CN108942975A - A kind of supermarket orphan product searching robot - Google Patents
A kind of supermarket orphan product searching robot Download PDFInfo
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- CN108942975A CN108942975A CN201811185636.2A CN201811185636A CN108942975A CN 108942975 A CN108942975 A CN 108942975A CN 201811185636 A CN201811185636 A CN 201811185636A CN 108942975 A CN108942975 A CN 108942975A
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- Prior art keywords
- robot
- controller
- arm
- supermarket
- sensor
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of supermarket orphan products to find robot, including robot body, the robot body includes walking chassis, the robot shells being arranged in walking chassis and the robot head and robot arm that are arranged in robot shells, the robot body is additionally provided with container, and the container is connect with walking chassis；The robot arm is provided with machine arm controller；The two sides of the robot head are provided with visual sensor, and the visual sensor is connect with controller, and the controller is connect with robot controller and machine arm controller.Orphan's commodity are found by the visual sensor of setting in supermarket by robot of the invention, and the orphan's commodity searched out are collected by container by robot arm, to arrange the commodity left about conveniently in supermarket by people, the labour of staff can be not only reduced, but also the commodity on shelf can be cleared up.
Description
Technical field
The present invention relates to supermarket fields more particularly to a kind of supermarket orphan product to find robot.
Background technique
Currently, with the fast development of intellectual technology, intelligence science and technology is more and more in life, and it is daily that it facilitates people
Life, and improve work efficiency, labour cost has been saved, our life style is changed.In our life, supermarket
Shopping be it is essential, this, which makes people stroll supermarket, becomes a kind of fashion.However, in supermarket on fruit shelf, it is various each
The fresh fruit of sample is put by kind, but scrutinize it finds that, several pears have been had more in apple area, it is very uncoordinated.
It is not only also have the article for being not belonging to this shelf on other many shelf, for example, putting house on toothbrush holder in vegetables and fruits region
With paper handkerchief, and when then putting many citizen of a packet snacks ... beside row's household towels and strolling supermarket, all once sent out on shelf
Now cross " the commodity abandoned child " arbitrarily put in this way.This minority customer's mistake, which is taken, leaves about the phenomenon that causing, and not only influences
Other customers, and also increase the amount of labour of supermarket employee.
Supermarket shelves are shown in the reason of " commodity abandoned child " repeatly, are, the commodity chosen are put into shopping basket or hand by customer
It inside cart, has strolled after a circle, and change regard, but has been disinclined to for article to be put back into original position again, then by portion
Divide commodity with being manually placed on other shelf, " the commodity abandoned child " inside supermarket forms like this.At will in that several large size
Supermarket walk, have a look at, this phenomenon is not rarely seen.
Application No. is the patents of invention of CN201711175506.6, disclose a kind of for providing the storage position in warehouse
The method and material carrier of position, the warehouse have multiple prespecified storage positions, and the material carrier has fixed
Position system and at least one side 3D camera, the visual direction of the side 3D camera are oriented transverse to main driving direction, wherein described
Method includes the steps that following automatic execution: detecting the image data of at least one described side 3D camera；Utilize positioning system
Detect the azimuth information of material carrier；Determine each storage position relative to warehouse based on described image data and azimuth information
Position in fixed coordinate system；In the database by the storage of identified position.
Application No. is the patents of CN201620022098.5, disclose a kind of physical distribution management apparatus of intelligent book, host
Upper end is equipped with keyboard, is equipped with display screen at the top of host, keyboard and display screen are connected with host respectively；The installation of host side
There is pedestal, several driving motors are installed on pedestal, the outside of driving motor is equipped with conveyer belt；It is sequentially installed on conveyer belt
First support, second support and third bracket, are equipped with the code reader to match with conveyer belt in first support, in second support
The volume detector to match with conveyer belt is installed, the patch code device to match with conveyer belt, barcode scanning are installed on third bracket
Device, volume detector, patch code device pass through data line respectively and are connected with host.Inspection can be scanned to books in time, and
Classification processing is carried out, is stored classifiedly convenient for subsequent.
