CN108994817A - A kind of supermarket Zhao Huo robot - Google Patents

Abstract

The invention discloses a kind of supermarket Zhao Huo robots, including robot body, the robot body includes walking chassis, manipulator, visual sensor, communication module and master controller, the manipulator includes the mechanical folder of mechanical arm and setting on the robotic arm, the mechanical folder includes multiple the first segmental appendages to adjoin one another, it is connected between first segmental appendage by adjustable first joint, first joint is connect with Manipulator Controller, the Manipulator Controller is connect with master controller, the master controller and walking chassis, communication module is connected with visual sensor；The visual sensor is used to scan or shoot the merchandise news in commodity shelf, and the merchandise news of scanning or shooting is sent to master controller.Orphan's commodity are found by the visual sensor of setting on supermarket shelves by robot of the invention, and are taken away the orphan's commodity searched out using manipulator, to arrange the commodity left about conveniently in supermarket by people.

Description

A kind of supermarket Zhao Huo robot

Technical field

The present invention relates to robot field more particularly to a kind of supermarket Zhao Huo robots.

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 patent of invention of CN201120468355.5, discloses a kind of museum based on indoor positioning technologies and lead Look at system, which is sent to comprehensive the following steps are included: indoor positioning module detects visitor location information by method Close control module；Comprehensive control module determines the current location of tourist according to visitor location information；Comprehensive control module is by tourist The information of current location is sent to guide to visitors module；Guide to visitors module provides guide to visitors clothes according to the information of tourist current location for tourist Business, system includes sequentially connected indoor positioning module, comprehensive control module and guide to visitors module.Compared with prior art, should The advantage of patent combination multiple indoor location technology keeps its positioning more accurate, and can carry out relevant answer according to user's needs With extension.

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 CN201410637614.0, disclose the movement of the industrial robot of a kind of pair of redundancy The programmed method and industrial robot of process, industrial robot have multiple by adjustable including at least one redundancy pass The segmental appendage that the joint of section adjoins one another, joint can controllably be adjusted by least one robot controller of industrial robot It is whole, comprising steps of manual guidance adjust the segmental appendage corresponding with tool references point of manipulator arm, from first in space It sets and the second position of the first direction into space and/or second direction；In the case where cancelling redundancy, by determining at least one The joint position value of the optimization of a Joint motion, the second position and second direction by the tool references point of manipulator arm, backtracking Calculate the articulate joint position value of institute of manipulator arm；During manual guidance adjustment, according to the calculated optimization of backtracking Joint position value automatically adjusts all joints of manipulator arm under the control of robot controller.

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.The 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.This 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 can automatic dodging barrier, Automatic Track Finding to mesh Ground so that the carrying of remote cargo is simple and convenient, and since fork carriage can rotate about the z axis, allow to different direction Cargo carry out lifting carrying, reduce the labor intensity of staff, improve handling efficiency, reduce landed cost.

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 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；The 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 Zhao Huo robot is provided, this Orphan's commodity are found by the visual sensor of setting on supermarket shelves by the robot of invention, and will be searched out using manipulator Orphan's commodity take away, whipped the commodity that leave about with arranging in supermarket by people.

To realize above-mentioned technical purpose and the technique effect, the invention is realized by the following technical scheme:

A kind of supermarket Zhao Huo robot, including robot body, the robot body include walking chassis, manipulator, vision Sensor, communication module and master controller, the manipulator includes the mechanical folder of mechanical arm and setting on the robotic arm, described Machinery folder includes multiple the first segmental appendages to adjoin one another, is connected between first segmental appendage by adjustable first joint, First joint is connect with Manipulator Controller, and the Manipulator Controller is connect with master controller, the master controller with Walking chassis, communication module are connected with visual sensor；The visual sensor is used to scanning or shooting the quotient in commodity shelf Product information, and the merchandise news of scanning or shooting is sent to master controller, it is sent a signal to after handling analysis by master controller Manipulator Controller makes orphan's product on mechanical folder clamping shelf by Manipulator Controller control mechanical arm and mechanical folder.

It adopts this technical solution, the visual sensor is used to scanning or shooting the merchandise news on current shelf, and leads to The key technical feature of capture merchandise news is crossed, the position for the merchandise news that will not belong on current shelf is sent to robotic arm control Device processed controls the commodity that mechanical folder clamping is not belonging on current shelf by mechanical arm controller；The communication module will be for that will press from both sides The merchandise news taken is sent to supermarket service device, and the shelf location where the commodity of clamping is sent to master control as supermarket service device Device processed, by main controller controls walking chassis, the position where making robot toward commodity is mobile, then is placed commodity by manipulator On shelf；Wherein, key technical feature includes the information such as bar code, pattern, text, color, the shape of commodity.Master controller is set Be equipped with navigation system, when navigation system receives shelf location signal transmitted by supermarket service device, automatic planning robot with Navigation circuit between shelf location, and it is mobile to control walking chassis.When machinery is clipped in clamping commodity, controlled by mechanical arm controller First joint makes the first articulation drive the first segmental appendage clamping commodity of connection.

