use.
To achieve the goals above, as one aspect of the present invention, a kind of chassis for Intelligent storage vehicle is provided,
In, the chassis includes bearing seat and follows component,
The bearing seat includes the loading end for carrying storage tank；
It is described that component is followed to be arranged on the bearing seat, it is described that component is followed to include walking module, control module and determine
Position module,
The locating module, which is used to be generated according to the position of the target behind the position for determining target, characterizes the target
Position final positioning signal, and the final positioning signal can be sent to the control mould by the locating module
Block；
The control module can control institute after receiving the final positioning signal according to the final positioning signal
It states walking module to move according to the matched track of the motion track of the target, to drive the bearing seat to move.
Preferably, the locating module includes recognition unit and multiple images acquiring unit, and multiple described images obtain single
The direction of member is different；
Each described image acquiring unit can obtain the image in the region of the image acquisition unit direction；
The object image in the image acquired in described image acquiring unit can be identified in the recognition unit, and
The image in described image with the presence or absence of the target is judged according to recognition result, when the recognition unit judges in described image
There are the final positioning signal when image of the target, is generated, the final positioning signal includes taking the target
Image acquisition unit position；
The control module can control court of the walking module according to the image acquisition unit for taking the target
To movement.
Preferably, the target is personage, and the image of the target is the image of personage,
The recognition unit can be when the image acquired in described image acquiring unit includes the image of a personage
The person image is determined as to the image of the target, the figure that the recognition unit can also be obtained in described image acquiring unit
When as including the image of multiple personages, the maximum person image of area is determined as to the image of the target.
Preferably, the walking module includes multiple walking components, and multiple walking components are obtained with multiple described images
Unit is taken to correspond,
The walking component includes and traveling wheel, the control module can after receiving the final positioning signal,
Walking trigger signal is sent to corresponding driving unit, to drive the traveling wheel according to the direction of corresponding image acquisition unit
It rolls.
It is preferably, described that follow component further include initial alignment unit and at least three Bluetooth communication modules,
All Bluetooth communication modules can be matched with the same Bluetooth terminal module；
The initial alignment unit can determine that the bluetooth is whole according to the matching result of arbitrary three Bluetooth communication modules
Relative angle between end module and the chassis, and corresponding angle position signal is generated, and the initial alignment unit is used
In the angle position signal is sent to the control module；
The control module can control the image towards the angle position after receiving the angle position signal
Acquiring unit is opened.
Preferably, described in the initial alignment unit can be determined according to the matching result of arbitrary three Bluetooth communication modules
Initial distance between Bluetooth terminal module and the chassis,
Described image acquiring unit is used to obtain the video in the region for including the image acquisition unit institute direction, the video
The image obtained by described image acquiring unit including continuous multiframe；
The recognition unit is used to be predicted according to pre-defined algorithm according to the position of the image of target described in current frame image
The position of the image of target described in next frame image, and determine corresponding response, the recognition unit can generate characterization
The final positioning signal of the number of described image acquiring unit and the response, the control module are used for described
When response is more than predetermined threshold value and the initial distance and is less than preset distance, control is corresponding with described image acquiring unit
Walking assembly operating.
Preferably, the control module is used for when the response is less than the predetermined threshold value, and it is described initial fixed to control
Bit location recalculates the relative angle between the Bluetooth terminal module and the chassis, and regenerates corresponding angle position
Confidence number, and the initial alignment unit is used to the angle position signal regenerated being sent to the control module,
The control module can control direction after receiving the angle position signal regenerated and recalculate acquisition
Angle position image acquisition unit open.
Preferably, the control module is additionally operable to generate alarm signal when the initial distance is more than pre-determined distance, and
It is sent to the Bluetooth terminal module by the Bluetooth communication modules.
Preferably, the chassis further includes multiple elevating levers, and multiple elevating levers and multiple images acquiring unit are one by one
It is corresponding,
One end of the elevating lever is fixed on the bearing seat, and the other end of the elevating lever is provided with corresponding image
Acquiring unit, the control module can control corresponding elevating lever when controlling described image acquiring unit and opening and rise, and
The control module can control corresponding elevating lever landing when controlling described image acquiring unit and closing.
As the second aspect of the invention, a kind of Intelligent storage vehicle is provided, wherein the Intelligent storage vehicle includes storing
Case and above-mentioned chassis provided by the present invention, the storage tank are detachably provided on the loading end.
