CN108945068B - Intelligent shopping cart and intelligent shopping cart management system - Google Patents
Intelligent shopping cart and intelligent shopping cart management system Download PDFInfo
- Publication number
- CN108945068B CN108945068B CN201810697851.4A CN201810697851A CN108945068B CN 108945068 B CN108945068 B CN 108945068B CN 201810697851 A CN201810697851 A CN 201810697851A CN 108945068 B CN108945068 B CN 108945068B
- Authority
- CN
- China
- Prior art keywords
- shopping cart
- intelligent shopping
- control module
- intelligent
- return
- 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.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/14—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor characterised by provisions for nesting or stacking, e.g. shopping trolleys
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/04—Braking mechanisms; Locking devices against movement
- B62B5/0404—Braking mechanisms; Locking devices against movement automatic
- B62B5/0414—Braking mechanisms; Locking devices against movement automatic dead man's brakes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/06—Hand moving equipment, e.g. handle bars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The invention discloses an intelligent shopping cart and an intelligent shopping cart management system. One specific embodiment of the intelligent shopping cart comprises a shopping cart body, wherein the intelligent shopping cart comprises a positioning module, a first control module and a driving mechanism; the positioning module is used for acquiring the position of the intelligent shopping cart; the first control module monitors the position of the intelligent shopping cart in real time, judges whether a return condition is met, plans a return path according to the position of the intelligent shopping cart and prestored map data when the return condition is met, controls the driving mechanism to drive the intelligent shopping cart to move back to the pick-and-place area according to the return path and the position of the intelligent shopping cart obtained through real-time monitoring, and keeps the position of the intelligent shopping cart outside the pick-and-place area unchanged for T1 time periods. The implementation mode can realize the automatic return of the intelligent shopping cart, saves the labor cost and has high efficiency.
Description
Technical Field
the invention relates to the field of automatic control. And more particularly, to an intelligent shopping cart and an intelligent shopping cart management system.
background
the shopping cart convenient for customers to purchase goods is usually placed in a supermarket, after the customers finish settlement and take out the goods and leave the shopping cart, the shopping cart is usually randomly parked at a supermarket outlet or a cash desk outlet, and the shopping cart is required to be manually collected again and pushed back to a picking and placing area of the shopping cart usually located at the supermarket inlet in a centralized manner.
Therefore, it is desirable to provide an intelligent shopping cart and an intelligent shopping cart management system capable of realizing automatic return.
Disclosure of Invention
The invention aims to provide an intelligent shopping cart capable of realizing automatic return and an intelligent shopping cart management system.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides an intelligent shopping cart, which comprises a shopping cart main body, a positioning module, a first control module and a driving mechanism, wherein the positioning module is arranged on the shopping cart main body;
the positioning module acquires the position of the intelligent shopping cart;
The first control module monitors the position of the intelligent shopping cart in real time, judges whether a return condition is met, plans a return path according to the position of the intelligent shopping cart and prestored map data when the return path is met, controls the driving mechanism to drive the intelligent shopping cart to move back to the taking and placing area according to the return path and the position of the intelligent shopping cart obtained through real-time monitoring, and keeps the position of the intelligent shopping cart outside the taking and placing area unchanged for T1 time.
the intelligent shopping cart provided by the first aspect of the invention can realize automatic return, saves labor cost and has high efficiency. In addition, the automatic returning of the intelligent shopping cart is high in automation degree by a mode that the positioning and returning judgment conditions are the same as the mode that the position is kept outside the pick-and-place area, and the control of a user is not relied on completely.
Preferably, the shopping cart body is provided with an armrest, and the intelligent shopping cart comprises a first pressure sensor, wherein the first pressure sensor is arranged on the armrest and used for sensing the pressure on the armrest;
The first control module is also used for monitoring the output signal of the first pressure sensor in real time;
The return condition further includes the output signal of the first pressure sensor being zero for a period of T2.