Preferably, the machinery sandwiched is equipped with non-slip mat and pressure sensor, the pressure sensor and mechanical arm control Device connection processed；The non-slip mat is wrapped on mechanical folder；Non-slip texture is provided in the non-slip mat.It adopts this technical solution, It is not easy to slide when the mechanical folder clamping commodity that non-slip mat makes；Pressure sensor is used to control the clamping power of mechanical folder.

Preferably, the mechanical arm includes multiple the second segmental appendages to adjoin one another, passing through between second segmental appendage can The second joint of adjustment is connected, and the second joint is at least provided with an adjustable redundancy second joint；Described second Joint can controllably be adjusted by least one mechanical arm controller.It adopts this technical solution, is controlled by mechanical arm controller The rotation of second joint is to adjust the posture of the second segmental appendage.

Preferably, the master controller includes main control board and the central processing that is arranged on main control board Device, locating module and memory module, the central processing unit pass through main control board and locating module, memory module, mechanical arm Controller, visual sensor, walking chassis are connected with communication module.

Preferably, the communication module includes wireless network card and/or 4G communication module.It adopts this technical solution, is used for It is wirelessly connected supermarket service device and/or administrator's mobile phone.

Preferably, the locating module includes in infrared positioning apparatus, WiFi positioning device or RFID positioning device It is one or more of.It adopts this technical solution, locating module can be used for indoor positioning, auxiliary robot walking.

Preferably, the visual sensor includes laser scanner, CCD camera, TV video camera or digital camera One of.

Preferably, the walking chassis includes chassis and is arranged in the photoelectric transfer connecting on chassis with main control board Sensor, driving motor and steering motor, the steering motor are connect with deflecting roller, and the driving motor is connect with driving wheel.It adopts Make bottom of walking by photoelectric sensor according to the rotation for sensing signal control driving motor and steering motor with this technical solution Disk is mobile.

Preferably, the photoelectric sensor includes range sensor, ultrasonic sensor, obstacle avoidance sensor or infrared follows One of mark sensor is a variety of.It adopts this technical solution, infrared tracking sensor is used to incude the tracking on supermarket ground Line；Ultrasonic sensor is used for the object of sniffing robot surrounding；Obstacle avoidance sensor avoids road surface for robot when walking On barrier；Range sensor is for controlling robot and the distance between shelf or people.

Preferably, being additionally provided with robot shells in the walking chassis, visual sensor and manipulator are set to The two sides of robot shells.

Preferably, the side on the chassis is provided with hook groove, the hook groove is for connecting the grab being arranged on cargo vehicle.

The beneficial effects of the present invention are:

1. orphan's commodity are found by the visual sensor of setting on supermarket shelves by robot of the invention, and utilize manipulator The orphan's commodity searched out are taken away, to arrange the commodity left about conveniently in supermarket by people；

2. mechanical folder of the invention is made of joint and segmental appendage, the mechanical shape pressed from both sides arbitrarily is changed, and is arranged anti- The commodity that skidding and pressure sensor can effectively reduce mechanical folder clamping fall off.

3. the present invention can not only reduce the labour of staff, but also can clear up the commodity on shelf；And machine People's easy maintenance, 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 circuit 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；

Fig. 4 is for mechanical folder schematic diagram of the present invention；

Fig. 5 is for steering mechanism's schematic diagram of the present invention；

Fig. 6 is for driving mechanism schematic diagram of the present invention.

In figure: robot body 1, walking chassis 2, manipulator 3, visual sensor 4, mechanical arm 5, machinery folder 6, photoelectric transfer Sensor 7, driving motor 8, steering motor 9, deflecting roller 10, driving wheel 11, robot shells 12, hook groove 13, cargo vehicle 14, grab 15, the first segmental appendage 601, the first joint 602, non-slip mat 603, pressure sensor 604, the second segmental appendage 501, second joint 502.

