CN112192568A - Intelligent shopping robot control method and system based on 5G network - Google Patents
Intelligent shopping robot control method and system based on 5G network Download PDFInfo
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- CN112192568A CN112192568A CN202011060416.4A CN202011060416A CN112192568A CN 112192568 A CN112192568 A CN 112192568A CN 202011060416 A CN202011060416 A CN 202011060416A CN 112192568 A CN112192568 A CN 112192568A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The invention relates to the technical field of shopping robots, in particular to an intelligent shopping robot control method and system based on a 5G network, wherein the control system is in communication connection with a control platform through the 5G wireless network and comprises a positioning navigation device and a controller which are connected with each other; the method comprises the following steps: the control platform generates a global path according to a target position selected by a user and initial information sent by the control system, the control system controls the robot to automatically run according to the global path, and real-time information is returned to the control platform; after the robot runs to the target position, the control system controls the robot to load the commodity selected by the user into the article storage device; when the control system judges that the article storage device is full, a warning is reported to the control platform to remind that the article storage device is full; when shopping is finished, the control system generates a commodity list for the commodities in the commodity storage device and reports the commodity list to the control platform.
Description
Technical Field
The invention relates to the technical field of shopping robots, in particular to an intelligent shopping robot control method and system based on a 5G network.
Background
The shopping mode of the present day comprises two modes of physical shopping and network shopping, and the network shopping is convenient. But lack the on-site shopping experience; although the physical shopping is good in on-site experience, the physical shopping is easy to cause fatigue, and particularly, the physical shopping is inconvenient under the condition of bad weather or long distance.
Due to the arrival of the 5G network era, the network bandwidth is greatly increased, and the data transmission speed is improved, so that ultrahigh-definition video transmission with ultrahigh reliability and ultralow time delay can be met; large-traffic application devices based on Virtual Reality (VR), Augmented Reality (AR), and the like have also been implemented, and VR glasses based on a 5G network tend to provide good body feeling.
Therefore, based on the 5G network technology, a solution capable of replacing the traditional shopping mode is needed to meet the shopping convenience and the on-site experience feeling.
Disclosure of Invention
In order to solve the above problems, the present invention provides a method and a system for controlling an intelligent shopping robot based on a 5G network, so as to solve one or more technical problems in the prior art and provide at least one useful choice or creation condition.
In order to achieve the purpose, the invention provides the following technical scheme:
an intelligent shopping robot control method based on a 5G network is applied to a control system, the control system is used for controlling an intelligent shopping robot, and the method comprises the following steps:
s100, establishing communication connection between a control platform and a control system through a 5G wireless network, and acquiring the operation authority of the control system by the control platform;
s200, a control system inquires initial information of the robot and returns the initial information to an operation platform, wherein the initial information comprises an initial position of the robot;
step S300, after acquiring a target position selected by a user, a control platform generates a global path according to an initial position and the target position, and displays the global path on a first map, wherein the first map is a plane map of a shopping place;
step S400, after receiving an automatic driving instruction sent by a control platform, a control system controls the robot to automatically drive according to the global path, and in the driving process of the robot, the control system acquires real-time information and returns the real-time information to the control platform, wherein the real-time information comprises real-time positions and real-time environment images acquired by the control system in real time;
step S500, after the robot runs to a target position, the control platform issues a control instruction to the control system, and the control system controls the robot to load commodities selected by a user into an article storage device according to the control instruction;
and step S600, when the control system receives a shopping finishing instruction issued by the control platform, the control system generates a commodity list for the commodities in the article storage device and reports the commodity list to the control platform.
Further, the manipulation platform includes VR glasses, the displaying the global path on a first map includes:
displaying a plane map of a shopping place through the VR glasses, displaying the initial position in the plane map by a first color scale, displaying a target position of the robot in the plane map by a second color scale, displaying a real-time position of the robot in the plane map by a third color scale, and displaying a remaining travel distance of the robot in the plane map by a first color band.
Further, control the platform and include body feeling game paddle, initial information still includes the initial environment image of robot, step S200 still includes:
checking the initial environment image through VR glasses, and allowing the control system to control the robot to start automatic driving after the environment where the robot is located is determined to be normal;
and if the environment where the robot is located is abnormal, issuing a control instruction to the control system through the motion sensing gamepad so that the control system controls the robot to run in real time according to the control instruction.
