CN110298961A - Charging method and device for robot - Google Patents
Charging method and device for robot Download PDFInfo
- Publication number
- CN110298961A CN110298961A CN201910579476.8A CN201910579476A CN110298961A CN 110298961 A CN110298961 A CN 110298961A CN 201910579476 A CN201910579476 A CN 201910579476A CN 110298961 A CN110298961 A CN 110298961A
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- Prior art keywords
- commodity
- robot
- identification region
- charging
- moved
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Classifications
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F9/00—Details other than those peculiar to special kinds or types of apparatus
- G07F9/02—Devices for alarm or indication, e.g. when empty; Advertising arrangements in coin-freed apparatus
- G07F9/023—Arrangements for display, data presentation or advertising
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07G—REGISTERING THE RECEIPT OF CASH, VALUABLES, OR TOKENS
- G07G1/00—Cash registers
- G07G1/0036—Checkout procedures
- G07G1/0045—Checkout procedures with a code reader for reading of an identifying code of the article to be registered, e.g. barcode reader or radio-frequency identity [RFID] reader
Abstract
This application discloses a kind of charging methods and device for robot.This method is included in robot moving process, monitors event of whether halting, and the event of halting refers to the operation for stopping current cruise task by voice or gesture trigger robot；After robot is changed to stationary state by moving condition, judge whether one or more commodity of robot delivery leave identification region；If it is determined that one or more commodity of robot delivery have been moved off identification region, then it is included in charging, wherein the identification region refers to the specified region for incuding RFID tag；If it is determined that the commodity of robot delivery do not leave identification region, then charging is exited.Bad technical problem is experienced present application addresses the user's fee of robot.Robot autonomous identification and charging are realized by the application, increases user's shopping experience satisfaction.
Description
Technical field
This application involves intelligent robot charging field, in particular to a kind of charging method for robot and
Device.
Background technique
Self-help shopping terminal is included in charge system progress charging again to user's output commodity valence after selecting commodity by user
Lattice.
Inventors have found that self-help shopping terminal can not move, and mostly be limited by area occupied, position, shopping
It is still not convenient enough.Further, self-help shopping terminal can not automatic identification commodity, need user to input.
Bad problem is experienced for the user's fee of robot in the related technology, not yet proposes effective solution side at present
Case.
Summary of the invention
The main purpose of the application is to provide a kind of charging method and device for robot, to solve robot
User's fee experiences bad problem.
To achieve the goals above, according to the one aspect of the application, a kind of charging method for robot is provided.
Whether the charging method for robot according to the application includes: to monitor and cry in robot moving process
Stop event, the event of halting refers to the operation for stopping current cruise task by voice or gesture trigger robot；In machine
After device people is changed to stationary state by moving condition, judge whether one or more commodity of robot delivery leave cog region
Domain；If it is determined that one or more commodity of robot delivery have been moved off identification region, then it is included in charging, wherein the identification
Region refers to the specified region for incuding RFID tag；If it is determined that the commodity of robot delivery do not leave cog region
Charging is then exited in domain.
Further, described after robot is changed to stationary state by moving condition, further includes: the delivery of identification robot
Commodity whether be removed, the price and type of the commodity are identified if being removed；Judgement robot delivery
Whether commodity leave before identification region, further includes: according to the price and type of the commodity of acquisition.
Further, if it is determined that one or more commodity of robot delivery have been moved off identification region, then it is included in meter
Expense includes: if it is determined that one or more commodity of robot delivery have been moved off identification region, then by the commodity of user's taking-up
It is included in charge system.
Further, if it is determined that one or more commodity of robot delivery have been moved off identification region, then it is included in meter
After taking further include: whether the commodity for judging that one or more commodity have been moved off identification region are again introduced into identification region；Such as
Fruit is again introduced into, then exits charging；If be not again introduced into, the quotient of identification region is had been moved off according to one or more commodity
Product quantity statistics go out as a result, and exporting merchandise charge to user.
Further, if it is determined that one or more commodity of robot delivery have been moved off identification region, then it is included in meter
Expense include: if it is determined that robot delivery one or more commodity have been moved off identification region, then the commodity that will be obtained in advance
Price, the type of merchandise upload；Receive the charging result to one or more commodity.
To achieve the goals above, according to the another aspect of the application, a kind of message accounting for robot is provided.