Specific embodiment

The invention will be further described with reference to the accompanying drawing:

Referring to figs. 1 to shown in Fig. 6, a kind of supermarket Zhao Huo robot, including robot body 1, the robot body 1 include row Chassis 2, manipulator 3, visual sensor 4, communication module and master controller are walked, the manipulator 3 includes mechanical arm 5 and setting Mechanical folder 6 on mechanical arm 5, the mechanical folder 6 includes multiple the first segmental appendages 601 to adjoin one another, first segmental appendage 601 Between be connected by adjustable first joint 602, first joint 602 is connect with Manipulator Controller, the machinery Hand controls is connect with master controller, and the master controller is connect with walking chassis 2, communication module and visual sensor 4；It is described Visual sensor 4 is used to scan or shoot the merchandise news in commodity shelf, and the merchandise news of scanning or shooting is sent to Master controller sends a signal to Manipulator Controller after handling analysis by master controller, controls mechanical arm 5 by Manipulator Controller With machinery folder 6, make orphan's product on mechanical 6 clamping shelf of folder.

It adopts this technical solution, the visual sensor 4 is used to scanning or shooting the merchandise news on current shelf, and leads to The key technical feature of capture merchandise news is crossed, the position for the merchandise news that will not belong on current shelf is sent to robotic arm control Device processed controls the commodity that mechanical 6 clamping of folder is not belonging on current shelf by mechanical arm controller；The communication module will be for that will press from both sides The merchandise news taken is sent to supermarket service device, and the shelf location where the commodity of clamping is sent to master control as supermarket service device Device processed, by main controller controls walking chassis 2, the position where making robot toward commodity is mobile, then is put commodity by manipulator 3 It sets on shelf；Wherein, key technical feature includes the information such as bar code, pattern, text, color, the shape of commodity.Master controller It is provided with navigation system, when navigation system receives shelf location signal transmitted by supermarket service device, automatic planning robot Navigation circuit between shelf location, and it is mobile to control walking chassis 2.Machinery folder 6 is when clamping commodity, by mechanical arm controller The first joint 602 is controlled, the rotation of the first joint 602 is made to drive the first segmental appendage 601 clamping commodity of connection.

Preferably, the mechanical folder 6 is provided with non-slip mat 603 and pressure sensor 604, the pressure sensor 604 It is connect with mechanical arm controller；The non-slip mat 603 is wrapped on mechanical folder 6；Anti-skid chequer is provided in the non-slip mat 603 Road.It adopts this technical solution, the mechanical folder 6 that non-slip mat 603 makes is not easy to slide when clamping commodity；Pressure sensor 604 is for controlling The clamping power of the mechanical folder 6 of system.

Preferably, the mechanical arm 5 includes multiple the second segmental appendages 501 to adjoin one another, between second segmental appendage 501 It is connected by adjustable second joint 502, the second joint 502 is closed at least provided with an adjustable redundancy second Section 502；The second joint 502 can controllably be adjusted by least one mechanical arm controller.It adopts this technical solution, by Mechanical arm controller controls the rotation of second joint 502 to adjust the posture of the second segmental appendage 501.

Preferably, the master controller includes main control board and the central processing that is arranged on main control board Device, locating module and memory module, the central processing unit pass through main control board and locating module, memory module, mechanical arm Controller, visual sensor 4, walking chassis 2 are connected with communication module.

Preferably, the communication module includes wireless network card and/or 4G communication module.It adopts this technical solution, is used for It is wirelessly connected supermarket service device and/or administrator's mobile phone.

Preferably, the locating module includes in infrared positioning apparatus, WiFi positioning device or RFID positioning device It is one or more of.It adopts this technical solution, locating module can be used for indoor positioning, auxiliary robot walking.

Preferably, the visual sensor 4 includes laser scanner, CCD camera, TV video camera or digital camera One of.

Preferably, the walking chassis 2 is including chassis and the photoelectricity connecting on chassis with main control board is arranged in Sensor 7, driving motor 8 and steering motor 9, the steering motor 9 are connect with deflecting roller 10, the driving motor 8 and driving 11 connection of wheel.It adopts this technical solution, by photoelectric sensor 7 according to sensing signal control driving motor 8 and steering motor 9 Rotation keeps walking chassis 2 mobile.

Preferably, the photoelectric sensor 7 includes range sensor, ultrasonic sensor, obstacle avoidance sensor or infrared One of tracking sensor is a variety of.It adopts this technical solution, infrared tracking sensor is for incuding following on supermarket ground Trace；Ultrasonic sensor is used for the object of sniffing robot surrounding；Obstacle avoidance sensor avoids road for robot when walking Barrier on face；Range sensor is for controlling robot and the distance between shelf or people.

Preferably, being additionally provided with robot shells 12 in the walking chassis 2, visual sensor 4 and manipulator 3 are set It is placed in the two sides of robot shells 12.

Preferably, the side on the chassis is provided with hook groove 13, the hook groove 13 is arranged on cargo vehicle 14 for connecting Grab 15.