Further, the control system includes a controller, and the method further includes:
the controller adopts a distortion correction algorithm to eliminate the distortion of the real-time environment image, carries out three-dimensional modeling on the real-time environment image after the distortion is eliminated to obtain a three-dimensional image, and sends the three-dimensional image to VR glasses;
and the VR glasses synchronously display the three-dimensional image and the real-time position on a second map, wherein the second map is a three-dimensional map.
Further, the control system further comprises a binocular camera connected with the controller, and the method further comprises:
shooting a commodity image by using a binocular camera;
the controller captures image characteristics from the commodity image, compares the image characteristics with a commodity database, and sends commodity information obtained by matching to VR glasses for display.
Further, the method further comprises:
the controller carries out edge detection on the commodity image based on a machine vision technology, and divides the commodity image into a plurality of image areas;
and performing texture feature detection on the same image region, and marking and displaying pixel points different from the neighborhood texture.
Further, control system still includes infrared sensor, infrared sensor with the controller is connected, article storage device is the cube holding tank, installs infrared sensor at the relative both ends in article storage device's top, and the infrared sensor at both ends detects the infrared light of opposite end transmission simultaneously, the method still includes:
when the laser emitted by the infrared sensor at one end is detected by the infrared sensor at the other end, the controller judges that the article storage device is empty, and when the laser emitted by the infrared sensor at one end is not detected by the infrared sensor at the other end, the controller judges that the article storage device is full, and reports warning to the control platform to remind that the article storage device is full.
An intelligent shopping robot control system based on a 5G network is in communication connection with a control platform through a 5G wireless network and comprises a positioning navigation device and a controller which are connected with each other;
the control platform is used for generating a global path according to an initial position and a target position after acquiring the target position selected by a user, and displaying the global path on a first map, wherein the first map is a plane map of a shopping place;
the control system is used for issuing a control instruction to the control system after the robot runs to a target position;
the positioning navigation device is used for inquiring initial information of the robot and returning the initial information to the control platform, and the initial information comprises an initial position of the robot;
the system comprises a control platform, a control system and a control system, wherein the control platform is used for controlling the robot to automatically run according to the global path after receiving an automatic running instruction sent by the control platform, acquiring real-time information in the running process of the robot and returning the real-time information to the control platform, and the real-time information comprises a real-time position and a real-time environment image acquired by the control system in real time;
the controller is used for controlling the robot to load the commodity selected by the user into the article storage device according to the control instruction sent by the control platform; judging whether the article storage device is full in real time, and reporting a warning to the control platform when the article storage device is full to remind that the article storage device is full;
and the control system is used for generating a commodity list from the commodities in the article storage device and reporting the commodity list to the control platform when receiving a shopping finishing instruction issued by the control platform.
The invention has the beneficial effects that: the invention discloses an intelligent shopping robot control method and system based on a 5G network.A global path is generated by a control platform according to a target position selected by a user and initial information sent by a control system, and the control system controls the robot to automatically run according to the global path, so that invalid labor possibly caused when the user searches for a target commodity is avoided, and fatigue caused by long-time walking of the user in a shopping place is saved; the real-time information is transmitted back to the control platform, so that a user can know the field condition of the robot in real time conveniently, and the field experience of the user is improved; after the robot runs to the target position, the control system controls the robot to load the commodities selected by the user into the article storage device, so that the manpower for placing the commodities and dragging the commodities by the user is saved; when the control system judges that the article storage device is full, a warning is reported to the control platform to remind that the article storage device is full; when shopping is finished, the control system generates a commodity list for commodities in the commodity storage device and reports the commodity list to the control platform, so that good transaction experience is provided for a user; in conclusion, the shopping system and the shopping method can meet the shopping convenience and the on-site experience.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic flow chart of a control method of an intelligent shopping robot based on a 5G network according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an intelligent shopping robot control system based on a 5G network in the embodiment of the invention.