Application No. is the patents of CN201120468355.5, disclose a kind of guide to visitors system of museum based on indoor positioning technologies
System, method is the following steps are included: indoor positioning module detects visitor location information, and the location information is sent to comprehensive control
Molding block；Comprehensive control module determines the current location of tourist according to visitor location information；Comprehensive control module is current by tourist
The information of position is sent to guide to visitors module；Guide to visitors module provides guide to visitors service according to the information of tourist current location for tourist,
System includes sequentially connected indoor positioning module, comprehensive control module and guide to visitors module.Compared with prior art, the patent knot
The advantage for closing multiple indoor location technology, keeps its positioning more accurate, and can carry out relevant application expansion according to user's needs
Exhibition.
Application No. is the patents of invention of CN201710824493.4, disclose a kind of unmanned warehousing system, realize from cargo
It puts in storage to the unmanned system participated in of whole process of cargo export.For cargo from inlet, communicated band is sent to comb formula structure
On shelf, the detection of size is carried out to the cargo, and to the information scanning of electronic tag, and after be transported to through robot
Specified shelf area storage, and feed back the related data of the disengaging storehouse management system of cargo.Also cargo is carried out when cargo is taken away
The scanning of information, it is ensured that the accuracy that cargo is carried.The freedom positioning system of intelligent storage robot in the invention can code selection
Disk adds gyroscope, laser radar, magnetic terrestrial reference etc..By its improved structure, pallet fork and shelf are all the comb structures used.
The characteristics of unmanned warehousing system of the invention is: the design by combing castor formula shelf and pallet fork can be convenient and efficiently realize cargo
Scheduling, and space can be saved.The design structure is novel, easy to operate, and traveling is convenient.
Application No. is the patents of invention of CN201610028781.4, disclose a kind of conveying robot based on mobile mechanical arm
People, the transfer robot include MACNUM wheel, car body pedestal, revolving platform and mechanical arm, in which: the MACNUM wheel setting
In the lower part of the car body pedestal, the top of the car body pedestal, the machine are arranged in by swing mechanism for the revolving platform
Tool arm is arranged on the revolving platform, and the mechanical arm includes sequentially connected first arm, the second arm, third arm, wrist joint
And mechanical gripper；And it is additionally provided on the mechanical arm for respectively driving first arm, the second arm and the movement of third arm
The first oil cylinder, the second oil cylinder and third oil cylinder, the end of the lead screw is provided with turning motor on the mechanical arm.This hair
Bright transfer robot will be combined together based on the mobile car body that MACNUM takes turns with hydraulic manipulator, flexible with movement,
The advantages that power density is big, energy resource supply facilitates.
Application No. is the patents of CN201720700467.6, disclose a kind of multi-arm rotary conveying mechanical arm, structure
Including hand grasp fixed pole, adjustable hand catching plate, hand grab, fixing bolt, link block, rotating base, micro-machine, support plate,
One mechanical arm, reinforcing connecting rod, second mechanical arm, hand grab control device, are welded with reinforcing connecting rod, hand on the inside of first mechanical arm
It grabs and is installed below adjustable hand catching plate, adjustable hand catching plate includes hand catching plate main body, the first regulating tank, the second regulating tank, the
One regulating tank is installed on the left of the second regulating tank, and the first regulating tank and the second regulating tank extend through and be connected to hand catching plate body table
On face, hand catching plate main body, the first regulating tank, the second regulating tank are in integral structure, and hand catching plate main body and hand grab control device weldering
Be connected together, the patent realize multi-arm rotary conveying mechanical arm by be equipped with adjustable hand catching plate, when in use can be right
The spacing that hand is grabbed is adjusted, and improves device practicability.
Application No. is the patents of CN201520448842.3, disclose a kind of conveying robot, including rotating base, information
Processor, mechanical arm and handgrip, the rotating base top are provided with motor, and the motor is connected with retarder, described
It is provided with remote control inductor above retarder, is provided with the message handler, the message handler above the motor
Top is provided with fuselage, and the body upper is provided with rotating disk, and the rotating disk is connected with the mechanical arm, the mechanical arm
Lower section is provided with telescopic rod, and spring is provided on the telescopic rod, is provided with the handgrip below the telescopic rod.Beneficial to effect
Fruit: the manipulator can quickly shift cargo, effectively raise handling efficiency, and manpower financial capacity is greatly saved, and fit
It is easy to operate with the carrying with delivery industry, it is easy to use, it is highly-safe, realize the mechanization of delivery industry.