Preferably, the smart shopper system further includes Bluetooth terminal module, and described to follow component further include initial alignment
Unit and at least three Bluetooth communication modules,
All Bluetooth communication modules can be matched with the Bluetooth terminal module；
All Bluetooth communication modules can be matched with the same Bluetooth terminal module；
The initial alignment unit can determine that the bluetooth is whole according to the matching result of arbitrary three Bluetooth communication modules
Relative angle between end module and the chassis, and corresponding angle position signal is generated, and the initial alignment unit is used
In the angle position signal is sent to the control module；
The control module can control the image towards the angle position after receiving the angle position signal
Acquiring unit is opened.
Preferably, described in the initial alignment unit can be determined according to the matching result of arbitrary three Bluetooth communication modules
Initial distance between Bluetooth terminal module and the chassis, the control module are additionally operable to be more than in the initial distance default
Apart from when generate alarm signal, and be sent to the Bluetooth terminal module by the Bluetooth communication modules,
The Bluetooth terminal module can generate alerting signal after receiving the alarm signal.
The chassis is used in Intelligent storage vehicle, and specifically, storage tank can be placed on the loading end of bearing seat.
When using the Intelligent storage vehicle, user is the above target.Locating module generates institute after determining the position of user
Final positioning signal is stated, and the final positioning signal is sent to control module, to control module according to the final positioning
Signal controls walking module movement, and bearing seat is driven to move.In this way, during user uses the Intelligent storage vehicle,
The Intelligent storage vehicle can follow the user to move automatically, user's hand push not needed, to liberate the both hands of user simultaneously
The muscle power for saving user, to facilitate the life of user.
Description of the drawings
Attached drawing is to be used to provide further understanding of the present invention, an and part for constitution instruction, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is the schematic diagram of the pedestal of intelligent shopping trolley provided by the present invention；
Fig. 2 is the setting schematic diagram of image acquisition unit and Bluetooth communication modules in the pedestal；
Fig. 3 is the schematic diagram of intelligent shopping trolley provided by the present invention；
Fig. 4 is the module diagram that component is followed in intelligent shopping trolley provided by the present invention；
Fig. 5 is the work flow diagram of intelligent shopping trolley provided by the present invention.
Reference sign
110：Bearing seat 120：Follow component
121：Walking module 121a：Driving unit
121b：Traveling wheel 122：Control module
123：Locating module 123a：Recognition unit
123b：Image acquisition unit 124：Initial alignment
125：Bluetooth communication modules 126：Elevating lever
200：Storage tank 300：Bluetooth terminal module
Specific implementation mode
The specific implementation mode of the present invention is described in detail below in conjunction with attached drawing.It should be understood that this place is retouched
The specific implementation mode stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
As one aspect of the present invention, as shown in Figure 1, providing a kind of chassis 100 for Intelligent storage vehicle, wherein
The chassis 100 includes bearing seat 110 and follows component 120.
As shown in Figure 1, bearing seat 110 includes the loading end A for carrying storage tank.
Follow component 120 be arranged on bearing seat 110, as shown in Fig. 2, this follow component 120 include walking module 121,
Control module 122 and locating module 123.
Locating module 123 characterizes the position of the target for being generated according to the position of the target behind the position for determining target
The final positioning signal set, and the final positioning signal can be sent to control module 122 by locating module 123.
Control module 122 can be after receiving the final positioning signal according to the final positioning signal control walking
Module 121 is moved according to the matched track of the motion track of the target, to drive bearing seat 110 to move.
Chassis 110 is used in Intelligent storage vehicle, specifically, storage tank can be placed on to the loading end A of bearing seat 110
On.When using the Intelligent storage vehicle, user is the above target.Locating module 123 determines the position of user
After generate the final positioning signal, and the final positioning signal is sent to control module 122,122 basis of control module
The final positioning signal control walking module 121 moves, and bearing seat 110 is driven to move.In this way, using the intelligence in user
During energy storage cart, the Intelligent storage vehicle can follow the user to move automatically, user's hand push not needed, to solve
It has put the both hands of user and has saved the muscle power of user, to facilitate the life of user.
Certainly, the present invention is not limited thereto, and the target can also be certain objects.For example, it may be the back of the body of user
It wraps, can also be vehicle or other Intelligent storage vehicles etc..
