CN109166018A - A kind of large size left unguarded automatic shopping system - Google Patents
A kind of large size left unguarded automatic shopping system Download PDFInfo
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- CN109166018A CN109166018A CN201811298420.7A CN201811298420A CN109166018A CN 109166018 A CN109166018 A CN 109166018A CN 201811298420 A CN201811298420 A CN 201811298420A CN 109166018 A CN109166018 A CN 109166018A
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- 238000012790 confirmation Methods 0.000 claims description 17
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- 238000005192 partition Methods 0.000 claims description 10
- 230000007246 mechanism Effects 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 7
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- 238000012423 maintenance Methods 0.000 claims description 3
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- 238000003032 molecular docking Methods 0.000 claims 1
- 230000007812 deficiency Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000004806 packaging method and process Methods 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 18
- 235000019504 cigarettes Nutrition 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 210000004556 brain Anatomy 0.000 description 3
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- 241000208340 Araliaceae Species 0.000 description 1
- 206010006895 Cachexia Diseases 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000009471 action Effects 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q30/00—Commerce
- G06Q30/06—Buying, selling or leasing transactions
- G06Q30/0601—Electronic shopping [e-shopping]
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Abstract
The invention discloses a kind of large-scale left unguarded automatic shopping systems, it include control system, server, interactive system, cabinet, shelf, goods taking device, walk track and computer of selling goods, shelf walk track and computer of selling goods is mounted in cabinet, cabinet is the cabinet of container-type, goods taking device is the six-joint robot of included robot system, one is equipped on walking track to be mounted on the Mobile base along the Mobile base of walking track automatic moving, six-joint robot.The present invention is designed to standardized automation purchase system, shopping and online shopping function under its Support Line, online shopping is divided into online shopping again and asks for and online shopping dispatching, the deficiency of conventional small automatic shopping machine, unmanned supermarket, the unmanned supermarket of automation is compensated for simultaneously, combine the technologies such as computer, mobile Internet, wireless telecommunications, robot, industry control, and for equipment body using steel Frame Design at packaging box mode, size is unified, is readily transported and launches.
Description
Technical field
The present invention relates to unmanned shop technical fields, and in particular to a kind of nothing in conjunction with internet and mobile communications network
People's automatic shopping system.
Background technique
Self-service is the shopping mode for just starting to rise in recent years, without artificial on duty, therefore maximum feature is
Have many advantages, such as it is at low cost, convenient for management.There are mainly two types of modes for self-service at present, and one is traditional left unguarded is automatic
Shopping machine is small-sized exclusive machine, and function is simple, is only capable of buying some beverages, snacks etc. before vending machine, and function is less,
And do not support teleshopping function (i.e. internet shopping function).
Another kind is unmanned supermarket (or unmanned shop), is open commercial building form, and customer passes through system authentication
Enter commodities purchased by choice in unmanned supermarket afterwards, chooses completion by walking out unmanned supermarket after e-payment.This mode is not only
It is a kind of test to purchaser's quality, while whether does shopping with can not also verifying the true mesh for passing in and out guest, to leads
Cause it is some not with do shopping for mesh ground guest pass in and out supermarket, cause some unnecessary wastings of resources.In addition, this unmanned supermarket
It is also required to higher cost.
There are also the closed unmanned shops containing automatic mode to come out at present, but is also mostly building form, many institutes
It is known, as long as building, because the different thus input automation equipment of its area, shape, structure is different, controlling party
Formula is also different, and when building difference is big or even control principle can all change, and cannot accomplish that modularization fast transportation and installation make
With.
Summary of the invention
It is a kind of using more convenient, shopping body the technical problem to be solved by the present invention is in view of the shortcomings of the prior art, provide
Test faster, cost is lower, can be achieved fast transportation, Fast Installation, standardization manufacture and operation large-scale left unguarded it is automatic
Purchase system.