Application No. is the patents of CN201620415471.3, disclose a kind of transfer robot, utilize control system module
(14) single chip control module (34) in makes walking chassis (5) carry out automatically walk according to necessarily required travel route and seek
Destination is looked for, then makes manipulator (20) that cargo can be automatically grabbed by single chip control module (14) and carries out entrucking and unloading, from
And achievees the purpose that robot and transport goods.This process simplify the production technologies of carrying, reduce carrying production cost, avoid
The risk of manual handling, carry is not influenced by environmental change at any time.While device fabrication is easy, reliable performance, structure
It is simple and convenient to operate, is high production efficiency, the advance that can disposably complete walking chassis, retrogressing, steering, tracking, avoidance, automatic
Find cargo freighted automatically, backtracking and find landing place unloaded automatically, it is multiple functional, adaptable,
Failure is few, long service life.
Application No. is the patent of CN201720680362.9, a kind of tracking carrier is disclosed, during logistics transportation, room
Time consumed by interior short distance transportation, manpower and material resources are all very big.The patent includes bearing block, cushion block, loading wheel, bottom
Plate, load-carrying box, driving wheel, dress lamp stand, the first tracing sensor, the second tracing sensor, distance measuring sensor, steering motor, photograph
Bright lamp, the first traveling motor, the second traveling motor, deflecting roller, steering wheel fork and control module；Control module includes processing mould
Block, driving chip and battery；It is fixed on bottom plate in first tracing sensor, the second tracing sensor pair；Load-carrying box bottom
Front end and the rear end of bottom plate are fixed.The patent can according to it is preset track track advance, and then realize cargo indoors from
Dynamic transport.
Application No. is the patent of CN201520877946.6, disclose it is a kind of can the logistics trolley that tracks of remote auto, packet
Pallet fork, fork carriage and trolley are included, pallet fork realizes pallet fork along the lifting of fork carriage by the first stepper motor, and fork carriage and trolley are living
Dynamic connection, fork carriage are connected with second stepper motor, realize that fork carriage rotates about the z axis by second stepper motor, the bottom of trolley
Wheel and hub motor is arranged in portion, realizes the walking of trolley, direct current generator is arranged in hub motor, direct current generator passes through control wheel
The steering of trolley is realized in the steering of hub motor, further includes free tracing device.This patent can automatic dodging barrier, Automatic Track Finding
To destination, so that the carrying of remote cargo is simple and convenient, and since fork carriage can rotate about the z axis, allow to difference
The cargo in orientation carries out lifting carrying, reduces the labor intensity of staff, improves handling efficiency, reduce carrying at
This.
Application No. is the patents of invention of CN200810120686.2, disclose a kind of interactive three-dimensional physical distribution emulation collection
At method and system, including integrating server, three-dimensional physical distribution emulation system, logistics equipment model file Database Systems and
Client computer group.Three-dimensional physical distribution emulation system deployment is in local service computer；Integrating server passes through calling
WEB service integrates multiple physical distribution emulation systems；Logistics equipment model file Database Systems encapsulate logistics equipment model
File；Client computer group passes through the page and the request service of WEB service two ways；In addition to the three-dimensional for directly accessing local is empty
Quasi- logistics system simulation, can also pass through the three-dimensional physical distribution emulation integrated system of WEB service Access Integration server.The present invention
By the integrated approach of virtual reality technology and WEB service, the virtual logistics device model resource set based on Ethernet is realized
At with it is shared, create interactive three-dimensional physical distribution emulation integrated system.
Application No. is the patent of invention of CN201710941459.5, a kind of automatic sensing shelf are disclosed, including support frame,
Multilayer rack, inductor, counter and terminal server；Support frame is used to support entire shelf；Multilayer rack and support
Frame connection, is supported by support frame, for placing cargo to be sold；Inductor is set at multilayer rack, with one setting of detection
The cargo in region；Counter gathers together with inductor, for calculating the quantity of goods for the setting regions that inductor detects；
Terminal server is used to receive signal and the alarm of inductor and counter；When the cargo number of setting regions is calculated in counter
When amount is less than a preset value, signal is passed into terminal server, terminal server is alarmed；Automatic sensing goods of the invention
Frame, terminal server issue warning note kinds of goods and have sold, so that staff is replenished in time, bring to staff
It also offers convenience to consumer while convenient.
Based on described above, it is necessary to a machine that can be used in handling " commodity abandoned child " on shelf is arranged for we
People.