In this preferred manner, the first control module can determine whether the user is gripping the armrest of the intelligent shopping cart by monitoring the output signal of the first pressure sensor, and initiate a return if the position of the intelligent shopping cart remains unchanged for a period of time and no one is gripping the armrest, so that the determination of initiating a return is more accurate.
preferably, the shopping cart main body is provided with a storage basket, the intelligent shopping cart comprises a second pressure sensor, and the second pressure sensor is arranged at the bottom of the storage basket;
the first control module is also used for monitoring the output signal of the second pressure sensor in real time;
The return condition further includes the output signal of the second pressure sensor being zero for a period of T3.
By adopting the preferable mode, the first control module can judge whether goods which are not taken away exist in the storage basket or not by monitoring the output signal of the second pressure sensor, and the intelligent shopping cart starts to return if the position of the intelligent shopping cart is kept unchanged, no person grasps the handrail and no goods exist in the storage basket within a period of time, so that the judgment on the starting to return is more accurate.
Preferably, the intelligent shopping cart includes a return button,
The first control module also monitors the output signal of the return button in real time, and controls the driving mechanism to drive the intelligent shopping cart to move to the return area according to the output signal of the return button.
By adopting the preferred mode, the return can be started by the control of a user (a customer or a worker), and the return is combined with automatic judgment, so that the application is more flexible and convenient.
Preferably, the intelligent shopping cart comprises a camera,
The first control module is used for monitoring images shot by the camera in real time in the process that the intelligent shopping cart moves back to the taking and placing area, recognizing obstacles on the intelligent shopping cart traveling route according to the images, and controlling the driving mechanism to brake the intelligent shopping cart when recognizing that the distance between the intelligent shopping cart and the obstacles on the traveling route is smaller than a first safety threshold value.
by adopting the optimal mode, the automatic obstacle recognition and braking can be realized, the safety of the automatic return of the intelligent shopping cart is high, and the intelligent shopping cart can be prevented from colliding with customers just in the return path or objects temporarily placed in the return path and the like. It should be noted that the return path is planned by the first control module according to the position of the intelligent shopping cart and the pre-stored map data, so that no obstacles such as containers and the like placed for a long time exist on the return path, and if the supermarket channel is modified, the map data pre-stored in the first control module can be updated. In addition, the first control module is provided with a memory for storing map data.
preferably, the intelligent shopping cart comprises a reminder,
the first control module controls the prompter to send an avoidance prompt when recognizing that the distance between the intelligent shopping cart and the barrier is smaller than a second safety threshold, wherein the second safety threshold is larger than the first safety threshold.
by adopting the optimal selection mode, the automatic obstacle recognition, prompting and braking can be realized, the safety of automatic return of the intelligent shopping cart is higher, and the avoidance of customers just in the return path can be prompted.
Preferably, the camera is a binocular camera. Binocular camera compares in the monocular camera that uses often when finding range, has the advantage of accurate range finding and wide visual angle concurrently.
preferably, the positioning module is a bluetooth positioning module. The Bluetooth positioning accuracy is high, the method is suitable for indoor scenes with short transmission distance such as supermarkets, and the like, and the positioning can be realized by arranging the Bluetooth base station in the supermarket and matching with the first control module to execute the positioning algorithm.
in a second aspect, the invention provides an intelligent shopping cart management system, which comprises a conveying device positioned in a pick-and-place area and at least one intelligent shopping cart provided by the first aspect of the invention,
The conveying device is provided with a second control module, a conveying channel, a conveying belt arranged in the conveying channel and a first infrared induction module arranged at the outlet position of the conveying channel;
the first control module controls the driving mechanism to drive the intelligent shopping cart to move to the outlet position of the conveying channel or move to the rear of other intelligent shopping carts stopped in the conveying channel through the inlet of the conveying channel and the conveying channel;
and the second control module is used for controlling the conveyor belt to move other intelligent shopping carts stopped in the conveying channel to the outlet position of the conveying channel after monitoring that the intelligent shopping cart is taken away through the output signal of the first infrared sensing module.