Detailed Description
The conception, specific structure and technical effects of the present disclosure will be described clearly and completely with reference to the accompanying drawings and embodiments, so that the purpose, scheme and effects of the present disclosure can be fully understood. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
Referring to fig. 1, an embodiment of the present invention provides an intelligent shopping robot control method based on a 5G network, where the method is applied to a control system, the control system is used to control an intelligent shopping robot, and the method includes the following steps:
s100, establishing communication connection between a control platform and a control system through a 5G wireless network, and acquiring the operation authority of the control system by the control platform;
it can be understood that the communication module adopted between the control platform and the control system is a 5G communication module, and a transport layer TCP control protocol is adopted for communication connection.
S200, a control system inquires initial information of the robot and returns the initial information to an operation platform, wherein the initial information comprises an initial position of the robot;
in one embodiment, after the control platform obtains the operation authority of the control system, the control platform sends an initialization signal to the control system, the control system initializes a control program according to the initialization signal, inquires initial information of the robot, and returns the initial information to the control platform;
step S300, after acquiring a target position selected by a user, a control platform generates a global path according to an initial position and the target position, and displays the global path on a first map;
wherein the first map is a plan map of a shopping place; specifically, the first map is a pre-stored planar map of a shopping place, or a planar map of a shopping place acquired in real time through a network.
In one embodiment, after a control platform generates a global path, the global path is sent to a control system;
step S400, after receiving an automatic driving instruction sent by a control platform, a control system controls the robot to automatically drive according to the global path, and in the driving process of the robot, the control system collects real-time information and returns the real-time information to the control platform;
the real-time information comprises real-time positions and real-time environment images acquired by a control system in real time;
in one embodiment, the real-time information processed by the three-dimensional modeling technology is displayed on VR glasses in the form of a three-dimensional map. The AR information is added to the VR image information,
in one embodiment, a binocular vision simulation effect of human eyes is achieved through a Unity3D engine, a camera of the robot is controlled by a rocker on a motion sensing gamepad, the visual angle of the camera changes along with the change of the swinging direction of the rocker, and a real-time image is displayed on VR glasses through a three-dimensional modeling technology and a distortion algorithm. The navigation information visualization is realized by loading an augmented reality technology in virtual reality, and the technology can store the original information of a real-time image.
Step S500, after the robot runs to a target position, the control platform issues a control instruction to the control system, and the control system controls the robot to load commodities selected by a user into an article storage device according to the control instruction;
in this embodiment, the user carries out remote control to the robot based on Virtual Reality (VR), controls the platform and feels game paddle and VR glasses including the perception, feels the operation command that game paddle triggered and controls the robot and remove through the perception, and VR glasses are used for perception robot environment.
In one embodiment, commodity consultation and purchase are achieved through synchronous robot voice output/input, and loading commodities to the hands of users is started through the commodity storage device.
And step S600, when the control system receives a shopping finishing instruction issued by the control platform, the control system generates a commodity list for the commodities in the article storage device and reports the commodity list to the control platform.
Most of the existing robots are engaged in single assembly line work, such as sweeping, wiping glass, delivering food and the like, and cannot meet more requirements of users when interacting with people. According to the intelligent shopping system, the intelligent improvement is carried out, the solution of the traditional shopping mode can be replaced under the efficient communication of the control platform and the control system, and the shopping convenience and the on-site experience feeling are met.
In a preferred embodiment, the manipulation platform includes VR glasses, and the displaying the global path on a first map includes:
displaying a plane map of a shopping place through the VR glasses, displaying the initial position in the plane map by a first color scale, displaying a target position of the robot in the plane map by a second color scale, displaying a real-time position of the robot in the plane map by a third color scale, and displaying a remaining travel distance of the robot in the plane map by a first color band.
In one embodiment, the initial position of the robot is represented by a yellow dot on a plane map, the target position of the robot is represented by a red dot on the plane map, the real-time position of the robot is represented by a green dot on the plane map, the remaining travel distance of the robot is displayed by a blue line on the plane map, the plane map further displays an estimated arrival time determined according to the remaining distance, which is the distance from the robot to the target position, and a battery power bar for representing the remaining power of the robot.
In a preferred embodiment, the manipulation platform includes a motion sensing joystick, the initial information further includes an initial environment image of the robot, and the step S200 further includes:
checking the initial environment image through VR glasses, and allowing the control system to control the robot to start automatic driving after the environment where the robot is located is determined to be normal;
and if the environment where the robot is located is abnormal, issuing a control instruction to the control system through the motion sensing gamepad so that the control system controls the robot to run in real time according to the control instruction.