Summary of the invention
It is an object of the invention to overcome problem above of the existing technology, a kind of supermarket orphan product searching machine is provided
Device people, orphan's commodity are found by the visual sensor of setting in supermarket by robot of the invention, and pass through robot arm
The orphan's commodity searched out are collected into container, to arrange the commodity left about conveniently in supermarket by people, can not only reduce work
The labour of personnel, and the commodity on shelf can be cleared up.
To realize above-mentioned technical purpose and the technique effect, the invention is realized by the following technical scheme:
A kind of supermarket orphan product searching robot, including robot body, the robot body include walking chassis, setting
Robot shells in walking chassis and the robot head and robot arm being arranged in robot shells, the machine
Device human body is additionally provided with container, and the container is connect with walking chassis；The robot arm is provided with machine arm controller；
The two sides of the robot head are provided with visual sensor, and the visual sensor is connect with controller, the controller with
Robot controller is connected with machine arm controller；The visual sensor is used to scan or shoot the commodity letter on current shelf
Breath, and the key technical feature of the merchandise news on shelf is captured, it will not belong to the position hair of the merchandise news on current shelf
Machine arm controller is given, the commodity being not belonging on current cargo are grabbed by machine arm controller control robot arm, and will
It is placed into container.Wherein, robot controller is the controller being arranged in robot body, for controlling robot ambulation
Avoidance；Key technical feature includes the information such as bar code, pattern, text, the shape of commodity.
Preferably, the robot arm is located at the two sides of robot shells, the difference of robot arm described in two sides
A machine arm controller is connected, the machine arm controller passes through the controller visual sensing with robot head two sides respectively
Device connection.It adopts this technical solution, the machine arm controller of the same side is connected by the visual sensor of the same side, it can be single
Solely control robot arm.
Preferably, the controller includes control circuit board and the microprocessor being arranged in control circuit board, deposits
Reservoir, locating module and communication module, the microprocessor by control circuit board and memory, locating module, communication module,
Visual sensor, robot controller are connected with robot arm controller.It adopts this technical solution, robot controller is used for
Control robot ambulation；Robot arm controller the movement such as moves and grabs for controlling robot arm；Positioning
Module positions the position where oneself；Memory is for storing data；Communication module is for receiving or sending signal.
Preferably, the robot arm includes the revolution turntable for connecting robot shells and setting in revolution turntable
On mechanical arm, the mechanical arm is made up of multiple rotary joints segmental appendage.It adopts this technical solution, is controlled using robotic arm
Device control revolution turntable and rotary joint, enable robot arm to complete the posture of Various Complex.
Preferably, the bottom of the walking chassis is provided with photoelectric sensor, on the photoelectric sensor and ground
Trajectory line connection；The photoelectric sensor is set as tracing sensor.It adopts this technical solution, inductively using photoelectric sensor
Trajectory line on face controls the track route of robot.
Preferably, the side of the container is provided with hook, bottom is provided with idler wheel, the hook in walking chassis
Hook groove connection；The idler wheel is set as universal wheel.It adopts this technical solution, facilitates the replacement of container.
Preferably, the communication module includes wireless network card and/or 4G communication module.It adopts this technical solution, can use
In networking and/or send an SMS to administrative staff.
Preferably, the locating module includes in infrared positioning apparatus, WiFi positioning device or RFID positioning device
It is one or more.It adopts this technical solution, locating module is used for indoor positioning, auxiliary robot walking.
Preferably, being additionally provided with sensor on the robot arm, the sensor includes camera, Distance-sensing
One of device, acoustic detector, infrared sensor or radar sensor are a variety of.It adopts this technical solution, sensor is available
Commodity are avoided and grabbed in auxiliary machinery human arm.
The beneficial effects of the present invention are: orphan finds by the visual sensor of setting in supermarket in robot of the invention
Commodity, and the orphan's commodity searched out are collected into container by robot arm in supermarket are whipped to leave about to arrange by people
Commodity can not only reduce the labour of staff, but also can clear up the commodity on shelf；And robot easy maintenance,
It is multiple functional, adaptable, failure is few, long service life.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, with presently preferred embodiments of the present invention and attached drawing is cooperated to be described in detail below.This hair
Bright specific embodiment is shown in detail by following embodiment and its attached drawing.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is for schematic diagram of the present invention；
Fig. 2 is for robot front schematic view of the present invention；
Fig. 3 is for robot side schematic view of the present invention.