The intelligent shopping cart management system provided by the second aspect of the invention saves the occupied area of the pick-and-place area, can automatically monitor whether the intelligent shopping cart is taken away, and automatically starts the conveyor belt to move the intelligent shopping cart stopped behind to the outlet position of the conveying channel after the intelligent shopping cart is monitored to be taken away.
Preferably, the conveyor comprises a second infrared sensing module at the entrance of the conveying channel,
The second control module calculates the number of the intelligent shopping carts located in the conveying channel according to output signals of the first infrared induction module and the second infrared induction module, and judges the change of the number: when the quantity is reduced, the conveyor belt is controlled to accelerate the conveying speed and a moving acceleration instruction is sent to the first control module; when the number of the conveyor belts is increased, the conveyor belts are controlled to reduce the conveying speed and send a movement slowing instruction to the first control module; when the number of the intelligent shopping carts reaches the maximum value of the intelligent shopping carts parked in the conveying channel, a movement stopping instruction is sent to the first control module;
And the first control module controls the driving mechanism to drive the intelligent shopping cart to move fast, slow down or brake the intelligent shopping cart according to the moving acceleration instruction, the moving deceleration instruction or the moving stop instruction.
by adopting the optimal selection mode, the intelligent shopping carts in the conveying channel can be automatically counted, the moving speed of the intelligent shopping carts in the returning process and the conveying speed of the conveying belt are adaptively controlled according to the counting result, the returning of the intelligent shopping carts and the conveying of the conveying belt are accelerated when the number of the intelligent shopping carts in the conveying channel is small, the returning of the intelligent shopping carts and the conveying of the conveying belt are slowed down when the number of the intelligent shopping carts in the conveying channel is large, the returning of the intelligent shopping carts is stopped when the intelligent shopping carts are fully stopped in the conveying channel, and the intelligent shopping cart conveying system is flexible, convenient and capable of meeting the actual requirements.
the invention has the following beneficial effects:
The technical scheme of the invention can realize the automatic return of the intelligent shopping cart, save labor cost and have high efficiency.
drawings
the following describes embodiments of the present invention in further detail with reference to the accompanying drawings;
FIG. 1 illustrates a side view of an intelligent shopping cart provided by an embodiment of the present invention.
FIG. 2 shows a top view of a conveyor in the intelligent shopping cart management system provided by an embodiment of the present invention.
FIG. 3 is a flow chart illustrating the movement of an intelligent shopping cart back to a aisle in the intelligent shopping cart management system according to an embodiment of the present invention.
Detailed Description
In order to more clearly illustrate the invention, the invention is further described below with reference to preferred embodiments and the accompanying drawings. Similar parts in the figures are denoted by the same reference numerals. It is to be understood by persons skilled in the art that the following detailed description is illustrative and not restrictive, and is not to be taken as limiting the scope of the invention.
As shown in FIG. 1, one embodiment of the present invention provides an intelligent shopping cart, comprising a shopping cart body 10, the intelligent shopping cart comprising a positioning module, a first control module and a driving mechanism, wherein the positioning module, the first control module and the driving mechanism are accommodated in a housing 11 placed at the bottom of the shopping cart body 10;
The positioning module is used for acquiring the position of the intelligent shopping cart through positioning;
The first control module monitors the position of the intelligent shopping cart in real time, judges whether a return condition is met, plans a return path according to the position of the intelligent shopping cart and prestored map data when the return condition is met, controls the driving mechanism to drive the intelligent shopping cart to move back to the pick-and-place area according to the return path and the position of the intelligent shopping cart obtained through real-time monitoring, and keeps the position of the intelligent shopping cart outside the pick-and-place area unchanged for T1 time periods.
the intelligent shopping cart provided by the embodiment can realize automatic return, saves labor cost and is high in efficiency. In addition, the wireless positioning and the return judgment condition are combined in a mode of keeping the position unchanged outside the pick-and-place area, so that the automatic return automation degree of the intelligent shopping cart is high, and the control of a user is not relied on.
it should be noted that the first control module may plan the return path based on any existing path planning algorithm, according to the location of the intelligent shopping cart and the pre-stored map data. In addition, the driving mechanism can comprise a driving motor, a steering gear and a brake, the specific structure of the driving mechanism can be correspondingly provided that the rear wheels of the shopping cart main body 10 are driving wheels controlled by the driving motor and the brake, and the front wheels of the shopping cart main body 10 are steering wheels controlled by the steering gear.