In the present invention, special requirement is not done to the application scenario of Intelligent storage vehicle.For example, the Intelligent storage vehicle
It can apply in supermarket, be used as intelligent shopping trolley.In this case, user is in shopping, without intelligence described in hand push
Energy storage cart, so as to preferably check the commodity on shelf, the commodity for selecting more satisfied.
In the present invention, so-called " walking module 121 is moved according to the matched track of the motion track of the target "
It can refer to that walking module 121 moves at the target rear, can also be that walking module 121 moves in front of target, also may be used
To be that walking module 121 moves side by side with the target, as long as it is predetermined to ensure that the distance between the chassis and target are no more than
Value.
In the present invention, special limitation is not done to the concrete structure of locating module 123.For example, infrared biography can be utilized
Sensor or ultrasonic positioner determine the position of target.
In order to quickly and accurately determine the position of target, it is preferable that locating module 123 includes recognition unit 123a and multiple
The direction of image acquisition unit 123b, multiple images acquiring unit 123b are different.
Specifically, each image acquisition unit 123b can obtain the image in the region of the image acquisition unit direction.
For example, a locating module 123 is respectively facing thing including four image acquisition units 123b, four image acquisition unit 123b
North and south four direction, the image acquisition unit 123b towards east can shoot the image in chassis east side, the image acquisition unit being exposed to the west
The image that chassis west side can be obtained, the image acquisition unit towards south can obtain the image in chassis southern side, and the image being exposed to the north obtains
Take unit that can obtain the image of chassis north side.
The object image in the image acquired in image acquisition unit 123b can be identified in recognition unit 123a, and
Judge the image in described image with the presence or absence of the target according to recognition result.When in recognition unit 123a judgement described images
There are the final positioning signal when image of the target, is generated, the final positioning signal includes taking the target
Image acquisition unit position.
Control module 122 can control walking module 121 according to the image acquisition unit 123b for taking the target
Direction movement.
When, there are when the image of the target, showing target in the image that one of image acquisition unit 123b takes
Positioned at the front of image acquisition unit 123b.At this point, control module 22 controls walking module 121 according to taking the target
Image acquisition unit 123b direction movement, you can close to the target.It " is obtained according to the image for taking the target single
The direction of first 123b moves " refer to that moving direction and the image acquisition unit 123b that takes the target are towards phase
Together.
In general, the target is behaved, therefore, recognition unit 123a can identify the body image in image.
A people may be only existed in the image of image acquisition unit 123b shootings, it is also possible to which there are multiple people.Work as image
There is only when a body image in the image that acquiring unit 123b is obtained, which is determined as mesh by recognition unit 123b
Target image.When there are when multiple body images, recognition unit 123b is by area in the image that image acquisition unit 123b is obtained
Image of the maximum body image as target.
It is easily understood that imagery coverage is bigger, then the corresponding personage's range image acquiring unit 123a of the surface image
Recently, user is when using including the Intelligent storage vehicle on the chassis, it can be ensured that and I am nearest apart from the chassis, because
This, the maximum person image of image is the image of target.
In the present invention, it " controls the walking module to how to realize and obtains list according to the image for taking the target
Special limitation is not done in the direction movement of member ", in order to accurately control the moving direction of walking module, it is preferable that walking mould
Block 121 includes multiple walking components, and multiple walking components are corresponded with multiple described image acquiring units.
Further, walking component includes driving unit 121a and traveling wheel 121b, and control module 122 can receive
After the final positioning signal, walking trigger signal is sent to corresponding driving unit, to drive traveling wheel 121b according to corresponding
Image acquisition unit direction roll.
Each walking component can move facing one direction, for example, when chassis includes four image acquisition units,
The chassis also includes correspondingly four walking components, and each component of walking can move facing one direction, four walking components
Four different direction movements can be respectively facing.
In the present invention, special restriction is not sat yet to the concrete structure of driving unit 121a and traveling wheel 121b.For example,
Traveling wheel can be Mecanum wheel as a preferred implementation manner, and driving unit 121a may include then motor driving
Device, motor, encoder and retarder.
The control terminal of motor driver is communicated to connect with control module, and control module can be sent out to corresponding motor driver
Corresponding motor operation is driven after sending driving trigger signal, motor driver to receive driving trigger signal.Encoder setting exists
On the output shaft of motor, the number of turns that the output shaft for calculating motor turns over, the output shaft that retarder is connected to motor is also walked
Between wheel, for driving traveling wheel to rotate.The number of turns that the output shaft of motor turns over can be grasped by encoder, pass through retarder
Reduction ratio the distance that traveling wheel is passed by can be precisely calculated, so as to the direction moved to chassis and apart from progress
Detailed control.