In figure: robot body 1, walking chassis 2, robot shells 3, robot head 4, robot arm 5, container 6,
Visual sensor 7, photoelectric sensor 8, sensor 9, hook groove 201, hook 601, idler wheel 602.
Specific embodiment
The invention will be further described with reference to the accompanying drawing:
Referring to figs. 1 to shown in Fig. 3, a kind of supermarket orphan product finds robot, including robot body 1, the robot sheet
Body 1 includes walking chassis 2, the robot shells 3 being arranged in walking chassis 2 and the machine being arranged in robot shells 3
Head part 4 and robot arm 5, the robot body 1 are additionally provided with container 6, and the container 6 is connect with walking chassis 2；Institute
It states robot arm 5 and is provided with machine arm controller；The two sides of the robot head 4 are provided with visual sensor 7, the view
Feel that sensor 7 is connect with controller, the controller is connect with robot controller and machine arm controller；The visual sensing
Device 7 is used to scanning or shooting the merchandise news on current shelf, and captures the key technical feature of the merchandise news on shelf, will
The position for the merchandise news being not belonging on current shelf is sent to machine arm controller, controls robot by machine arm controller
Arm grabs the commodity being not belonging on current cargo, and is placed into container 6.Wherein, robot controller is robot sheet
The controller being arranged in body 1, for controlling the walking avoidance of robot 1；Key technical feature includes the bar code of commodity, pattern, text
The information such as word, shape.
Preferably, the robot arm 5 is located at the two sides of robot shells 3, robot arm 5 described in two sides divides
Not Lian Jie a machine arm controller, the machine arm controller passes through the controller vision with 4 two sides of robot head respectively
Sensor 7 connects.It adopts this technical solution, the machine arm controller of the same side is connected by the visual sensor 7 of the same side, makes it
Robot arm 5 can individually be controlled.
Preferably, the controller includes control circuit board and the microprocessor being arranged in control circuit board, deposits
Reservoir, locating module and communication module, the microprocessor by control circuit board and memory, locating module, communication module,
Visual sensor, robot controller are connected with robot arm controller.It adopts this technical solution, robot controller is used for
Control robot ambulation；Robot arm controller the movement such as moves and grabs for controlling robot arm 5；Positioning
Module positions the position where oneself；Memory is for storing data；Communication module is for receiving or sending signal.
Preferably, the robot arm 5 includes that the revolution turntable of connection robot shells 3 and setting turn in revolution
Mechanical arm on disk, the mechanical arm are made up of multiple rotary joints segmental appendage.It adopts this technical solution, utilizes robotic arm control
Device control revolution turntable and rotary joint processed, enable robot arm 5 to complete the posture of Various Complex.
Preferably, the bottom of the walking chassis 2 is provided with photoelectric sensor 8, the photoelectric sensor 8 on ground
Trajectory line connection；The photoelectric sensor 8 is set as tracing sensor.It adopts this technical solution, is felt using photoelectric sensor 8
The trajectory line on ground is answered, the track route of robot is controlled.
Preferably, the side of the container 6 is provided with hook 601, bottom is provided with idler wheel 602, the hook 601 with
Hook groove 201 in walking chassis 2 connects；The idler wheel 602 is set as universal wheel.It adopts this technical solution, facilitates container 6
Replacement.
Preferably, the communication module includes wireless network card and/or 4G communication module.It adopts this technical solution, can use
In networking and/or send an SMS to administrative staff.
Preferably, the locating module includes in infrared positioning apparatus, WiFi positioning device or RFID positioning device
It is one or more.It adopts this technical solution, locating module is used for indoor positioning, auxiliary robot walking.
Preferably, being additionally provided with sensor 9 on the robot arm 5, the sensor 9 includes camera, distance
One of sensor, acoustic detector, infrared sensor or radar sensor are a variety of.It adopts this technical solution, sensor 9
It can be used for auxiliary machinery human arm 5 and avoided and grabbed commodity.