In some optional implementations of the present embodiment, the shopping cart body 10 is provided with an armrest, the intelligent shopping cart comprises an armrest pressure sensor 12, the armrest pressure sensor 12 is arranged on the armrest for sensing the pressure to which the armrest is subjected;
The first control module is also used for monitoring the output signal of the handrail pressure sensor 12 in real time;
The return condition in this implementation is that the intelligent shopping cart remains in position outside the pick-and-place area for a period of time T1 and the output signal of the armrest pressure sensor 12 is zero for a period of time T2. The length of the T2 time period may be equal to the length of the T1 time period, and preferably, the length of the T2 time period is set to be less than the length of the T1 time period in the preferred embodiment, since the real situation is that the intelligent shopping cart stops moving first and the customer releases the armrest later.
With this implementation, the first control module can determine whether the user grips the armrest of the intelligent shopping cart by monitoring the output signal of the armrest pressure sensor 12, and start to return if the position of the intelligent shopping cart remains unchanged for a period of time and no one grips the armrest, so that more accurate comprehensive determination of the start to return can be realized. In this embodiment, since the intelligent shopping cart usually stops moving first and the customer releases the armrest, it is preferable that the length of the T2 time period is set to be less than the length of the T1 time period in this embodiment.
in some optional implementations of the present embodiment, the shopping cart main body 10 is provided with a storage basket, the intelligent shopping cart includes a storage basket pressure sensor 13, and the storage basket pressure sensor 13 is arranged at the bottom of the storage basket;
The first control module is also used for monitoring the output signal of the storage basket pressure sensor 13 in real time;
the return conditions in this implementation are that the position of the intelligent shopping cart outside the pick-and-place area remains unchanged for a period of time T1, the output signal of the armrest pressure sensor 12 is zero for a period of time T2 and the output signal of the basket pressure sensor 13 is zero for a period of time T3.
By adopting the implementation mode, the first control module can monitor the output signal of the storage basket pressure sensor 13 to judge whether goods are not taken away or not in the storage basket, if the position of the intelligent shopping cart is kept unchanged within a period of time, and meanwhile, no person grasps the handrail and no goods are in the storage basket, the starting and returning are started, so that more accurate comprehensive judgment of the starting and returning can be realized. T1, T2, and T3 may be set to be the same; in the preferred embodiment, the length of the T3 time period is set to be less than the length of the T2 time period, and the length of the T2 time period is set to be less than the length of the T1 time period, because the actual situation is that the intelligent shopping cart stops moving first, the customer loosens the armrest and takes away the goods in the storage basket.
Wherein the first control module may set a timer for timing the T1 time period, the T2 time period, or the T3 time period, respectively. The lengths of the T1 time period, the T2 time period, and the T3 time period may be set according to actual needs, in this embodiment, the length of the T1 time period is 60s, the length of the T2 time period is 50s, and the length of the T3 time period is 40 s.
In some optional implementations of the present embodiment, the intelligent shopping cart includes a return button, which may be disposed on the armrest,
The first control module also monitors the output signal of the return key in real time, and controls the driving mechanism to drive the intelligent shopping cart to move back to the pick-and-place area according to the output signal of the return key.
by adopting the implementation mode, the return can be started through the control of a user (a customer or a worker), for example, the return key initially outputs a low-level signal, the return key outputs a high-level signal when the user presses the return key, and the first control module controls the driving mechanism to drive the intelligent shopping cart to move to the return area when monitoring that the output signal of the return key is changed from the low-level signal to the high-level signal. In addition, the method is not limited to the key form, and any input device can be used, for example, a keyboard, a knob, a touch screen and the like can realize that a user starts to return by autonomous control. The realization mode is combined with automatic judgment return, and is more flexible and convenient in application.