In a preferred embodiment, the method further comprises:
the controller adopts a distortion correction algorithm to eliminate the distortion of the real-time environment image, carries out three-dimensional modeling on the real-time environment image after the distortion is eliminated to obtain a three-dimensional image, and sends the three-dimensional image to VR glasses;
and the VR glasses synchronously display the three-dimensional image and the real-time position on a second map, wherein the second map is a three-dimensional map.
In a preferred embodiment, the control system further comprises a binocular camera connected to the controller, and the method further comprises:
shooting a commodity image by using a binocular camera;
the controller captures image characteristics from the commodity image, compares the image characteristics with a commodity database, and sends commodity information obtained by matching to VR glasses for display.
It should be noted that the real-time environment image and the initial environment image are both obtained by shooting through a binocular camera connected with the controller.
In one embodiment, when the control system executes a control instruction, the control system shoots commodity images through the binocular camera, compares the characteristics with a network data search library or a pre-stored commodity database, matches and searches commodities, and in the purchasing process, a user touches unfamiliar commodities, can click commodity information, and displays the commodity information through VR glasses, wherein the commodity information comprises: title, efficacy and method of use.
In a preferred embodiment, the method further comprises:
the controller carries out edge detection on the commodity image based on a machine vision technology, and divides the commodity image into a plurality of image areas;
and performing texture feature detection on the same image region, and marking and displaying pixel points different from the neighborhood texture.
In this embodiment, through the surface defect of real-time detection and discernment quilt survey commodity, show the sign with the surface defect of commodity, whether the user of being convenient for knows commodity fast damaged to and damaged region.
In an embodiment, every time the robot grabs an article, the mechanical arm rotates in a three-dimensional mode, the camera is used for shooting through the magnification factor, the article is magnified and observed, and the intelligent terminal is given to check whether the article is damaged or not.
The robot of the present invention provides an article damage detection function in consideration of the problem that damage to an article due to a captured light is not easily noticeable. The invention is based on the machine vision technology, and detects and identifies common surface defects (such as holes, damages, edge cracks, scratches, edge damages and the like) of the tested commodity in real time. The surface defect detection is judged based on two characteristics of image texture and edge, the invention firstly carries out edge detection on the commodity to divide the area, carries out texture characteristic detection in the same area, is different from the pixel point texture of the neighborhood, and is displayed by red circle marks.
The control system of the invention is based on PLC programming control, the program adopts a client/server mode, the remote control technology from the robot end to the client is based on a 5G wireless communication technology, the end-to-end connection adopts MEC (Mobile Edge Computing) technology,
according to the technical scheme provided by the embodiment, the server sinks as much as possible and is deployed at the edge of the wireless network. Therefore, the terminal and the server can realize interactive communication only by once frequency hopping, and the end-to-end time delay can be greatly compressed. After the invention adopts the technologies of wireless technology, QoS setting, mobile edge calculation and the like, the end-to-end time delay in the 5G network can be controlled within milliseconds, which is only one fifth of that of the 4G network.
In the embodiment provided by the invention, the time delay of position tracking, network transmission, image processing and screen refreshing in the VR technology can be reduced by the ultralow time delay characteristic of the 5G network, so that the dizzy feeling caused by the time delay is greatly reduced. The high-speed characteristic of the 5G network realizes the real-time transmission of high-definition videos, so that video pictures are clearer, and no image information is blocked when a far end or a cloud end checks.
In a preferred embodiment, the control system further comprises a positioning navigation device, and the method further comprises:
when the robot is located outdoors, the positioning navigation device adopts a pseudo-range differential dynamic positioning method, adopts a reference receiver and a dynamic receiver to detect GPS positioning coordinates sent by 4 GPS satellites to obtain 4 GPS positioning coordinates, and calculates the initial position and the real-time position of the robot according to the 4 GPS positioning coordinates, wherein the initial position and the real-time position of the robot are three-dimensional position coordinates;
when the robot is located indoors, the positioning navigation device determines the initial position and the real-time position of the robot by adopting an Ultra Wide Band (UWB) indoor positioning technology.