Specific embodiment:
Robot of the invention carried out between each shelf in supermarket it is mobile when driving, and by visual sensor real time scan or
The commodity in both racks are shot, and by grabbing the key technical feature on its commodity on shelf, judge the commodity on its shelf
It is whether consistent, when the commodity on shelf occur individual inconsistent (orphan's commodity), by controller by its inconsistent commodity position
It sets and is sent to machine arm controller, its commodity, and the commodity that will be grabbed are grabbed by machine arm controller control robot arm
It is placed in container, is then continually looked for by robot.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. a kind of supermarket orphan product finds robot, including robot body (1), the robot body (1) includes walking
Chassis (2), setting are in the robot shells (3) on walking chassis (2) and the robot head being arranged on robot shells (3)
Portion (4) and robot arm (5), it is characterised in that: the robot body (1) is additionally provided with container (6), the container (6)
It is connect with walking chassis (2)；The robot arm (5) is provided with machine arm controller；The two sides of the robot head (4)
Be provided with visual sensor (7), the visual sensor (7) connect with controller, the controller and robot controller and
The connection of machine arm controller；The visual sensor (7) is used to scanning or shooting the merchandise news on current shelf, and captures goods
The key technical feature of merchandise news on frame, the position for the merchandise news that will not belong on current shelf are sent to robotic arm control
Device processed grabs the commodity being not belonging on current cargo by machine arm controller control robot arm, and is placed into container
(6) in.
2. a kind of supermarket orphan product according to claim 1 finds robot, it is characterised in that: the robot arm
(5) it is located at the two sides of robot shells (3), robot arm (5) described in two sides is separately connected a machine arm controller, institute
Machine arm controller is stated to connect with the visual sensor (7) of robot head (4) two sides respectively by controller.
3. a kind of supermarket orphan product according to claim 1 finds robot, it is characterised in that: the controller includes
Control circuit board and the microprocessor being arranged in control circuit board, memory, locating module and communication module, micro- place
It manages device and passes through control circuit board and memory, locating module, communication module, visual sensor, robot controller and robot
Arm controller connection.
4. a kind of supermarket orphan product according to claim 1 finds robot, it is characterised in that: the robot arm
(5) mechanical arm for including the revolution turntable of connection robot shells (3) and being arranged on revolution turntable, the mechanical arm is by more
A rotary joint is made up of segmental appendage.
5. a kind of supermarket orphan product according to claim 1 finds robot, it is characterised in that: the walking chassis
(2) bottom is provided with photoelectric sensor (8), and the photoelectric sensor (8) connect with the trajectory line on ground；The photoelectric transfer
Sensor (8) is set as tracing sensor.
6. a kind of supermarket orphan product according to claim 1 finds robot, it is characterised in that: the container (6)
Side is provided with hook (601), and bottom is provided with idler wheel (602), the hook groove on the hook (601) and walking chassis (2)
(201) it connects；The idler wheel (602) is set as universal wheel.
7. a kind of supermarket orphan product according to claim 3 finds robot, it is characterised in that: the communication module packet
Include wireless network card and/or 4G communication module.
8. a kind of supermarket orphan product according to claim 3 finds robot, it is characterised in that: the locating module packet
Include one of infrared positioning apparatus, WiFi positioning device or RFID positioning device or a variety of.
9. a kind of supermarket orphan product according to claim 1 finds robot, it is characterised in that: the robot arm
(5) it is additionally provided on sensor (9), the sensor (9) includes that camera, acoustic detector, infrared sensor or radar pass
One of sensor is a variety of.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811185636.2A CN108942975A (en) | 2018-10-11 | 2018-10-11 | A kind of supermarket orphan product searching robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811185636.2A CN108942975A (en) | 2018-10-11 | 2018-10-11 | A kind of supermarket orphan product searching robot |
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| Publication Number | Publication Date |
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| CN108942975A true CN108942975A (en) | 2018-12-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811185636.2A Pending CN108942975A (en) | 2018-10-11 | 2018-10-11 | A kind of supermarket orphan product searching robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022161111A1 (en) * | 2021-01-28 | 2022-08-04 | 谈斯聪 | Indoor and outdoor mobile robot and vehicle body dual-purpose apparatus, and management system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN206764760U (en) * | 2017-05-02 | 2017-12-19 | 广西大学 | A kind of goods conditioning machines people |
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2018
- 2018-10-11 CN CN201811185636.2A patent/CN108942975A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206764760U (en) * | 2017-05-02 | 2017-12-19 | 广西大学 | A kind of goods conditioning machines people |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022161111A1 (en) * | 2021-01-28 | 2022-08-04 | 谈斯聪 | Indoor and outdoor mobile robot and vehicle body dual-purpose apparatus, and management system and method |
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