In some optional implementations of the present embodiment, the intelligent shopping cart includes a camera 14, the camera 14 may be disposed at the front of the shopping cart body 10,
The first control module is also used for monitoring images shot by the camera 14 in real time in the process that the intelligent shopping cart moves back to the taking and placing area, recognizing obstacles on the advancing route of the intelligent shopping cart according to the images, and controlling the driving mechanism to brake the intelligent shopping cart when the distance between the intelligent shopping cart and the obstacles on the advancing route is smaller than a first safety threshold value.
by adopting the implementation mode, the automatic obstacle recognition and braking can be realized, the safety of the automatic return of the intelligent shopping cart is high, and the intelligent shopping cart can be prevented from colliding with customers just in the return path or objects temporarily placed in the return path and the like. It should be noted that the return path is planned by the first control module according to the position of the intelligent shopping cart and the pre-stored map data, so that no obstacles such as containers and the like placed for a long time exist on the return path, and if the supermarket channel is modified, the map data pre-stored in the first control module can be updated. In addition, the first control module is provided with a memory for storing map data, and it is understood that the memory can be an integrated local storage device or an extended storage device, such as: a removable memory card, etc., and this embodiment is not particularly limited thereto.
In some optional implementations of this embodiment, only the shopping cart may further include a range radar, which is also configured to function as obstacle recognition.
in some optional implementations of the present embodiment, the intelligent shopping cart comprises a reminder, which can be disposed at the front of the shopping cart body 10 or housed in the housing 11,
and the first control module is used for controlling the prompter to send an avoidance prompt when the fact that the distance between the intelligent shopping cart and the barrier is smaller than a second safety threshold value is recognized, and the second safety threshold value is larger than the first safety threshold value.
The prompter can adopt various prompting modes, such as voice, flashing light and the like to send out an avoidance prompt. In addition, the values of the first and second safety thresholds may be set according to actual needs, in this embodiment, the value of the first safety threshold is 0.5m, and the value of the second safety threshold is 2 m.
By adopting the implementation mode, the automatic obstacle recognition, prompting and braking can be realized, the safety of automatic return of the intelligent shopping cart is higher, and the avoidance of a customer just in a return path can be prompted.
in some optional implementations of the present embodiment, the camera 14 is a binocular camera. Binocular camera compares in the monocular camera that uses often when finding range, has the advantage of accurate range finding and wide visual angle concurrently.
in some optional implementations of this embodiment, the positioning module is a bluetooth positioning module. The Bluetooth positioning accuracy is high, the method is suitable for indoor scenes with short transmission distance such as supermarkets, and the like, and the method can be realized by arranging the Bluetooth base station in the supermarket and executing any existing positioning algorithm by the first control module in a matching manner.
As shown in fig. 2, another embodiment of the present invention provides an intelligent shopping cart management system, comprising a conveyor located in an access area and at least one intelligent shopping cart, wherein the conveyor comprises a second control module, a conveying channel, a conveyor belt 20 located in the conveying channel, and an exit infrared sensing module located at an exit position of the conveying channel;
As shown in figure 3 of the drawings,
the first control module in the intelligent shopping cart controls the driving mechanism to drive the intelligent shopping cart to move to the outlet position of the conveying channel or move to the rear of other intelligent shopping carts stopped in the conveying channel through the inlet of the conveying channel and the conveying channel after judging whether the return condition is met and planning a return path when the return condition is met;
And the second control module is used for controlling the conveyor belt 20 to move other intelligent shopping carts stopped in the conveying channel to the outlet position of the conveying channel after monitoring that the intelligent shopping cart is taken away through the output signal of the outlet infrared sensing module.