In order to quickly determine the image acquisition unit for needing to open, and reduce the operand of control module, it is preferable that with
Further include initial alignment unit 124 and at least three Bluetooth communication modules 125 with component 120.
All Bluetooth communication modules 125 can be matched with the same Bluetooth terminal module, and initial alignment unit 124 can be with
The relative angle between the Bluetooth terminal module and the chassis is determined according to the matching result of arbitrary three Bluetooth communication modules
Degree, and corresponding angle position signal is generated, and the initial alignment unit is used to the angle position signal being sent to institute
State control module 122.
Correspondingly, control module 122 can control after receiving the angle position signal towards the angle position
Image acquisition unit open.
In the present invention, Bluetooth terminal module can be the wearable devices such as bracelet, be worn on user's's (that is, target)
With.Initial alignment unit 124 can send out the relative angle determined between Bluetooth terminal module and chassis according to three-point fix, should
Relative angle is the relative angle between target and chassis.After the relative angle is determined, control module 122 passes through calculating
The number towards the image acquisition unit of the angle can be determined, and the image acquisition unit for controlling the number is opened, to the figure
As the region of acquiring unit direction is taken pictures.
In the present invention, special limitation is not done to the particular number of Bluetooth communication modules.As long as Bluetooth communication modules
Quantity is more than three.
As an implementation, loading end can be the rectangular surfaces for having four corners, and each corner is respectively provided with one
Bluetooth communication modules, therefore, no matter target is located at which orientation of loading end, can quickly determine between target and chassis
Relative angle.
Target is accurately followed in order to reduce energy consumption and control chassis, it is preferable that the initial alignment unit being capable of basis
The matching result of arbitrary three Bluetooth communication modules determines the initial distance between the Bluetooth terminal module and the chassis.Only
Image acquisition unit is just opened when having close enough at a distance from Bluetooth terminal module is between chassis, does not otherwise open image acquisition
Unit, so as to play the purpose for reducing energy consumption.
In order to accurately follow target, it is preferable that image acquisition unit includes the court of image acquisition unit institute for obtaining
To region video, the video includes the image that continuous multiframe is obtained by described image acquiring unit.
Correspondingly, recognition unit 123a is used for the position according to the image of target described in current frame image according to predetermined calculation
Method predicts the position of the image of target described in next frame image, and determines that corresponding response, recognition unit 123a can give birth to
At the number of characterization described image acquiring unit and the final positioning signal of the response, control module 122 is used for
When the response is more than predetermined threshold value and the initial distance is less than preset distance, control is corresponding to image acquisition unit
Walking assembly operating.
In the present invention, there is no special requirement to pre-defined algorithm.For example, the pre-defined algorithm can be KCF algorithms.
Herein, " response " refers to that the image of target appears in the probability of predicted position in the next frame, the sound
It should be worth more than 0, and response is less than or equal to 1.In the present invention, special requirement is not done to the occurrence of predetermined threshold value,
For example, predetermined threshold value can be it is arbitrarily large in 0.5 and be less than or equal to 1 numerical value.Preferably, predetermined threshold value can be selected from 0.7,
0.8, any one in 0.9.Response is more than the predetermined threshold value, shows that the image of target in the next frame appears in prediction
The probability of position is larger；Response is less than the predetermined threshold value, shows that the image of target in next frame appears in predicted position
Probability is smaller.
When the image of target appears in predicted position, show the target still in the shooting model of the image acquisition unit
In enclosing, if not appearing in predicted position, show that target may be in the coverage of the image acquisition unit.
In by invention, preferably only target have greater probability appear in next frame predicted position (that is, response compared with
When greatly), corresponding walking assembly operating is just controlled, so as to ensure the accuracy followed.
When response is less than preset value in the next frame that control module calculates, illustrate that the image currently shot obtains
Unit may no longer target described in face, at this point it is possible to recalculate the relative angle between target and chassis.
In order to ensure chassis 100 can accurately follow target, it is preferable that control module 122 is additionally operable in the response
When value is less than the predetermined threshold value, control the initial alignment unit recalculate the Bluetooth terminal module and the chassis it
Between relative angle, and regenerate corresponding angle position signal, and the initial alignment unit is for will be regenerated
Angle position signal be sent to the control module.