The message accounting for robot according to the application includes: monitoring module, is used in robot moving process,
Event of whether halting is monitored, the event of halting refers to through voice or the current cruise task of gesture trigger robot stopping
Operation；Judgment module, for after robot is changed to stationary state by moving condition, judge robot delivery one or
Whether multiple commodity leave identification region；Accounting module, for judging that one or more commodity of robot delivery have been moved off
When identification region, it is included in charging, the identification region refers to the specified region for incuding RFID tag；Module is exited,
When for judging that the commodity of robot delivery do not leave identification region, charging is exited.
Further, the accounting module, whether the commodity of robot delivery are removed for identification, if by being removed
Then identify the price and type of the commodity；Further include: commodity identification module, for according to the prices of the commodity of acquisition and
Type.
Further, the accounting module, for judging that one or more commodity of robot delivery have been moved off identification
When region, the commodity that user takes out are included in charge system.
Further, device further include: valuation module, for judging that one or more commodity have been moved off identification region
Whether commodity are again introduced into identification region；If be again introduced into, charging is exited；If be not again introduced into, according to one or
The commodity amount that multiple commodity have been moved off identification region counts as a result, and exporting merchandise charge to user.
Further, the accounting module, for if it is determined that one or more commodity of robot delivery have been moved off
Identification region then uploads the commodity price obtained in advance, the type of merchandise；Receive the charging result to one or more commodity.
It is used for the charging method and device of robot in the embodiment of the present application, using in robot moving process, supervises
The mode for whether having the event of halting is listened, by after robot is changed to stationary state by moving condition, judging that robot delivers
One or more commodity whether leave identification region, reached if it is determined that robot delivery one or more commodity
Identification region is left, then is included in charging, the identification region refers to specified region for incuding RFID tag and such as
Fruit judges that the commodity of robot delivery do not leave identification region, then the purpose of charging is exited, to realize robot autonomous knowledge
The not simultaneously technical effect of charging, and then the user's fee for solving robot experiences bad technical problem.Increase user's purchase
Object tests satisfaction.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present application, so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings:
Fig. 1 is the charging method flow diagram for robot according to the application first embodiment；
Fig. 2 is the charging method flow diagram for robot according to the application second embodiment；
Fig. 3 is the charging method flow diagram for robot according to the application 3rd embodiment；
Fig. 4 is the charging method flow diagram for robot according to the application fourth embodiment；
Fig. 5 is the charging method flow diagram for robot according to the 5th embodiment of the application.
Fig. 6 is the message accounting structural schematic diagram for robot according to the embodiment of the present application；
Fig. 7 is the message accounting structural schematic diagram for robot according to the embodiment of the present application.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
In this application, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure or
Positional relationship.These terms are not intended to limit indicated dress primarily to better describe the application and embodiment
Set, element or component must have particular orientation, or constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in this application can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected ", " socket " shall be understood in a broad sense.For example,
It may be a fixed connection, be detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be direct phase
It even, or indirectly connected through an intermediary, or is two connections internal between device, element or component.
For those of ordinary skills, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in Figure 1, this method includes the following steps, namely S102 to step S108:
Step S102 monitors whether halt event in robot moving process,
The event of halting refers to the operation for stopping current cruise task by voice or gesture trigger robot.
Whether in the moving process of the robot, can be monitored by way of software or hardware has above-mentioned halt
Event occurs.
Step S104 judges one or more of robot delivery after robot is changed to stationary state by moving condition
Whether a commodity leave identification region；
According to the event of halting listened in above-mentioned steps, the robot can be changed to stationary state by moving condition i.e.
Stop in cruise or other tasks from script and stops being moved.The robot can facilitate use under static state
Family carries out commodity and fetches, scans or choose.
Further, it is also necessary to judge whether one or more commodity of the robot delivery have left identification region.Such as
Fruit has left, then charging account closing procedure can then be entered by showing that client needs to buy.
Preferably, identification region can select the mode of RFid radio frequency identification.
Step S106 is then included in meter if it is determined that one or more commodity of robot delivery have been moved off identification region
Take, wherein the identification region refers to the specified region for incuding RFID tag；
The identification region refers to the specified region for incuding RFID tag.
If it is determined that one or more commodity of the robot delivery have had been moved off identification region, then need to be included in
Charging carries out charging to the commodity.Due to using RF tag, as long as may be implemented to incude so there is distance remote enough.
It should be noted that the induction range of the identification region determines to be somebody's turn to do according to different RF RF tags, in this Shen
In embodiment please and without specifically limiting.
Step S108 then exits charging if it is determined that the commodity of robot delivery do not leave identification region.
If it is determined that the delivery commodity of robot do not leave identification region, charging is released at this time.I.e. not to commodity
Carry out charging or the operation without charging.