The first control module controls the driving mechanism to drive the intelligent shopping cart to pass through the conveying channel inlet and the conveying channel, when the intelligent shopping cart moves to the rear of other intelligent shopping carts stopped in the conveying channel, the distance between the intelligent shopping cart and a front cart is judged through images shot by the monitoring camera 14, the driving mechanism is controlled to brake the intelligent shopping cart when the distance is smaller than a set threshold value, the intelligent shopping cart is stopped to avoid collision of the two carts, and the value of the set threshold value is 0.2m in the embodiment. In addition, the exit infrared sensing module may include an infrared transmitter 31 and an infrared receiver 32 which are correspondingly disposed at both sides of the exit position of the outgoing passage, the infrared receiver 32 outputs a high level signal when no object is blocked between the infrared transmitter 31 and the infrared receiver 32, the infrared receiver 32 outputs a low level signal when the object is blocked by the intelligent shopping cart, and the second control module may thus monitor that the intelligent shopping cart is taken away.
The intelligent shopping cart management system provided by the embodiment saves the occupied area of the picking and placing area, can automatically monitor whether the intelligent shopping cart is taken away, and automatically starts the conveyor belt 20 to move the intelligent shopping cart stopped behind to the outlet position of the conveying channel after the intelligent shopping cart is monitored to be taken away.
In some optional implementations of this embodiment, the conveyor includes an entrance infrared sensing module at the entrance of the conveyor channel,
The second control module calculates the number of the intelligent shopping carts located in the conveying channel according to output signals of the outlet infrared sensing module and the inlet infrared sensing module, and judges the change of the number: when the number is reduced, controlling the conveyor belt 20 to accelerate the conveying speed and sending an acceleration moving instruction to the first control module; when the number increases, the conveyor belt 20 is controlled to reduce the conveying speed and send a slow-down moving instruction to the first control module; when the number of the intelligent shopping carts reaches the maximum value of the intelligent shopping carts parked in the conveying channel, a movement stopping instruction is sent to the first control module;
and the first control module controls the driving mechanism to drive the intelligent shopping cart to move fast, slow down or brake the intelligent shopping cart according to the moving acceleration instruction, the moving deceleration instruction or the moving stop instruction.
The communication connection between the first control module and the second control module can be realized by arranging a shopping cart WIFI module on the intelligent shopping cart and arranging a management system WIFI module on the conveying device, so that the management system WIFI module and the shopping cart WIFI module are in wireless communication connection. Wherein, the shopping cart WIFI module can be accommodated in the shell 11. Map data prestored in the first control module can be updated through the shopping cart WIFI module.
In addition, similar to the exit infrared sensing module, the entrance infrared sensing module may include an infrared transmitter 41 and an infrared receiver 42 correspondingly disposed at both sides of the exit position of the outgoing passage, and the infrared receiver 42 outputs a high level signal when there is no object blocking between the infrared transmitter 41 and the infrared receiver 42, and the infrared receiver 42 outputs a low level signal when it is blocked by the intelligent shopping cart. The second control module may count the number of intelligent shopping carts located in the transport channel from the output of infrared receiver 32 and infrared receiver 42.
By adopting the implementation mode, the intelligent shopping carts in the conveying channel can be automatically counted, the moving speed of the intelligent shopping carts in the returning process and the conveying speed of the conveying belt 20 are adaptively controlled according to the counting result, the intelligent shopping cart returning and the conveying of the conveying belt 20 are accelerated when the number of the intelligent shopping carts in the conveying channel is small, the intelligent shopping cart returning and the conveying of the conveying belt 20 are slowed down when the number of the intelligent shopping carts in the conveying channel is large, the intelligent shopping cart returning is stopped when the intelligent shopping carts are fully stopped in the conveying channel, and the intelligent shopping cart returning device is flexible, convenient and practical in fitting.
In the description of the present invention, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present invention. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
it is further noted that, in the description of the present invention, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
it should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention, and it will be obvious to those skilled in the art that other variations and modifications can be made on the basis of the above description, and all embodiments cannot be exhaustive, and all obvious variations and modifications belonging to the technical scheme of the present invention are within the protection scope of the present invention.