In order to solve the above technical problems, the present invention adopts the following technical scheme: a kind of large size left unguarded automatic shopping system
System, includes control system, server, interactive system, cabinet, shelf, goods taking device, walk track and computer of selling goods, shelf,
Walking track and computer of selling goods are mounted in cabinet, and goods taking device is mounted on walking track for being transferred to kinds of goods from shelf
Sales stand, interactive system include computer terminal and mobile terminal based on internet and communication network, it is characterised in that: described
Cabinet is the cabinet of container-type, is equipped with the stabilizer blade of several container case foot formulas in the bottom of cabinet；The shelf have
Multilayer goods putting panel, shelf closely walk track setting；The goods taking device is the six-joint robot of included robot system, goods
The height and width of frame are not more than the range that the six-joint robot can touch；One is equipped on walking track can be along walking rail
The Mobile base of road automatic moving, six-joint robot, which is mounted on the Mobile base, forms removable frame, and walking track is from shelf area
Domain extends close to the position of sales stand.
Further, surrounding is respectively equipped with display screen at the top of the box body, and display screen connects control system, passes through display screen
It can show inventory information, pricing information, sales promotion information, broadcasting advertisement etc..
Preferably, the cabinet is the container-type cabinet of 20GP specification, can directly be transported with semitrailer, is guaranteeing big sky
Between under the premise of, transport, launch it is more convenient.
Further, at least two sales stands are equipped with and computer of selling goods accordingly in the front of cabinet, sales stand, which has, to be put
Goods mouth and access section, goods putting mouth are located in the box body portion and dock with six-joint robot, and access section is located at outside cabinet；It is set in cabinet
There are at least row's shelf.
Further, it is provided with two rows of shelf in cabinet, walks track installation in the channel between two rows of shelf；?
There are three sales stands for the front setting of cabinet；Intermediate sales stand and walking track alignment, each sales stand corresponding one are sold goods electricity
Brain, computer of selling goods are touch operation computer.
Further, the cabinet includes steel framework, vertical plate, top plate and bottom plate, and shelf and walking track installation exist
On bottom plate, each stabilizer blade is mounted on the bottom surface of frame；The back side of cabinet is provided with chamber door, the channel where chamber door and walking track
Alignment, and chamber door is outward opening chamber door, can be entered in cabinet by chamber door, convenient for system maintenance, kinds of goods management and the behaviour that replenishes
Make.The top of cabinet is stretched out to form eaves portion structure towards surrounding, and the positive eaves portion structure of cabinet stretches out in the front of sales stand, can
To act the function of keeping off the rain to position of selling goods；Each display screen is vertically installed at the eaves portion structure of surrounding and towards four directions.
Further, four partitions are equipped in the front of cabinet, sales stand at three and computer of selling goods are interposed between by four partitions
Centre is simultaneously spaced from each other, and partition is fixed on the frame of cabinet.
Further, a support base is installed on the Mobile base, six-joint robot is mounted on the support base, due to
Six-joint robot can be move freely on a large scale up and down, and the position of six-joint robot can be raised by support base, so as to
Lesser robot is selected, the cost of robot is reduced.
Further, the vertical plate can be the transparent riser made of tempered glass, be convenient for from the outside in directly observation
Portion's kinds of goods situation；The outside of cabinet is provided with monitoring system, plays security monitoring function.
Further, the goods putting panel on the shelf is the goods putting panel with step function, by dynamic on shelf
The kinds of goods that force mechanisms and sensing device cooperation will be far from walking track are moved to the spare area close to walking track, six axis machines
After people takes a commodity away from some lattice of real thing, subsequent commodity convey forward automatically, and are transported to behind designated position oneself
It is dynamic to stop conveying, in order to six-joint robot picking next time.
In addition, being additionally provided with external computer shopping software: predominantly client is provided in the family that has the network coverage or other
Anywhere select shopping items information, and the confirmation, payment and the dis-tribution model that buy goods.