Since chassis provided by the present invention includes multiple towards mutually different image acquisition unit, the present invention
In the chassis provided, there is always the image acquisition units that can take target.Control module 122 can receive again
The image acquisition unit of control towards the angle position for recalculating acquisition is opened after the angle position signal of generation.
In order to prevent " with losing " this phenomenon generation, it is preferable that control module 122 is additionally operable to big in the initial distance
Alarm signal is generated when pre-determined distance, and is sent to the Bluetooth terminal module by the Bluetooth communication modules.
User wears the Bluetooth terminal module, will after the Bluetooth terminal module receives the alarm signal
The alarm signal is converted into alerting signal.The alerting signal can be vibration signal, can also be voice signal, can also be
Optical signal.After the wearer of Bluetooth terminal module receives the alerting signal, it can be moved to beside the chassis.
Convenient for storing and accurately acquiring the image of target, it is preferable that the chassis further includes multiple elevating levers 126,
Multiple elevating levers 126 are corresponded with multiple images acquiring unit 123b.
As shown in figure 3, one end of elevating lever 126 is fixed on bearing seat 110, the other end of elevating lever 126 is provided with phase
The image acquisition unit 123b answered, control module 122 can accordingly rise in control when controlling image acquisition unit 123b and opening
It drops bar 126 to rise, and control module 122 can control corresponding elevating lever drop when controlling described image acquiring unit and closing
It falls.
As a kind of preferred embodiment of the present invention, control module can be integrated in advanced reduced instruction set machine
On (ARM, Advanced RISC Machine) control panel.It is easily understood that as shown in figure 4, component 120 is followed may be used also
To include power module and power switching module, the power module is for being entire base for supplying power, and power switching module is for beating
Power module is closed on or off.
In the specific implementation mode including Bluetooth communication modules, Bluetooth communication modules are controlled by RS232 serial ports and ARM
Panel is connected.
In the present invention, there is no special requirement to the concrete structure of image acquisition unit and concrete type, for example, figure
As acquiring unit can be monocular cam.
As mentioned above it is possible, walking component 121 includes driving unit 121a, and driving unit 121a may include motor drive
Dynamic device, motor, encoder and retarder, in this embodiment, control module can be by R485/ Ethernets to walking group
The driving unit of part sends walking trigger signal.
As the second aspect of the invention, a kind of Intelligent storage vehicle is provided, wherein as shown in figure 3, the Intelligent storage
Vehicle includes storage tank 200 and above-mentioned chassis 100 provided by the present invention, and storage tank 200 is detachably provided in the loading end
On.
As mentioned above it is possible, after storage tank is arranged on the loading end on chassis, unlatching follows component, chassis can band
Dynamic storage tank follows user to move, and does not need user and pushes the Intelligent storage vehicle, can convenient for users to life.
As mentioned above it is possible, Bluetooth communication modules are determined by being matched with Bluetooth terminal module between target and chassis
Initial distance.The smart shopper system further includes Bluetooth terminal module, and all Bluetooth communication modules can be with the indigo plant
Tooth terminal module matches, and Bluetooth terminal module is wearable device as a preferred implementation manner, and user wears described
It wears with equipment is worn on.
As the preferred embodiment of the present invention, the Bluetooth terminal module can also include reminding unit, the bluetooth
Module controls the reminding unit generation alerting signal after receiving the alarm signal.As mentioned above it is possible, reminding unit can
To be vibration unit, can also be phonation unit, can also be luminescence unit.
The work that Intelligent storage vehicle provided by the present invention is introduced with reference to Fig. 3 and Fig. 5 is separate.
The Intelligent storage vehicle includes chassis 100 and storage tank 200, and the bearing seat on chassis 100 is arranged in storage tank 200
On 110 loading end.It includes walking module 121, control module 122, locating module 123, initial alignment unit to follow component 120
124, four Bluetooth communication modules 125.Locating module 123 include recognition unit 123a, four image acquisition unit 123b and and
Four elevating levers.Walking module 121 includes driving unit 121a and traveling wheel 121b, wherein driving unit 121a includes motor
Driving circuit, motor, encoder and retarder, traveling wheel are Mecanum wheel.Bluetooth terminal module 300 is bracelet, by doing shopping
Person wears.