Claims (9)
1. An intelligent shopping cart comprises a shopping cart main body and is characterized in that the intelligent shopping cart comprises a positioning module, a first control module and a driving mechanism;
The positioning module acquires the position of the intelligent shopping cart;
the first control module monitors the position of the intelligent shopping cart in real time, judges whether a return condition is met, plans a return path according to the position of the intelligent shopping cart and prestored map data when the return condition is met, controls the driving mechanism to drive the intelligent shopping cart to move back to the taking and placing area according to the return path and the position of the intelligent shopping cart obtained through real-time monitoring, and keeps the position of the intelligent shopping cart outside the taking and placing area unchanged for T1 time period;
the shopping cart body is provided with an armrest, the intelligent shopping cart comprises a first pressure sensor, and the first pressure sensor is arranged on the armrest and used for sensing the pressure applied to the armrest;
The first control module is also used for monitoring the output signal of the first pressure sensor in real time;
The return condition further includes the output signal of the first pressure sensor being zero for a period of T2, wherein the length of the T2 period is less than the length of the T1 period.
2. The intelligent shopping cart of claim 1, wherein the cart body is provided with a storage basket, the intelligent shopping cart comprising a second pressure sensor, the second pressure sensor being disposed at a bottom of the storage basket;
the first control module is also used for monitoring the output signal of the second pressure sensor in real time;
the return condition further includes the output signal of the second pressure sensor being zero for a period of time T3.
3. The intelligent shopping cart of claim 1, wherein said intelligent shopping cart includes a return button,
The first control module also monitors the output signal of the return button in real time, and controls the driving mechanism to drive the intelligent shopping cart to move to the return area according to the output signal of the return button.
4. The intelligent shopping cart of claim 1, wherein the intelligent shopping cart comprises a camera,
The first control module is used for monitoring images shot by the camera in real time in the process that the intelligent shopping cart moves back to the taking and placing area, recognizing obstacles on the intelligent shopping cart traveling route according to the images, and controlling the driving mechanism to brake the intelligent shopping cart when recognizing that the distance between the intelligent shopping cart and the obstacles on the traveling route is smaller than a first safety threshold value.
5. the intelligent shopping cart of claim 4, wherein said intelligent shopping cart includes a reminder,
The first control module controls the prompter to send an avoidance prompt when recognizing that the distance between the intelligent shopping cart and the barrier is smaller than a second safety threshold, wherein the second safety threshold is larger than the first safety threshold.
6. the intelligent shopping cart of claim 4, wherein the camera is a binocular camera.
7. The intelligent shopping cart of claim 1, wherein the location module is a bluetooth location module.
8. An intelligent shopping cart management system comprising a conveyor located at an access area and at least one intelligent shopping cart as recited in any one of claims 1-7,
the conveying device comprises a second control module, a conveying channel, a conveying belt arranged in the conveying channel and a first infrared induction module arranged at the outlet position of the conveying channel;
the first control module controls the driving mechanism to drive the intelligent shopping cart to move to the outlet position of the conveying channel or move to the rear of other intelligent shopping carts stopped in the conveying channel through the inlet of the conveying channel and the conveying channel;
and the second control module is used for controlling the conveyor belt to move other intelligent shopping carts stopped in the conveying channel to the outlet position of the conveying channel after monitoring that the intelligent shopping cart is taken away through the output signal of the first infrared sensing module.