Specific embodiment one:

Robot of the invention by the mobile route of systemic presupposition or the tracking line on ground in supermarket between each shelf into Row movement, and judged by the commodity on visual sensor real time scan or shooting shelf by grabbing its key technical feature Whether there are orphan's commodity on its shelf, when occurring orphan's commodity on shelf, is believed the position of its orphan's commodity by master controller Number it is sent to mechanical arm controller, the orphan quotient on control mechanical arm and mechanical folder clamping shelf is passed through by mechanical arm controller Product, and the orphan's commodity clamped are placed in cargo vehicle.

Specific embodiment two:

When machinery is clipped in crawl orphan's commodity, at the same master controller by the communication module module of setting by the information of orphan's commodity It is sent to server, after server vehicle analysis, the shelf number where orphan's commodity are sent to master controller, master controller When being connected to shelf, by the position between the navigation system positioning robot of setting and shelf, and planning robot and shelf Between guidance path, it is mobile toward shelf position that robot is controlled by driving steering motor and driving motor, works as machine When people reaches orphan's commodity position, confirmation is scanned or shot by visual sensor, by crawl after confirmation is errorless Orphan's commodity are placed on shelf, such as confirm it is wrong after, then administrator is sent a signal to by communication module, to remind administrator Member.

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 (10)

1. a kind of supermarket Zhao Huo robot, including robot body (1), the robot body (1) include walking chassis (2), Manipulator (3), visual sensor (4), communication module and master controller, it is characterised in that: the manipulator (3) includes mechanical arm (5) and the mechanical folder (6) that is arranged on mechanical arm (5), the mechanical folder (6) includes multiple the first segmental appendages to adjoin one another (601), it is connected between first segmental appendage (601) by adjustable first joint (602), first joint (602) It being connect with Manipulator Controller, the Manipulator Controller is connect with master controller, the master controller and walking chassis (2), Communication module and visual sensor (4) connection；The visual sensor (4) is used to scan or shoot the commodity letter in commodity shelf Breath, and the merchandise news of scanning or shooting is sent to master controller, machinery is sent a signal to after handling analysis by master controller Hand controls produces the orphan on mechanical folder (6) clamping shelf by Manipulator Controller control mechanical arm (5) and mechanical folder (6) Product.

2. a kind of supermarket Zhao Huo robot according to claim 1, it is characterised in that: the mechanical folder (6) is provided with anti- Skidding (603) and pressure sensor (604), the pressure sensor (604) connect with mechanical arm controller；The non-slip mat (603) it is wrapped on mechanical folder (6)；Non-slip texture is provided on the non-slip mat (603).

3. a kind of supermarket Zhao Huo robot according to claim 1, it is characterised in that: the mechanical arm (5) includes multiple The second segmental appendage (501) to adjoin one another is connected between second segmental appendage (501) by adjustable second joint (502), The second joint (502) is at least provided with an adjustable redundancy second joint (502)；Second joint (502) energy Enough controllably adjusted by least one machinery arm controller.

4. a kind of supermarket Zhao Huo robot according to claim 1, it is characterised in that: the master controller includes master control electricity Road plate and the central processing unit being arranged on main control board, locating module and memory module, the central processing unit pass through Main control board and locating module, memory module, mechanical arm controller, visual sensor (4), walking chassis (2) and communicate mould Block connection.

5. a kind of supermarket Zhao Huo robot according to claim 1, it is characterised in that: the communication module includes wireless network Card and/or 4G communication module.

6. a kind of supermarket Zhao Huo robot according to claim 4, it is characterised in that: the locating module includes infrared fixed One or more of position device, WiFi positioning device or RFID positioning device.

7. a kind of supermarket Zhao Huo robot according to claim 1, it is characterised in that: the visual sensor (4) includes One of laser scanner, CCD camera, TV video camera or digital camera.

8. a kind of supermarket Zhao Huo robot according to claim 1, it is characterised in that: the walking chassis (2) includes bottom Disk and the photoelectric sensor (7), driving motor (8) and steering motor (9) connecting on chassis with main control board, institute are set It states steering motor (9) to connect with deflecting roller (10), the driving motor (8) connect with driving wheel (11).

9. a kind of supermarket Zhao Huo robot according to claim 8, it is characterised in that: the photoelectric sensor (7) includes One of range sensor, ultrasonic sensor, obstacle avoidance sensor or infrared tracking sensor are a variety of.

10. a kind of supermarket Zhao Huo robot according to claim 1, it is characterised in that: also set on the walking chassis (2) It is equipped with robot shells (12), visual sensor (4) and manipulator (3) are set to the two sides of robot shells (12).