Specifically, the positioning and navigation device first sends a ranging request to a 5G positioning base station deployed indoors, the 5G positioning base station processes the received ranging request, replies confirmation information to the positioning and navigation device after a short interval time, respectively records time intervals of sending and receiving UWB signals, and records a time interval of sending the ranging request and receiving the confirmation information by the positioning and navigation device as T1 and a time interval of receiving the ranging request and sending the confirmation information by the 5G positioning base station as T2, so that the one-way flight time T3 of the UWB signal in the air can be calculated as: t3 ═ (T1-T2)/2; then, the distance between the positioning navigation device and the 5G positioning base station can be calculated according to the product of T3 and the propagation speed of the electromagnetic wave: d ═ cxt 3; and then drawing a circle by taking each 5G positioning base station as a center according to the distance from the positioning navigation device to the plurality of 5G positioning base stations, so as to obtain an intersection point, wherein the intersection point is the position of the robot, and the initial position and the real-time position of the robot are obtained, and the initial position and the real-time position of the robot are three-dimensional position coordinates.
In one embodiment, the robot has a GPS sensor and is also navigated by data of a magnetic compass, an optical code disc and a GPS.
The robot positioning technology has an autonomous navigation function, adopts a pseudo-range differential dynamic positioning method, adopts a reference receiver and a dynamic receiver to jointly observe 4 GPS satellites, and can calculate the three-dimensional position coordinate of the robot at a certain moment according to a certain algorithm.
Storage and placement mode: in the food material placing process, due to the limited commodity storage space, the stacking phenomenon is inevitably generated under the condition of large food material quantity. In order not to damage food materials, the commodity storage principle is set. The food materials purchased can be roughly classified into the following categories: vegetables, meat, seasonings, wheaten food, eggs, and cereals. Therefore, the storage box body is divided into storage areas, namely a bottle filling area, an egg area and a stacking area. The placing principle is as follows: eggs and bottled food are respectively and independently placed in corresponding areas, and cereals are placed at the bottommost layer of the stacking area. The robot realizes the classification of food materials and the automatic placement of the food materials through information given by a control platform of a user side or a commodity identification function of the robot. The commodity identification method is based on the shape detection principle, and the commodity shape is used as a model to be classified into the storage sections of all the categories by means of maximum likelihood method reasoning.
In a preferred embodiment, the control system further includes an infrared sensor, the infrared sensor is connected to the controller, the article storage device is a cubic accommodation slot, the infrared sensors are mounted at two opposite ends of the top of the article storage device, and the infrared sensors at the two ends detect infrared light emitted from the opposite ends simultaneously, and the method further includes:
when the laser emitted by the infrared sensor at one end is detected by the infrared sensor at the other end, the controller judges that the article storage device is empty, and when the laser emitted by the infrared sensor at one end is not detected by the infrared sensor at the other end, the controller judges that the article storage device is full, and reports warning to the control platform to remind that the article storage device is full.
Referring to fig. 2, an embodiment of the present invention further provides an intelligent shopping robot control system based on a 5G network, where the control system is in communication connection with a control platform through a 5G wireless network, and the control system includes a positioning navigation device and a controller that are connected to each other;
the control platform is used for generating a global path according to an initial position and a target position after acquiring the target position selected by a user, and displaying the global path on a first map, wherein the first map is a plane map of a shopping place;
the control system is used for issuing a control instruction to the control system after the robot runs to a target position;
the positioning navigation device is used for inquiring initial information of the robot and returning the initial information to the control platform, and the initial information comprises an initial position of the robot;
the system comprises a control platform, a control system and a control system, wherein the control platform is used for controlling the robot to automatically run according to the global path after receiving an automatic running instruction sent by the control platform, acquiring real-time information in the running process of the robot and returning the real-time information to the control platform, and the real-time information comprises a real-time position and a real-time environment image acquired by the control system in real time;
the controller is used for controlling the robot to load the commodity selected by the user into the article storage device according to the control instruction sent by the control platform; judging whether the article storage device is full in real time, and reporting a warning to the control platform when the article storage device is full to remind that the article storage device is full;
and the control system is used for generating a commodity list from the commodities in the article storage device and reporting the commodity list to the control platform when receiving a shopping finishing instruction issued by the control platform.