Shopping operating process:
1, the voice dialogue mode of selective purchase: citing: user will buy the Chinese board hard-box cigarette of 45 yuan of a packet --- a)
User can be said with voice: I will buy packet cigarette, and software carries out crux word and search after will carrying out word processing to sound, due to the pass
" cigarette " of strong word is more fuzzy, and software will confirm with the user session and segment commodity, b) and replied with voice: you need to buy
Be cigarette? c) user: yes, d) software: do you need to buy the cigarette of what brand? e) user: Chinese board, f) software: it asks
Ask and need hard box or soft box? g) user: hard box, h) software: it is good, and the commodity are popped up on Software Commodities column
The information such as picture and corresponding commodity price, quantity are clicked " confirmation " after user's confirmation is errorless and are good for, and software is transferred to online electronics branch
Pay the page.Note: if user directly says " I will buy the Chinese board hard-box cigarette of 45 yuan of a packet ", software will be at sound at this time
H) place will be leapt to after reason identification；If user says " I will buy a cigarette package ", software will after sound is carried out processing identification
D) place is leapt to, if user says " I will buy a packet China cigarette ", software will be jumped directly after sound is carried out processing identification
To f) place, and so on, software pops up corresponding confirmation message according to the crux word recognized.
2, the commodity text search mode of selective purchase: complete commodity text can be inputted in commercial articles searching frame and carried out accurately
It searches, fuzzy search can also be carried out according to the segment word of commodity, find required commodity further according to related prompt message.
3, the commodity picture of selective purchase searches mode: can browse the commodity picture that need to be bought according to Taxonomy Information and believe
Breath.
4, the confirmation of commodity: after finding the commodity for needing to buy according to above-mentioned commodity lookup mode, user need to carry out commodity
Last confirmation, only can be just put into after shopping cart after user's confirmation in addition select other commodity or to the commodity of the confirmation into
Row payment.
5, the payment of commodity: user can pay the bill to the commodity single payment after confirmation or to the commodity of shopping cart are unified, point
The e-payment page is popped up after hitting payment, user can be used all third parties for supporting e-payment to carry out e-payment, including micro-
The modes such as the third-party barcode scanning payment such as letter, Alipay, bank, accounting payment.
6, the dis-tribution model of commodity: when user's online shopping, commodity distribution mode may be selected, commodity distribution mode includes
" asking for commodity " and " commodity distribution " two ways.When commodity are asked in user's selection, center management system (i.e. control system)
In the equipment that the information that meeting send a pickup code in a manner of short message can be invented to user mobile phone, user to a nearest playscript with stage directions
It inputs pickup code and carries out pickup；When user selects commodity distribution, center management system can be sent one in a manner of short message and be taken
In the information of part code to the mobile phone of operation side relevant range dispatching person, dispatching person can be to input pickup code in a nearest equipment
It is dispensed after carrying out pickup.
The external center management system (i.e. total computer room) of control system, which is managed by operation square tube, and main function is to deposit
Storage, management user membership information, such as member's name, cell-phone number, dispatching address information etc., collect each user do shopping software and
Shopping information, collection commodity payment information in present device and the native processor of equipment carry out data communication, receive in real time
Collection stores, inventory information of commodity etc. in analytical equipment.
Internal computer is done shopping software (i.e. local shopping software), is mounted on and is sold goods on computer, and the function of the software has, the
One, which is selling goods on computer, as local operation, so not having commodity distribution option；Second, which takes
Part function choosing-item, user or dispatching person can input effective pickup code in this software and carry out pickup, third, due to being equipped in equipment
Three (or more) computers, there is a pickup mouth in every computer lower section, so every computer will be arranged one after installing this software
A computer code, and the coding is not reproducible, when the native processor in equipment receives Transaction Information or pickup information, can know
It is not the information sent by any platform computer, commodity can be only transmitted to by the native processor and robot system of apparatus control system
Pickup mouth below the corresponding computer, to avoid user when A computer is done shopping, robot is but by the B pickup mouth of commodity transmission
It is awkward.
Six-joint robot and robot control system: grasping mechanism is installed in end by robot, makees mobile pickup and uses, and six
There are servo motor and accurate retarding machine in each joint of axis robot, and the repetitive positioning accuracy with ± 0.05mm passes through machine
The teaching mode of people's control system records the absolute location coordinates of every class commodity, and the product name of each coordinate of remarks, and will sit
Mark data and remarks title send native processor to, and native processor is searched using the product name of remarks as crux word for user
Rope commodity use.Simultaneously when native processor receives Transaction Information or pickup information, then the coordinate positions of the commodity transmitted
To robot system, robot system controls six-joint robot again and is taken in walking moving on rails to corresponding coordinate position
Part.
Robotic vision system mainly plays final confirmation and the tracking function of commodity of merchandise news, and both robot received
It trades after pickup instruction, the position coordinates of the commodity are arrived in walking, and robotic vision system can be to the commodity on the coordinate again at this time
Secondary scanning, grasping mechanism carries out the crawl of commodity after confirmation merchandise news is errorless, and after commodity crawl, the vision system is again to the quotient
Product carry out location tracking, as robot in the process of walking commodity inadvertently fall off, robot toward pickup mouth place commodity after it is long when
Between it is unclaimed when, controllable robot system makes corresponding treatment Countermeasures.
The native processor of apparatus control system include high-speed type CPU, mainboard module, power module, memory module,
The composition such as local station of main website module, network module, input and output I/O module, various sensors, the coordinate bit of essential record commodity
Set, product name, commodity price etc., with robot control system communication, with the dataphone and mesotube in present device
Manage system communication etc..All data, the parameter of native processor are reproducible, and ginseng can be directly pasted in another present device
Number, without resetting the data such as commodity coordinate, title.The data, parameter can also replicate in center management system.Processing locality
Device can also complete shopping function under line, but do not have online shopping function when getting along well center management system communication, that is to say, that
Equipment of the invention can be bought by personal separate unit and be operated, and can also be operated by company's Duo Tai networking.
User can operate (both doing shopping under line) in equipment in the present invention, can also be in or arbitrarily have the electricity of the network coverage
Brain or hand hands- operation (both online shoppings), online shopping also may be selected to ask for commodity or be delivered goods to the customers by the dispatching person of profession.
The present invention is designed to standardized large-scale left unguarded automation shopping apparatus and purchase system, purchases under Support Line
Object and online shopping function, online shopping be divided into again online shopping ask for online shopping dispense two functions, entirely did shopping
Journey is that interconnected network mode completes (when online shopping) and man-machine conversation mode completes (when doing shopping under line), is thus brought more to user
For convenient shopping experience.The deficiency of conventional small automatic shopping machine, unmanned supermarket, the unmanned supermarket of automation is compensated for simultaneously,
It combines the technologies such as computer, mobile Internet, wireless telecommunications, robot, industry control, and equipment body uses steel frame
It is designed to packaging box mode, size is unified, is readily transported and launches.
Detailed description of the invention
Fig. 1 is that present system controls architecture diagram；
Fig. 2 is schematic diagram of the three-dimensional structure；
Fig. 3 is that the present invention removes the structural schematic diagram after a cant board；
Fig. 4 is the structural schematic diagram that the present invention removes another angle after a cant board；
Fig. 5 is that the present invention removes the structural schematic diagram after a cant board and shelf.
In figure, 1 is cabinet, and 11 be frame, and 12 be vertical plate, and 13 be top plate, and 14 be bottom plate, and 15 be chamber door, and 2 be shelf, and 3 are
Walking track, 31 be Mobile base, and 32 be support base, and 4 be six-joint robot, and 5 be computer of selling goods, and 6 be sales stand, and 61 be goods putting
Mouthful, 62 be access section, and 7 be display screen, and 8 be stabilizer blade, and 9 be partition.
Specific embodiment
In the present embodiment ,-Fig. 5, the large size left unguarded automatic shopping system include control system, clothes referring to Fig.1
It is engaged in device, interactive system, cabinet 1, shelf 2, goods taking device, walking track 3 and computer 5 of selling goods, shelf 2, walking track 3 and sells goods
Computer 5 is mounted in cabinet 1, and goods taking device is mounted on walking track 3 for kinds of goods to be transferred to sales stand 6 from shelf 2, is handed over
Mutual system includes computer terminal and mobile terminal based on internet and communication network, such as smart phone；The cabinet 1 is
The cabinet of container-type is equipped with the stabilizer blade 8 of several container case foot formulas in the bottom of cabinet 1, can be directly installed on collection
It is transported on vanning semitrailer；The shelf 2 have multilayer goods putting panel, shelf 2 closely walk track be arranged 3；The picking dress
It is set to six-joint robot 4, the height and width of shelf 2 are not more than the range that the six-joint robot 4 can touch；In walking track
One is equipped on 3 can be along the Mobile base 31 (its power mechanism is connect with robot system) of walking track automatic moving, six axis machines
Device people 4, which is mounted on the Mobile base 31, forms removable frame, and track 3 of walking extends close to sales stand 6 from shelf area
Position.
It is respectively equipped with display screen 7 (while can also match voice broadcasting system) in the top surrounding of cabinet 1, display screen 7 connects
Control system can show inventory information, pricing information, sales promotion information, broadcasting advertisement etc. by display screen 7.
The cabinet 1 is the container-type cabinet of 20GP specification, can directly be transported with semitrailer, before guaranteeing large space
Put, transport, launch it is more convenient.
At least two sales stands 6 are equipped in the front of cabinet 1 and computer 5 of selling goods accordingly, sales stand 6 have goods putting mouth 61
With access section 62, goods putting mouth 61 is located at 1 inside of cabinet and docks with six-joint robot 4, and access section 62 is located at outside cabinet, for visitor
Family picking product.
Two rows of shelf 2 are provided in cabinet 1, walking track 3 is mounted in the channel between two rows of shelf 2；In cabinet 1
Front setting there are three sales stand 6；Intermediate sales stand 6 is aligned with walking track 3, and each correspondence of sales stand 6 one is sold goods electricity
Brain 5, computer 5 of selling goods are touch operation computer.
The cabinet 1 includes steel framework 11, vertical plate 12, top plate 13 and bottom plate 14, and shelf 2 and walking track 3 are installed
On bottom plate 14, each stabilizer blade 8 is mounted on the bottom surface of frame 11；The back side of cabinet 1 is provided with chamber door 15, chamber door 15 and walking rail
Channel alignment where road 3, and chamber door 15 is outward opening chamber door, can be entered in cabinet 1 by chamber door 15, be tieed up convenient for system
Shield, kinds of goods management and the operation that replenishes.The top of cabinet 1 is stretched out to form eaves portion structure towards surrounding, and the positive eaves portion structure of cabinet 1
The front of sales stand 6 is stretched out in, the function of keeping off the rain can be played to position of selling goods；Each display screen 7 is vertically installed at the eaves portion of surrounding
At structure and towards four directions.
Four partitions 9 are equipped in the front of cabinet 1, sales stand 6 at three and computer 5 of selling goods are interposed between centre by four partitions 9
And be spaced from each other, partition 9 is fixed on the frame 11 of cabinet 1.
One support base 32 is installed on the Mobile base 31, six-joint robot 4 is mounted on the support base 32, due to six
Axis robot 4 can be move freely on a large scale up and down, and the position of six-joint robot 4 can be raised by support base 32, so as to
To select lesser robot, the cost of robot is reduced.
The vertical plate 12 can be the transparent riser made of tempered glass, be convenient for directly observing internal kinds of goods feelings from the outside
Condition；The outside of cabinet 1 is provided with monitoring system, plays security monitoring function.
Goods putting panel on the shelf 3 is the goods putting panel with step function, by power mechanism on shelf 3 and
The kinds of goods that sensing device cooperation will be far from walking track are moved to the spare area close to walking track, six-joint robot 4 from certain
After one lattice of real thing takes a commodity away, subsequent commodity convey forward automatically, and are automatically stopped after being transported to designated position
Conveying, in order to six-joint robot picking next time.
One, it does shopping in equipment, i.e. shopping process under line:
Before 1 user walking to any one computer of selling goods of equipment；
2 in click " shopping " key in computer initial page of selling goods；
3 selection commodity (mode of selection commodity and method is above-mentioned has been described in detail, be no longer described in detail)；
4 confirm the commodity of selection；
5, which enter the payment page, selects the means of payment, and completes to pay；
Whether the native processor confirmation payment of 6 equipment succeeds；It is as unsuccessful in paid the bill, it prompts unsuccessful reason and incites somebody to action
Page jump jumps to step 7 to step 5 if successful payment；
The native processor of 7 equipment carries out merchandise news processing, and the position coordinates of the commodity are sent to system of robot
System；
8 robot systems control six-joint robot moves to corresponding product locations coordinate along walking track and carries out pickup,
Whether the commodity during this on robotic vision system meeting insertion scanning confirmation position coordinates are correct, the robot if incorrect
The error message can be transmitted to native processor by vision system, and native processor sends the fault message when single machine works
Operator mobile phone on, which is transmitted in center management system by native processor in on-line working, by monitoring in
Centre management system personnel placement maintenance personal go to scene to handle, the fault message appear in simultaneously on touch screen computer to
Family explanation, and the payment for goods of the transaction is returned to user (note: it is almost nil that the failure appears in probability, because leading to robot
When there was only the failure of robot servo motors encoder the failure can just occur for the situation of coordinate mistake)；Such as robotic vision system
The merchandise news of scanning then jumps to step 9 without mistaking；
The goods putting mouth for transmitting commodity after 9 six-joint robot pickups are errorless；
10 users take commodity away from the access section of equipment.If user within the set time complete by pickup, then the transaction is complete
At, if user does not take commodity away in the time beyond setting, then robot passes through the position of robotic vision system items scanning,
And the commodity are brought back into corresponding shelf lattice of real thing, commodity payment for goods then passes through native processor and is returned to user.
Note: next commodity only can be just transmitted to setting position by the stepping mechanism of shelf lattice of real thing after completion of transactions
It sets, when transaction is not completed, stepping mechanism is failure to actuate, and six-joint robot can will trade unsuccessful when unsuccessful with trade prevention
The original coordinate position that commodity are brought back and put.
Two, it does shopping on user computer/mobile phone, i.e. online shopping process:
1 user downloads the matched client shopping software of the present invention and registered members' information on computer/mobile phone；
2 users bought goods on computer/mobile phone (mode of selection commodity and method is above-mentioned has been described in detail, no longer
It is described in detail)；
3 users confirm the commodity of selection on computer/mobile phone；
4 enter the payment page selection means of payment, commodity distribution mode and the payment for completing commodity payment for goods；
Whether the confirmation payment of 5 central managers succeeds；It is as unsuccessful in paid the bill, it prompts unsuccessful reason and jumps the page
Step 4 is gone to, shopping is jumped to if successful payment and completes the page；The means of distribution data of the commodity of central manager processing simultaneously,
Central processing unit can send the short of a pickup code to the mobile phone of user if the means of distribution of user's selection is " asking for commodity "
News；Central processing unit can send one to the upper on hand of operation side dispatching person if the means of distribution of user's selection is " commodity distribution "
The news in brief of pickup code.
6 users or operation side dispatching person hold pickup on effective pickup code to a nearest present device；
7 as user or operation side dispatching person pickup, before any one computer of selling goods that need to be walked into present device；
8 click " pickup " key in touch screen computer initial page；
The effective pickup code of 9 inputs simultaneously confirms；
10 native processors are communicated and are confirmed with central manager, confirm that errorless rear native processor carries out commodity letter
Breath processing, and the position coordinates of the commodity are sent to robot system；
11 robot systems control six-joint robot and robot ambulation track and carry out pickup, principle is collinear lower shopping process
Step 8；
The goods putting mouth for transmitting commodity after the pickup of 12 robots is errorless；
13 users, which from access section take commodity or dispatching person away and take commodity away from access section, to be dispensed.Under other parts are collinear
The step 10 of shopping process.
The above has been described in detail, described above, is only a preferred embodiment of the present invention, when cannot
It limit the scope of implementation of the present invention, i.e., it is all according to the made equivalent changes and modifications of the application range, it should still belong to covering scope of the present invention
It is interior.
Claims (10)
1. a kind of large size left unguarded automatic shopping system, include control system, server, interactive system, cabinet, shelf,
Goods taking device, walk track and computer of selling goods, shelf walk track and computer of selling goods is mounted in cabinet, goods taking device installation
For kinds of goods to be transferred to sales stand from shelf on walking track, interactive system includes based on internet and communication network
Computer terminal and mobile terminal, it is characterised in that: the cabinet is the cabinet of container-type, is equipped in the bottom of cabinet several
The stabilizer blade of a container case foot formula；The shelf have multilayer goods putting panel, shelf closely walk track setting；The picking dress
It is set to the six-joint robot of included robot system, the height and width of shelf are not more than the model that the six-joint robot can touch
It encloses；One is equipped on walking track to be mounted on the Mobile base along the Mobile base of walking track automatic moving, six-joint robot
Upper formation removable frame, walking track extend close to the position of sales stand from shelf area.
2. large size left unguarded automatic shopping system according to claim 1, it is characterised in that: the cabinet is 20GP rule
The container-type cabinet of lattice, surrounding is respectively equipped with display screen at the top of the box body, and display screen connects control system.
3. large size left unguarded automatic shopping system according to claim 1, it is characterised in that: be equipped in the front of cabinet
At least two sales stands and sell goods computer accordingly, sales stand has goods putting mouth and an access section, goods putting mouth be located in the box body portion with
Six-joint robot docking, access section are located at outside cabinet；At least row's shelf are equipped in cabinet.
4. large size left unguarded automatic shopping system according to claim 3, it is characterised in that: be provided with two in cabinet
Shelf are arranged, walk track installation in the channel between two rows of shelf；Sales stand there are three being arranged in the front of cabinet；Intermediate
Sales stand and walking track alignment, each sales stand corresponding one are sold goods computer, and computer of selling goods is touch operation computer.
5. large size left unguarded automatic shopping system according to claim 1, it is characterised in that: the cabinet includes steel
On bottom plate, each stabilizer blade is mounted on the bottom surface of frame for frame, vertical plate, top plate and bottom plate processed, shelf and walking track installation；In case
The back side of body is provided with chamber door, and chamber door is aligned with the channel where walking track, and chamber door is outward opening chamber door；The top of cabinet
It stretches out to form eaves portion structure towards surrounding, and the positive eaves portion structure of cabinet stretches out in the front of sales stand；Each display screen is pacified vertically
At the eaves portion structure of surrounding and towards four directions.
6. large size left unguarded automatic shopping system according to claim 5, it is characterised in that: be equipped in the front of cabinet
Sales stand at three and computer of selling goods are interposed between centre and are spaced from each other by four partitions, four partitions, and partition is fixed on the frame of cabinet
On frame.
7. large size left unguarded automatic shopping system according to claim 1, it is characterised in that: pacify on the Mobile base
Equipped with a support base, six-joint robot is mounted on the support base.
8. large size left unguarded automatic shopping system according to claim 5, it is characterised in that: the vertical plate is using steel
The transparent riser for changing glass production, is provided with monitoring system in the outside of cabinet.
9. large size left unguarded automatic shopping system according to claim 1, it is characterised in that: the goods putting on the shelf
Panel is the goods putting panel with step function, will be far from walking track by power mechanism on shelf and sensing device cooperation
Kinds of goods be moved to close to walking track spare area.
10. large size left unguarded automatic shopping system according to claim 4, it is characterised in that: the purchase of the purchase system
Logistics journey is as follows:
One, it does shopping in equipment, i.e. shopping process under line:
1) before user's walking to any one computer of selling goods of equipment；
2) in click " shopping " key in computer initial page of selling goods；
3) commodity are selected；
4) confirm the commodity of selection；
5) enter the payment page and select the means of payment, and complete to pay；
6) whether the native processor confirmation payment of equipment succeeds；It is as unsuccessful in paid the bill, prompt unsuccessful reason and by the page
Step 5) is jumped to, step 7) is jumped to if successful payment；
7) native processor of equipment carries out merchandise news processing, and the position coordinates of the commodity are sent to robot system；
8) robot system control six-joint robot moves to corresponding product locations coordinate along walking track and carries out pickup, the mistake
Whether the commodity in journey on robotic vision system meeting insertion scanning confirmation position coordinates are correct, the robot vision if incorrect
The error message can be transmitted to native processor, the battalion that native processor sends the fault message when single machine works by system
On the mobile phone of fortune person, which is transmitted in center management system by native processor in on-line working, by monitoring mesotube
The personnel placement maintenance personal of reason system goes to scene to handle, which appears in say on touch screen computer to user simultaneously
It is bright, and the payment for goods of the transaction is returned to user；If the merchandise news of robotic vision system scanning is without mistaking, then step is jumped to
It is rapid 9)；
9) the goods putting mouth for transmitting commodity after six-joint robot pickup is errorless；
10) user takes commodity away from the access section of equipment, and if user within the set time complete by pickup, then the transaction is completed,
If user does not take commodity away in the time beyond setting, then six-joint robot passes through the position of robotic vision system items scanning
It sets, and the commodity is brought back into corresponding shelf lattice of real thing, commodity payment for goods then passes through native processor and is returned to user；
Two, it does shopping on user computer/mobile phone, i.e. online shopping process:
1) user downloads the matched client shopping software of the present invention and registered members' information on computer/mobile phone；
2) user buys goods on computer/mobile phone；
3) user confirms the commodity of selection on computer/mobile phone；
4) enter the payment page selection means of payment, commodity distribution mode and the payment for completing commodity payment for goods；
5) whether central manager confirmation payment succeeds；It is as unsuccessful in paid the bill, it prompts unsuccessful reason and arrives page jump
Step 4) jumps to shopping if successful payment and completes the page；The means of distribution data of the commodity of central manager processing simultaneously, are such as used
The means of distribution of family selection is that " asking for commodity " then central processing unit can send the news in brief of a pickup code to the mobile phone of user；Such as
User selection means of distribution be " commodity distribution " then central processing unit can to operation side dispatching person on hand go up transmission one take
The news in brief of part code；
6) user or operation side dispatching person hold pickup on effective pickup code to a nearest equipment；
7) as user or operation side dispatching person pickup, before any one computer of selling goods that need to be walked into equipment；
8) " pickup " key is clicked in touch screen computer initial page；
9) it inputs effective pickup code and confirms；
10) native processor is communicated and is confirmed with central manager, confirms that errorless rear native processor carries out merchandise news
Processing, and the position coordinates of the commodity are sent to robot system；
11) robot system control six-joint robot and robot ambulation track carry out pickup, principle is collinear lower shopping process
Step 8)；
12) the goods putting mouth for transmitting commodity after six-joint robot pickup is errorless；
13) user, which from access section takes commodity or dispatching person away and takes commodity away from access section, dispenses, lower purchase that other parts are collinear
The step 10) of logistics journey.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811298420.7A CN109166018A (en) | 2018-11-02 | 2018-11-02 | A kind of large size left unguarded automatic shopping system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811298420.7A CN109166018A (en) | 2018-11-02 | 2018-11-02 | A kind of large size left unguarded automatic shopping system |
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| CN109166018A true CN109166018A (en) | 2019-01-08 |
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| CN201811298420.7A Pending CN109166018A (en) | 2018-11-02 | 2018-11-02 | A kind of large size left unguarded automatic shopping system |
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| CN118476715A (en) * | 2024-07-16 | 2024-08-13 | 徐州一枝花包装有限公司 | Stationery retail shelf |
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