It can be seen from the above description that the application realizes following technical effect:
According to the embodiment of the present application, as preferred in the present embodiment, as shown in Fig. 2, it is described in robot by moving shape
After state is changed to stationary state, further includes:
Whether the commodity of step S202, the delivery of identification robot are removed, and the commodity are identified if being removed
Price and type；
Specifically, identify whether the commodity of the robot delivery are removed, identifier delivery is capable of in the robot
Whether commodity are removed, and if it is being removed, identify the price of the commodity and the type of commodity.For example, passing through RF radio frequency mark
Label identification is which kind of commodity i.e. classification of commodity, is the marked price of commodity by the identification of RF RF tag.
Whether the commodity for judging robot delivery leave before identification region, further includes:
Step S204, according to the price and type of the commodity of acquisition.
Specifically, it is also necessary to be pre-configured with or obtain the corresponding price of commodity and type, and be written in RF RF tag.
According to the embodiment of the present application, as preferred in the present embodiment, as shown in figure 3, if it is determined that robot delivery
One or more commodity have been moved off identification region, then are included in charging and include:
Step S302, if it is determined that one or more commodity of robot delivery have been moved off identification region, then by user
The commodity of taking-up are included in charge system.
Specifically, it if it is determined that the robot delivers one or more commodity when having been moved off identification region, then needs
The commodity that the user that will identify that takes out are included in charge system, start to carry out charging to one or more commodity.
According to the embodiment of the present application, as preferred in the present embodiment, as shown in figure 4, if it is determined that robot delivery
One or more commodity have been moved off identification region, then are included in after charging further include:
Step S402 judges that one or more commodity have been moved off the commodity of identification region and whether are again introduced into cog region
Domain；
Step S404 exits charging if be again introduced into；
Step S406 has been moved off the commodity number of identification region according to one or more commodity if be not again introduced into
Amount counts as a result, and exporting merchandise charge to user.
Specifically, whether cog region is again introduced by the commodity for judging that one or more commodity have been moved off identification region
Domain shows that user again puts back to the commodity picked up, then exits charging if it is identification region is again introduced into.If not again into
Enter, shows that user has selected the commodity for needing to buy, then basis then has been moved off identification region according to one or more commodity
Commodity amount counts result.And the expense of commodity is exported to user according to the calculated result of the return received.
According to the embodiment of the present application, as preferred in the present embodiment, as shown in figure 5, if it is determined that robot delivery
One or more commodity have been moved off identification region, then are included in charging and include:
Step S502, if it is determined that one or more commodity of robot delivery have been moved off identification region, then it will be preparatory
Commodity price, the type of merchandise of acquisition upload；
Step S504 receives the charging result to one or more commodity.
It specifically, then will be pre- if it is determined that one or more commodity of robot delivery have been moved off identification region
Commodity price, the type of merchandise first obtained is uploaded to cloud server.In the cloud server according to commodity price, commodity class
Type carries out corresponding calculating, realizes the charging of one or more commodity.After server completes charging beyond the clouds, to corresponding
The charging result that robot issues one or more commodity is completed to receive i.e. in robot.
It should be noted that step shown in the flowchart of the accompanying drawings can be in such as a group of computer-executable instructions
It is executed in computer system, although also, logical order is shown in flow charts, and it in some cases, can be with not
The sequence being same as herein executes shown or described step.
According to the embodiment of the present application, additionally provide it is a kind of for implementing the device of the above-mentioned charging method for robot,
As shown in fig. 6, the device includes: to monitor module 10, for monitoring whether halt event, institute in robot moving process
It states the event of halting and refers to the operation for stopping current cruise task by voice or gesture trigger robot；Judgment module 20 is used
Knowledge whether is left in the one or more commodity for after robot is changed to stationary state by moving condition, judging robot delivery
Other region；Accounting module 30 is included in meter when for judging that one or more commodity of robot delivery have been moved off identification region
Take, the identification region refers to the specified region for incuding RFID tag；Module 40 is exited, for judging that robot transports
When the commodity of load do not leave identification region, charging is exited.
Event is halted described in the monitoring module 10 of the embodiment of the present application to refer to through voice or gesture trigger robot
Stop the operation of current cruise task.
Whether in the moving process of the robot, can be monitored by way of software or hardware has above-mentioned halt
Event occurs.
According to the event of halting listened in above-mentioned steps, the robot meeting in the judgment module 20 of the embodiment of the present application
It is changed to by moving condition and stops in cruise or other tasks of the stationary state i.e. from script and stop being moved.The machine
Device people can facilitate user's progress commodity to fetch, scan or choose under static state.
Further, it is also necessary to judge whether one or more commodity of the robot delivery have left identification region.Such as
Fruit has left, then charging account closing procedure can then be entered by showing that client needs to buy.
Preferably, identification region can select the mode of RFid radio frequency identification.
Identification region described in the accounting module 30 of the embodiment of the present application refers to for incuding the specified of RFID tag
Region.
If it is determined that one or more commodity of the robot delivery have had been moved off identification region, then need to be included in
Charging carries out charging to the commodity.Due to using RF tag, as long as may be implemented to incude so there is distance remote enough.
It should be noted that the induction range of the identification region determines to be somebody's turn to do according to different RF RF tags, in this Shen
In embodiment please and without specifically limiting.
The embodiment of the present application exits in module 40 if it is determined that the delivery commodity of robot do not leave identification region,
Charging is released at this time.I.e. not to commodity progress charging or without the operation of charging.
According to the embodiment of the present application, as preferred in the present embodiment, as shown in Figure 6 and Figure 7, the accounting module 30,
Whether the commodity of robot delivery are removed for identification, and the price and type of the commodity are identified if being removed；Also
It include: commodity identification module 50, for the price and type according to the commodity of acquisition.
The accounting module 30 of the embodiment of the present application specifically, identifies whether the commodity of the robot delivery are removed, institute
It states robot and is capable of whether the commodity that identifier delivers are removed, if it is being removed, identify the price and commodity of the commodity
Type.It is commodity by the identification of RF RF tag for example, being which kind of commodity i.e. classification of commodity by the identification of RF RF tag
Marked price.
The commodity identification module 50 of the embodiment of the present application is specifically, it is also necessary to be pre-configured with or obtain the corresponding valence of commodity
Lattice and type, and be written in RF RF tag.
According to the embodiment of the present application, as preferred in the present embodiment, as shown in fig. 6, the accounting module 30, for sentencing
When one or more commodity of disconnected robot delivery have been moved off identification region, the commodity that user takes out are included in charge system.
The accounting module 30 of the embodiment of the present application specifically, if it is determined that the robot delivers one or more commodity
When having been moved off identification region, then the commodity that the user that needs will identify that takes out are included in charge system, start to one or
Multiple commodity carry out charging.
According to the embodiment of the present application, as preferred in the present embodiment, as shown in Figure 7, further includes: valuation module 60 is used
Whether identification region is again introduced into the commodity for judging that one or more commodity have been moved off identification region；If be again introduced into,
Then exit charging；If be not again introduced into, counted according to the commodity amount that one or more commodity have been moved off identification region
Out as a result, and exporting merchandise charge to user.
In the valuation module 60 of the embodiment of the present application specifically, by judging that one or more commodity have been moved off cog region
Whether the commodity in domain are again introduced into identification region, if it is identification region is again introduced into, show that user again puts the commodity picked up
It returns, then exits charging.If be not again introduced into, show that user has selected and need the commodity bought, then according to then according to one or
The commodity amount that multiple commodity have been moved off identification region counts result.And according to the calculated result of the return received to
The expense of family output commodity.
According to the embodiment of the present application, as preferred in the present embodiment, as shown in fig. 6, the accounting module 30, for such as
Fruit judges that one or more commodity of robot delivery have been moved off identification region, then by the commodity price obtained in advance, commodity
Type uploads；Receive the charging result to one or more commodity.
In the accounting module 30 of the embodiment of the present application specifically, if it is determined that one or more quotient of robot delivery
Product have been moved off identification region, then the commodity price obtained in advance, the type of merchandise are uploaded to cloud server.In the cloud
Server carries out corresponding calculating according to commodity price, the type of merchandise, realizes the charging of one or more commodity.It services beyond the clouds
After device completes charging, the charging result for issuing one or more commodity to corresponding robot is completed to connect i.e. in robot
It receives.
Obviously, those skilled in the art should be understood that each module of above-mentioned the application or each step can be with general
Computing device realize that they can be concentrated on a single computing device, or be distributed in multiple computing devices and formed
Network on, optionally, they can be realized with the program code that computing device can perform, it is thus possible to which they are stored
Be performed by computing device in the storage device, perhaps they are fabricated to each integrated circuit modules or by they
In multiple modules or step be fabricated to single integrated circuit module to realize.In this way, the application be not limited to it is any specific
Hardware and software combines.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of charging method for robot characterized by comprising
In robot moving process, event of whether halting is monitored, the event of halting refers to through voice or gesture touching
Send out the operation that robot stops current cruise task；
After robot is changed to stationary state by moving condition, judge whether one or more commodity of robot delivery leave
Identification region；
If it is determined that one or more commodity of robot delivery have been moved off identification region, then it is included in charging, wherein the knowledge
Other region refers to the specified region for incuding RFID tag；
If it is determined that the commodity of robot delivery do not leave identification region, then charging is exited.
2. the charging method according to claim 1 for robot, which is characterized in that it is described in robot by moving shape
After state is changed to stationary state, further includes:
Whether the commodity of identification robot delivery are removed, and the price and type of the commodity are identified if being removed；
Whether the commodity for judging robot delivery leave before identification region, further includes:
According to the price and type of the commodity of acquisition.
3. the charging method according to claim 1 for robot, which is characterized in that if it is determined that robot delivery
One or more commodity have been moved off identification region, then are included in charging and include:
If it is determined that one or more commodity of robot delivery have been moved off identification region, then the commodity that user takes out are included in
Charge system.
4. the charging method according to claim 1 for robot, which is characterized in that if it is determined that robot delivery
One or more commodity have been moved off identification region, then are included in after charging further include:
Whether the commodity for judging that one or more commodity have been moved off identification region are again introduced into identification region；
If be again introduced into, charging is exited；
If be not again introduced into, counted according to the commodity amount that one or more commodity have been moved off identification region as a result,
And merchandise charge is exported to user.
5. the charging method according to claim 1 for robot, which is characterized in that if it is determined that robot delivery
One or more commodity have been moved off identification region, then are included in charging and include:
If it is determined that one or more commodity of robot delivery have been moved off identification region, then the commodity valence that will be obtained in advance
Lattice, the type of merchandise upload；
Receive the charging result to one or more commodity.
6. a kind of message accounting for robot characterized by comprising
Monitor module, in robot moving process, monitor event of whether halting, it is described halt event and refer to pass through language
Sound or gesture trigger robot stop the operation of current cruise task；
Judgment module, for after robot is changed to stationary state by moving condition, judging one or more of robot delivery
Whether a commodity leave identification region；
Accounting module is included in charging, institute when for judging that one or more commodity of robot delivery have been moved off identification region
It states identification region and refers to specified region for incuding RFID tag；
Module being exited, when for judging that the commodity of robot delivery do not leave identification region, exiting charging.
7. the message accounting according to claim 6 for robot, which is characterized in that the accounting module is used for
Whether the commodity of identification robot delivery are removed, and the price and type of the commodity are identified if being removed；
Further include: commodity identification module is used for
According to the price and type of the commodity of acquisition.
8. the message accounting according to claim 6 for robot, which is characterized in that the accounting module, for sentencing
When one or more commodity of disconnected robot delivery have been moved off identification region, the commodity that user takes out are included in charge system.
9. the message accounting according to claim 6 for robot, which is characterized in that further include: valuation module is used for
Whether the commodity for judging that one or more commodity have been moved off identification region are again introduced into identification region；
If be again introduced into, charging is exited；
If be not again introduced into, counted according to the commodity amount that one or more commodity have been moved off identification region as a result,
And merchandise charge is exported to user.
10. the message accounting according to claim 6 for robot, which is characterized in that the accounting module is used for
If it is determined that one or more commodity of robot delivery have been moved off identification region, then the commodity valence that will be obtained in advance
Lattice, the type of merchandise upload；
Receive the charging result to one or more commodity.
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| CN201910579476.8A CN110298961A (en) | 2019-06-28 | 2019-06-28 | Charging method and device for robot |
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| CN106845962A (en) * | 2016-12-29 | 2017-06-13 | 广州途威慧信息科技有限公司 | A kind of Automatic-settlement payment for goods system and method |
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| CN107578584A (en) * | 2017-09-15 | 2018-01-12 | 胡雷刚 | A kind of portable self-help settlement method and its device |
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| CN108492157A (en) * | 2017-12-18 | 2018-09-04 | 上海云拿智能科技有限公司 | Self-service system and self-service method |
| CN108564713A (en) * | 2018-03-23 | 2018-09-21 | 刘婧 | A kind of commodity identification of the unattended retail based on composite measurement mode and anti-cheating system and its method |
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| CN109272679A (en) * | 2018-08-23 | 2019-01-25 | 深兰科技（上海）有限公司 | A kind of smart shopper method, apparatus and computer readable storage medium |
| CN109191676A (en) * | 2018-08-31 | 2019-01-11 | 湖南小推车网络科技有限公司 | The commodity automatic vending business model of railroad train |
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