The course of work of the Intelligent storage vehicle includes the following steps：
In step s 110, open Bluetooth terminal module and chassis power switching module so that Bluetooth communication modules with
Bluetooth terminal module is matched；
In the step s 120, initial alignment unit 124 is determined using three-point fix principle wears the Bluetooth terminal module
Wearer and chassis between initial distance；
In step S121, control module 122 judges whether initial distance is less than preset distance；
When judging result is no, in step S122, control module 122 is by Bluetooth communication modules to Bluetooth terminal mould
Block sends alarm signal, and re-executes step S120；
When judging result is to be, in step S123, initial alignment unit 124 determines the phase between wearer and chassis
To angle, and it will indicate that the angle position signal of the relative angle is sent to the control module；
In step S124, control module 122 determines the number towards the image acquisition unit of the angle, and controls the volume
Number the corresponding elevating lever of image acquisition unit rise, and control the image acquisition unit of the number and open, which is obtained
The region of unit direction is taken to be shot；
In step s 125, the quantity of the body image in recognition unit identification shooting image living；
In step S126, when image includes multiple body images, using the maximum body image of area as target
Image, when image includes a body image, using the image as the image of target；
In step S127, target area is tracked using KCF target tracking algorisms, predicts the shadow of target in next frame image
As the position occurred, and there is response in the position；
In step S128, using bluetooth three-point fix far from the initial distance measured between user and chassis and relatively
Angle；
In step S129, whether the response in judgment step S127 is more than predetermined threshold value；
When judging result is to be in step S129, in step s 130, it is predetermined to judge whether the initial distance is less than
Distance；
When judging result is to be in step S130, in step S131, control module control walking component is according to shooting
To the direction movement of the image acquisition unit of target；
When judging result is no in step S130, in step S132, control module is by Bluetooth communication modules to indigo plant
Tooth terminal module sends alarm signal, and repeats step S127；
When the judging result in step S129 is no, in step S133, according to the relative angle between target and chassis
Degree, the image acquisition unit for controlling current shooting are closed, and control the elevating lever drop below the image acquisition unit of current shooting
It falls, the image acquisition unit for controlling opposite side is opened, and the elevating lever of opposite side rises, and repeats step S125.
According to above-mentioned steps, Intelligent storage vehicle may be implemented, target is followed to move.
It is understood that the principle that embodiment of above is intended to be merely illustrative of the present and the exemplary implementation that uses
Mode, however the present invention is not limited thereto.For those skilled in the art, in the essence for not departing from the present invention
In the case of refreshing and essence, various changes and modifications can be made therein, these variations and modifications are also considered as protection scope of the present invention.
Claims (12)
1. a kind of chassis for Intelligent storage vehicle, which is characterized in that the chassis includes bearing seat and follows component,
The bearing seat includes the loading end for carrying storage tank；
Described that component is followed to be arranged on the bearing seat, described to follow component include walking module, control module and positioning mould
Block,
The locating module characterizes the position of the target for being generated according to the position of the target behind the position for determining target
The final positioning signal set, and the final positioning signal can be sent to the control module by the locating module；
The control module can control the row after receiving the final positioning signal according to the final positioning signal
It walks module to move according to the matched track of the motion track of the target, to drive the bearing seat to move.
2. chassis according to claim 1, which is characterized in that the locating module includes that recognition unit and multiple images obtain
Take unit, the direction of multiple described image acquiring units different；
Each described image acquiring unit can obtain the image in the region of the image acquisition unit direction；
The object image in the image acquired in described image acquiring unit can be identified in the recognition unit, and according to
Recognition result judges to whether there is the image of the target in described image, when the recognition unit judges exist in described image
When the image of the target, the final positioning signal is generated, the final positioning signal includes taking the figure of the target
As the position of acquiring unit；
The control module can control the walking module and be moved according to the direction for the image acquisition unit for taking the target
It is dynamic.
3. chassis according to claim 2, which is characterized in that the target is personage, and the image of the target is personage
Image,
The recognition unit can should when the image acquired in described image acquiring unit includes the image of a personage
Person image is determined as the image of the target, and the recognition unit can also be in the image that described image acquiring unit obtains
When image including multiple personages, the maximum person image of area is determined as to the image of the target.
4. chassis according to claim 2, which is characterized in that the walking module includes multiple walking components, Duo Gesuo
Walking component is stated to correspond with multiple described image acquiring units,
The walking component includes and traveling wheel, the control module can be after receiving the final positioning signal, Xiang Xiang
The driving unit answered sends walking trigger signal, to drive the traveling wheel to be rolled according to the direction of corresponding image acquisition unit
It is dynamic.
5. chassis according to claim 2, which is characterized in that described to follow component further include initial alignment unit and at least
Three Bluetooth communication modules,
All Bluetooth communication modules can be matched with the same Bluetooth terminal module；
The initial alignment unit can determine the Bluetooth terminal mould according to the matching result of arbitrary three Bluetooth communication modules
Relative angle between block and the chassis, and corresponding angle position signal is generated, and the initial alignment unit is used to incite somebody to action
The angle position signal is sent to the control module；
The control module can control the image acquisition towards the angle position after receiving the angle position signal
Unit is opened.
6. chassis according to claim 5, which is characterized in that the initial alignment unit can be according to arbitrary three bluetooths
The matching result of transmission module determines the initial distance between the Bluetooth terminal module and the chassis,
Described image acquiring unit is used to obtain the video in the region for including the image acquisition unit institute direction, and the video includes
The image that continuous multiframe is obtained by described image acquiring unit；
The recognition unit is used to be predicted according to pre-defined algorithm according to the position of the image of target described in current frame image next
The position of the image of target described in frame image, and determine corresponding response, the recognition unit can generate described in characterization
The final positioning signal of the number of image acquisition unit and the response, the control module are used in the response
When value is less than preset distance more than predetermined threshold value and the initial distance, control is corresponding with described image acquiring unit to walk
Assembly operating.
7. chassis according to claim 6, which is characterized in that the control module is used to be less than in the response described
When predetermined threshold value, controls the initial alignment unit and recalculate relative angle between the Bluetooth terminal module and the chassis
Degree, and corresponding angle position signal is regenerated, and the angle position that the initial alignment unit is used to be regenerated
Signal is sent to the control module,
The control module can be controlled after receiving the angle position signal regenerated towards the angle for recalculating acquisition
The image acquisition unit for spending position is opened.
8. the chassis described according to claim 6 or 7, which is characterized in that the control module is additionally operable in the initial distance
Alarm signal is generated when more than pre-determined distance, and is sent to the Bluetooth terminal module by the Bluetooth communication modules.
9. chassis as claimed in any of claims 2 to 7, which is characterized in that the chassis further includes multiple liftings
Bar, multiple elevating levers are corresponded with multiple images acquiring unit,
One end of the elevating lever is fixed on the bearing seat, and the other end of the elevating lever is provided with corresponding image and obtains
Unit, the control module can control corresponding elevating lever when controlling described image acquiring unit and opening and rise, and described
Control module can control corresponding elevating lever landing when controlling described image acquiring unit and closing.
10. a kind of Intelligent storage vehicle, which is characterized in that the Intelligent storage vehicle includes arbitrary in storage tank and claim 1 to 9
Chassis described in one, the storage tank are detachably provided on the loading end.
11. Intelligent storage vehicle according to claim 10, which is characterized in that the smart shopper system further includes bluetooth end
End module, described to follow component further include initial alignment unit and at least three Bluetooth communication modules,
All Bluetooth communication modules can be matched with the Bluetooth terminal module；
All Bluetooth communication modules can be matched with the same Bluetooth terminal module；
The initial alignment unit can determine the Bluetooth terminal mould according to the matching result of arbitrary three Bluetooth communication modules
Relative angle between block and the chassis, and corresponding angle position signal is generated, and the initial alignment unit is used to incite somebody to action
The angle position signal is sent to the control module；
The control module can control the image acquisition towards the angle position after receiving the angle position signal
Unit is opened.
12. Intelligent storage vehicle according to claim 11, which is characterized in that the initial alignment unit can be according to arbitrary
The matching result of three Bluetooth communication modules determines the initial distance between the Bluetooth terminal module and the chassis, the control
Molding block is additionally operable to generate alarm signal when the initial distance is more than pre-determined distance, and is sent out by the Bluetooth communication modules
It send to the Bluetooth terminal module,
The Bluetooth terminal module can generate alerting signal after receiving the alarm signal.
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| CN201810325478.XA CN108528484B (en) | 2018-04-12 | 2018-04-12 | Intelligent storage vehicle and chassis thereof |
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| CN201810325478.XA CN108528484B (en) | 2018-04-12 | 2018-04-12 | Intelligent storage vehicle and chassis thereof |
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