9. the intelligent shopping cart management system of claim 8, wherein said conveyor includes a second infrared sensing module located at the entrance of the conveyor channel,
the second control module calculates the number of the intelligent shopping carts located in the conveying channel according to output signals of the first infrared induction module and the second infrared induction module, and judges the change of the number: when the quantity is reduced, the conveyor belt is controlled to accelerate the conveying speed and a moving acceleration instruction is sent to the first control module; when the number of the conveyor belts is increased, the conveyor belts are controlled to reduce the conveying speed and send a movement slowing instruction to the first control module; when the number of the intelligent shopping carts reaches the maximum value of the intelligent shopping carts parked in the conveying channel, a movement stopping instruction is sent to the first control module;
And the first control module controls the driving mechanism to drive the intelligent shopping cart to move fast, slow down or brake the intelligent shopping cart according to the moving acceleration instruction, the moving deceleration instruction or the moving stop instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810697851.4A CN108945068B (en) | 2018-06-29 | 2018-06-29 | Intelligent shopping cart and intelligent shopping cart management system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810697851.4A CN108945068B (en) | 2018-06-29 | 2018-06-29 | Intelligent shopping cart and intelligent shopping cart management system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108945068A CN108945068A (en) | 2018-12-07 |
| CN108945068B true CN108945068B (en) | 2019-12-06 |
Family
ID=64484475
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810697851.4A Active CN108945068B (en) | 2018-06-29 | 2018-06-29 | Intelligent shopping cart and intelligent shopping cart management system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108945068B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2020129286A (en) * | 2019-02-08 | 2020-08-27 | 東芝テック株式会社 | Self-propellent cart system |
| CN110091906A (en) * | 2019-04-28 | 2019-08-06 | 李佳 | A kind of intelligence cart and its progress control method |
| JP2021092860A (en) * | 2019-12-06 | 2021-06-17 | 東芝テック株式会社 | Information processing device and program |
| CN112572588A (en) * | 2020-12-24 | 2021-03-30 | 中科芯未来微电子科技成都有限公司 | Baby carriage sliding self-locking system and monitoring method |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19631606A1 (en) * | 1996-08-05 | 1998-02-12 | Wanzl Entwicklung Gmbh | Dolly |
| CA3235272A1 (en) * | 2014-07-25 | 2016-01-28 | Gatekeeper Systems, Inc. | Monitoring usage or status of cart retrievers |
| CN205983559U (en) * | 2016-07-27 | 2017-02-22 | 郭润泽 | Intelligence supermarket management system |
| CN107943023A (en) * | 2017-11-03 | 2018-04-20 | 上海集成电路研发中心有限公司 | A kind of intelligent shopping trolley and its application method |
-
2018
- 2018-06-29 CN CN201810697851.4A patent/CN108945068B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108945068A (en) | 2018-12-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108945068B (en) | Intelligent shopping cart and intelligent shopping cart management system | |
| US10570000B2 (en) | Shopping facility assistance object detection systems, devices and methods | |
| US11301738B2 (en) | Industrial vehicle control based upon zones | |
| US11222251B2 (en) | Adjusting control of an industrial vehicle based on an electronic badge | |
| KR102302239B1 (en) | Method of controlling cart-robot in restricted area and cart-robot of implementing thereof | |
| KR101668904B1 (en) | Method for operating an elevator system | |
| US10257646B2 (en) | Use of electronic badges in aisle passing maneuvers | |
| US10255769B2 (en) | Electronic badge as a talking marker | |
| KR100991477B1 (en) | Method and system for controlling building communal facilities using rfid-based rtls | |
| US10239544B1 (en) | Guided delivery vehicle | |
| WO2021160623A1 (en) | Method and a system for conveying a robot in an elevator | |
| CA2938073A1 (en) | Systems, devices, and methods for providing passenger transport | |
| CN110941264A (en) | Article transportation robot and property management system | |
| KR100991478B1 (en) | Method and system for controlling building communal facilities using rf receiver array | |
| KR20220032857A (en) | Courier delivery robot and method of providing courier delivery service using the same | |
| CA2936393A1 (en) | Shopping facility assistance systems, devices, and methods to dispatch and recover motorized transport units that effect remote deliveries | |
| KR101300164B1 (en) | Unmanned auto cart collecting system | |
| CN115099442A (en) | Unmanned vehicle, reserved door-to-door distribution method, controller and system | |
| CA2938587A1 (en) | Shopping facility track system and method of routing motorized transport units | |
| CN218413514U (en) | Unmanned vehicle and reserved door-to-door distribution system | |
| CN220683784U (en) | Logistics carrier system for automatic elevator taking | |
| JP6015539B2 (en) | Mobile object management system | |
| CA2936396A1 (en) | Shopping facility assistance system and method to retrieve in-store abandoned mobile item containers | |
| KR20230073855A (en) | Garbage collection robot and separate collection system using the robot | |
| CN117104793A (en) | Logistics carrier system for automatic elevator taking and whole factory domain transportation method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |