CN111438678A

CN111438678A - Intelligent shopping following robot and method

Info

Publication number: CN111438678A
Application number: CN202010444184.6A
Authority: CN
Inventors: 李韶杰; 袁亮
Original assignee: Shaanxi University of Science and Technology
Current assignee: Shaanxi University of Science and Technology
Priority date: 2020-05-22
Filing date: 2020-05-22
Publication date: 2020-07-24

Abstract

An intelligent shopping following robot and a method thereof comprise a wireless charging module and a core processor, wherein the output end of the wireless charging module is connected with the input end of a storage battery, the input end of the core processor is connected with the output end of a gyroscope, the output end of a micro inertial navigation + GPS, the output end of the robot following module and the output end of a laser ranging module, the output end of the core processor is connected with the input end of a liquid crystal display screen and the input end of a driving module, the serial port of the core processor is connected with an L oRa module, the core processor is electrically connected with an SD card, the serial port of the core processor is connected with a Bluetooth module, and the output end of the storage battery is connected with the power supply ends of the core processor, the gyroscope, the liquid crystal display screen, a L oRa module, the micro inertial navigation + GPS module, the robot following module, the driving module, the SD card, the laser ranging module and the Bluetooth module.

Description

Intelligent shopping following robot and method

Technical Field

The invention relates to the technical field of service intelligence, in particular to an intelligent shopping following robot and a method.

Background

With the increasing aging of society, the life of the old is a problem which needs to be concerned, at present, many children and children of the old are not at the side, the life needs to be managed by themselves, the old needs to buy and shop on the street in daily life, and a great part of the old is inconvenient to shop at legs and feet, and the old needs to transport the vegetables after buying.

The existing vegetable buying vehicle in the market at present needs to be directly pulled or pushed by hands, and the problems that the old people can buy too much things and the vegetable buying vehicle is inconvenient to carry and even cannot be pulled are solved. Although the health care product plays a certain role in part of the old, the health care product cannot be suitable for all the old with needs. Based on the above problems, there is a need for an intelligent and independently walking shopping robot to satisfy the problem of article transportation after shopping for the old.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention aims to provide the intelligent shopping following robot and the method, wherein an ARM chip is used as a core processor, and electric energy is supplied to a storage battery in a wireless charging mode, so that the robot is effectively suitable for outdoor independent movement conditions, and the convenience and the reliability of the use of the old are guaranteed.

In order to achieve the purpose, the invention adopts the technical scheme that:

an intelligent shopping following robot comprises a device body, wherein the device body comprises a wireless charging module 2 and a core processor 1, and the output end of the wireless charging module 2 is connected with the input end of a storage battery 3;

the input end of the core processor 1 is connected with the output end of the gyroscope 4, the output end of the micro inertial navigation + GPS7, the output end of the robot following module 8 and the output end of the laser ranging module 11, the output end of the core processor 1 is connected with the input end of the liquid crystal display screen 5 and the input end of the driving module 9, the serial port of the core processor 1 is connected with the L oRa module 6, the core processor 1 is electrically connected with the SD card 10, and the serial port of the core processor 1 is connected with the Bluetooth module 13;

the output end of the storage battery 3 is connected with the power supply ends of the core processor 1, the gyroscope 4, the liquid crystal display screen 5, the L oRa module 6, the micro inertial navigation + GPS module 7, the robot following module 8, the driving module 9, the SD card 10, the laser ranging module 11 and the Bluetooth module 13.

The device body bottom be provided with mecanum wheel 12, device body front portion is provided with liquid crystal display 5 and device and follows module 8, is located the device body and is provided with laser rangefinder module 11 all around, device body top be provided with the shopping basket.

The liquid crystal display screen 5 is used for displaying the running data of the robot, and displaying the residual electric quantity, time and the Bluetooth connection condition, detecting the signal intensity of the positioning module 14, the signal intensity of the micro inertial navigation + GPS7 and the signal intensity of the module L oRa 6 on the display screen.

The gyroscope 4 is used for judging the inclination and the direction angle of the robot when the robot walks.

The robot following module 8 is used in cooperation with the positioning module 14, the positioning module 14 is used for being worn by people, the positioning module 14 is a transmitting device, the robot following module 8 is a receiving device, and the robot following module 8 and the positioning module 14 are used for completing following operation.

The positioning module 14 is a bracelet.

The wireless charging module 2 comprises a wireless transmitting module 201 and a wireless receiving module 202, the wireless receiving module 202 is located inside the device and used for storing received electric energy in the storage battery 3, the wireless transmitting module 201 is installed indoors, and the device can be placed on the wireless transmitting module 201 to be charged.

The core processor 1 adopts an ARM processor model of ARM 8.

The storage battery 3 is used for supplying power to each module, the SD card 10 is used for storing data of robot operation, and the SD card is used for storing personal information, driving routes, pairing information, and the like.

The laser ranging module 11 adopts TF02 laser radar of Beixing company.

A use method of an intelligent shopping following device is characterized in that when the device does not work, the device is placed on a wireless transmitting module 201, and electric energy is supplemented; when the device is used, the device is just moved away from the wireless transmitting module 201, the device is started to run immediately, required information is displayed on the liquid crystal display screen 5, the hand-ring-shaped positioning module 14 is carried at any time, and the device can be set and operated by using a smart phone;

in formal operation, the device can start to go home and follow immediately by only needing to put the purchased articles in a shopping basket above the device along a safe moving target place;

when meeting the signal weakening at the follow-up in-process, carry out accurate positioning through little inertial navigation + GPS module 7, through calling SD card 10 of storage according to the street map in location, carry out complementary following, guaranteed the completion of transportation article process, only need place the device after accomplishing the task and charge and the loss of dormancy in order to reduce the computer on wireless transmitting module 201.

The invention has the beneficial effects that:

the invention provides an intelligent following robot, which determines the direction between the robot and a guide through a robot following module and a positioning module so as to realize following, detects the distance between the robot and surrounding objects through TF02 laser radar of Beixing company so as to avoid the robot from colliding with the surrounding objects and further damage the robot, realizes accurate positioning of the robot by combining micro inertial navigation and a GPS module, ensures the driving stability of the robot, stores the running information of the robot in an SD card, enables the robot to enter a network through a L oRa module, enables a user to check and control the information through mobile phone software, displays the residual electric quantity, the time, the Bluetooth connection condition, the detected signal strength of the positioning module, the GPS signal strength, the L oRa module signal strength and the like in a liquid crystal display screen, and can visually observe the real-time information of the robot.

Drawings

Fig. 1 is a schematic diagram of module connection of an intelligent shopping following robot.

Fig. 2 is a front view of an intelligent shopping following robot.

FIG. 3 is a side view of an intelligent shopping following robot.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

As shown in figure 1, the intelligent shopping following robot comprises a core processor 1, a wireless charging module 2, a storage battery 3, a gyroscope 4, a liquid crystal display screen 5, an L oRa module 6, a micro inertial navigation + GPS module 7, a robot following module 8, a driving module 9, an SD card 10, a laser ranging module 11, a Mecanum wheel 12 and a Bluetooth module 13.

The input of battery 3 is connected to wireless charging module 2's output, core processor 1's input is connected to gyroscope 4's output, core processor 1's output is connected to liquid crystal display 5's input, L oRa module 6 and core processor 1's serial ports are connected, core processor 1's input is connected to little inertial navigation + GPS's output, core processor 1's input is connected to robot following module 8's output, core processor 1's output is connected to drive module 9's input, SD card 10 and core processor 1 electric connection, core processor 1's input is connected to laser rangefinder module 11's output, bluetooth module 13 and core processor 1's serial ports are connected, core processor 1, gyroscope 4, liquid crystal display 5, L oRa module 6, little inertial navigation + GPS module 7, robot following module 8, drive module 9, SD card 10, laser rangefinder module 11, bluetooth module 13's power supply end is connected to battery 3's output.

This robot follows module 8 through the robot and follows, and this module needs to use with the supporting of orientation module 14, and orientation module 14 is used for the robot to follow module 8's guide, 14 purposes of orientation module are carried about for the old man, can regard as bracelet appearance for conveniently carrying the outward appearance to make the robot realize effectual following. The laser ranging module 11 detects the distance between the robot and the surrounding objects in the running process at any moment, and executes a turning or stopping instruction when the distance is too short.

The gyroscope 4 is used for detecting the driving angle and the driving posture of the robot, so that the levelness and the stability of the robot in the moving process can be better grasped. The position of the robot movement is more accurately positioned by combining the micro inertial navigation and the GPS module 7, the specific positions of the robot and the old people are calculated through the complementation of the micro inertial navigation and the GPS, and the robot is prevented from deviating from the route of the old people, namely the positioning module 14, in the driving process. Road maps of the area and the running route data of the robot are stored in the SD card 10, and basic data are laid for the purpose of prejudgment and adjustment for later use.

Liquid crystal display 5 is used for showing the robot operation data, shows residual capacity, time, bluetooth connection condition, detects 14 signal strengths of orientation module, GPS signal strength, L oRa module 6 signal strengths at the display screen, makes the more audio-visual state of observing the robot operation in each stage of old man, has reduced the complexity of operation robot, uses more portably of robot.

L oRa module 6 makes the robot can carry out network connection, and the old man can use the smart mobile phone to look over data such as the state of robot operation and route of going through the network, also can operate through the cell-phone end, disposes the robot more conveniently, and when the regional network signal that the robot is located is relatively poor, the old man can open the bluetooth of smart mobile phone and interconnect with the robot, also can realize above-mentioned function.

The core processor 1 adopts an ARM8 chip, the chip can better perform data operation and control on the device, the core processor 1 detects the running state of the robot through each sensor, and then outputs a control signal to the driving module 9, so that the robot is controlled, and the old man can be macroscopically followed. The driving module 9 further controls the mecanum wheels 12, the mecanum wheels 12 have great advantages in the driving process, the mecanum wheels 12 are not limited by the direction of the robot, the robot can flexibly drive in all directions, the phenomenon that the robot is stuck at a certain corner is avoided, and the practicability and the flexibility of the robot are improved.

The output end of the storage battery 3 is connected with the core processor 1, the gyroscope 4, the liquid crystal display screen 5, the L oRa module 6, the micro inertial navigation + GPS module 7, the robot following module 8, the driving module 9, the SD card 10, the laser ranging module 11 and the power supply end of the Bluetooth module 13, the input end of the storage battery 3 is connected with the output end of the wireless receiving module 202 in the wireless charging module 2, exposed interfaces of the robot are effectively reduced, the waterproof performance of the robot is improved, the storage battery can better adapt to outdoor environment, namely, the storage battery is not influenced by weather, and the using conditions of the robot are better increased.

The accumulator 3 is used for ensuring normal independent operation under the condition of leaving the power supply.

The power supply mode adopts the wireless mode of charging to supply power, has effectually avoided the ageing problem of circuit, supplies power through wireless charging module 2, and to a great extent has reduced exposed interface, better being applicable to outdoor environment.

The L oRa module 6 and the Bluetooth module 14 are used for remote control and operation, and the L oRa module 6 and the Bluetooth module 14 are complementary, so that the situation that the smart phone cannot be connected is greatly reduced.

The laser ranging module 11 adopts TF02 laser radar of Beixing company. The laser ranging module 11 detects the distance between the robot and the surrounding objects in real time, so as to effectively avoid the collision between the robot and the people or the objects.

Drive module 9 drive mecanum wheel 12, mecanum wheel 12 possesses huge advantage at the in-process of traveling, and mecanum wheel 12 does not receive the restriction of robot direction, and nimble traveling in all directions has avoided the card to die in certain corner, has increased the practicality and the flexibility of robot.

As shown in fig. 2 and fig. 3: the device body bottom be provided with mecanum wheel 12, device body front portion is provided with liquid crystal display 5 and device and follows module 8, is located the device body and is provided with laser rangefinder module 11 all around, device body top be provided with the shopping basket.

An intelligent shopping following device is used, and an intelligent shopping following robot is placed on a base when not in work and supplements electric energy. The old man only need when beginning to use the robot move the base can, the robot starts the operation immediately, shows required information in liquid crystal display 5, carries the annular orientation module 14 of hand at any time, can use the smart mobile phone to set up and operate the robot. In formal operation, the user only needs to go to a target place such as a dish market with reassurance. The robot can start to go home after the shopping articles are placed in the shopping basket on the robot, and the robot follows immediately. When the problem of signal weakening is encountered in the following process, the micro inertial navigation and GPS module 7 is used for carrying out accurate positioning, and the stored street map of the place where the micro inertial navigation and GPS module is located is called for carrying out complementary following, so that the completion of the process of transporting articles is ensured. After the task is finished, the robot is only required to be placed on the base to be charged and put to sleep so as to reduce the loss of the computer.

Claims

1. The intelligent shopping following robot is characterized by comprising a device body, wherein the device body comprises a wireless charging module (2) and a core processor (1), and the output end of the wireless charging module (2) is connected with the input end of a storage battery (3);

the input end of the core processor (1) is connected with the output end of the gyroscope (4), the output end of the micro inertial navigation + GPS (7), the output end of the robot following module (8) and the output end of the laser ranging module (11), the output end of the core processor (1) is connected with the input end of the liquid crystal display screen (5) and the input end of the driving module (9), the serial port of the core processor (1) is connected with the L oRa module (6), the core processor (1) is electrically connected with the SD card (10), and the serial port of the core processor (1) is connected with the Bluetooth module (13);

the output end of the storage battery (3) is connected with the power supply ends of the core processor (1), the gyroscope (4), the liquid crystal display screen (5), the L oRa module (6), the micro inertial navigation + GPS module (7), the robot following module (8), the driving module (9), the SD card (10), the laser ranging module (11) and the Bluetooth module (13).

2. The intelligent shopping following robot as claimed in claim 1, wherein the bottom of the device body is provided with Mecanum wheels (12), the front part of the device body is provided with a liquid crystal display (5) and a device following module (8), the periphery of the device body is provided with laser ranging modules (11), and the top of the device body is provided with a shopping basket.

3. The intelligent shopping following robot as claimed in claim 1, wherein the liquid crystal display (5) is used for displaying robot operation data, and displaying the remaining power, time, Bluetooth connection condition, signal strength of the detection positioning module (14), signal strength of the micro inertial navigation + GPS (7), and signal strength of the L oRa module (6) on the display screen.

4. An intelligent shopping following robot according to claim 1, characterized in that the gyroscope (4) is used to determine the inclination and direction angle of the robot when walking.

5. The intelligent shopping following robot as claimed in claim 1, wherein the robot following module (8) is used in combination with a positioning module (14), the positioning module (14) is used for being worn by people, the positioning module (14) is a transmitting device, the robot following module (8) is a receiving device, and the robot following module (8) and the positioning module (14) are used for completing following operation.

6. An intelligent shopping following robot according to claim 5, characterized in that the positioning module (14) is a bracelet.

7. The intelligent shopping following robot as claimed in claim 1, wherein the wireless charging module (2) comprises a wireless transmitting module (201) and a wireless receiving module (202), the wireless receiving module (202) is located inside the device and used for storing received electric energy in the storage battery (3), the wireless transmitting module (201) is installed indoors, and the device can be charged by placing the device on the wireless transmitting module (201).

8. The intelligent shopping following robot as claimed in claim 1, wherein the core processor (1) is of the type ARM 8;

the laser ranging module (11) adopts TF02 laser radar of Beixing company.

9. An intelligent shopping following robot according to claim 1, characterized in that the accumulator (3) is used for power supply of each module, the SD card (10) is used for storing data of robot operation, the SD card (10) is used for storing personal information, driving route, pairing information and the like.

10. The use method of the intelligent shopping following device as claimed in claim 1, wherein when the device is not in operation, the device is placed on the wireless transmitting module (201) and the electric energy is supplemented; when the device is used, the device is just moved away from the wireless transmitting module (201), the device is started to run immediately, required information is displayed on the liquid crystal display screen (5), the hand-ring-shaped positioning module (14) is carried at any time, and the device can be set and operated by using a smart phone;

when meeting the signal and weakening in the following process, carry out accurate positioning through little inertial navigation + GPS module (7), carry out complementation and follow according to the street map of location through transferring SD card (10) of storage, ensured the completion of transportation article process, only need place the device on wireless transmitting module (201) to charge and dormancy in order to reduce the loss of computer after accomplishing the task.