One of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (8)
1. An intelligent shopping robot control method based on a 5G network is characterized in that the method is applied to a control system, the control system is used for controlling an intelligent shopping robot, and the method comprises the following steps:
s100, establishing communication connection between a control platform and a control system through a 5G wireless network, and acquiring the operation authority of the control system by the control platform;
s200, a control system inquires initial information of the robot and returns the initial information to an operation platform, wherein the initial information comprises an initial position of the robot;
step S300, after acquiring a target position selected by a user, a control platform generates a global path according to an initial position and the target position, and displays the global path on a first map, wherein the first map is a plane map of a shopping place;
step S400, after receiving an automatic driving instruction sent by a control platform, a control system controls the robot to automatically drive according to the global path, and in the driving process of the robot, the control system acquires real-time information and returns the real-time information to the control platform, wherein the real-time information comprises real-time positions and real-time environment images acquired by the control system in real time;
step S500, after the robot runs to a target position, the control platform issues a control instruction to the control system, and the control system controls the robot to load commodities selected by a user into an article storage device according to the control instruction;
and step S600, when the control system receives a shopping finishing instruction issued by the control platform, the control system generates a commodity list for the commodities in the article storage device and reports the commodity list to the control platform.
2. The intelligent shopping robot control method based on 5G network as claimed in claim 1, wherein the manipulation platform includes VR glasses, the displaying the global path on a first map includes:
displaying a plane map of a shopping place through the VR glasses, displaying the initial position in the plane map by a first color scale, displaying a target position of the robot in the plane map by a second color scale, displaying a real-time position of the robot in the plane map by a third color scale, and displaying a remaining travel distance of the robot in the plane map by a first color band.
3. The intelligent shopping robot control method based on 5G network of claim 2, wherein the control platform includes a motion sensing joystick, the initial information further includes an initial environment image of the robot, the step S200 further includes:
checking the initial environment image through VR glasses, and allowing the control system to control the robot to start automatic driving after the environment where the robot is located is determined to be normal;
and if the environment where the robot is located is abnormal, issuing a control instruction to the control system through the motion sensing gamepad so that the control system controls the robot to run in real time according to the control instruction.
4. The intelligent shopping robot control method based on 5G network as claimed in claim 3, wherein the control system includes a controller, the method further comprising:
the controller adopts a distortion correction algorithm to eliminate the distortion of the real-time environment image, carries out three-dimensional modeling on the real-time environment image after the distortion is eliminated to obtain a three-dimensional image, and sends the three-dimensional image to VR glasses;
and the VR glasses synchronously display the three-dimensional image and the real-time position on a second map, wherein the second map is a three-dimensional map.
5. The intelligent shopping robot control method based on 5G network as claimed in claim 4, wherein the control system further comprises a binocular camera connected with the controller, the method further comprising:
shooting a commodity image by using a binocular camera;
the controller captures image characteristics from the commodity image, compares the image characteristics with a commodity database, and sends commodity information obtained by matching to VR glasses for display.
6. The intelligent shopping robot control method based on 5G network as claimed in claim 4, characterized in that the method further comprises:
the controller carries out edge detection on the commodity image based on a machine vision technology, and divides the commodity image into a plurality of image areas;
and performing texture feature detection on the same image region, and marking and displaying pixel points different from the neighborhood texture.
7. The intelligent shopping robot control method based on 5G network as claimed in claim 1, wherein the control system further comprises an infrared sensor, the infrared sensor is connected with the controller, the article storage device is a cubic containing slot, the infrared sensors are installed at two opposite ends of the top of the article storage device, the infrared sensors at two ends detect the infrared light emitted from the opposite ends simultaneously, the method further comprises:
when the laser emitted by the infrared sensor at one end is detected by the infrared sensor at the other end, the controller judges that the article storage device is empty, and when the laser emitted by the infrared sensor at one end is not detected by the infrared sensor at the other end, the controller judges that the article storage device is full, and reports warning to the control platform to remind that the article storage device is full.
8. The intelligent shopping robot control system based on the 5G network is characterized in that the control system is in communication connection with a control platform through the 5G wireless network, and the control system comprises a positioning navigation device and a controller which are connected with each other;
the control platform is used for generating a global path according to an initial position and a target position after acquiring the target position selected by a user, and displaying the global path on a first map, wherein the first map is a plane map of a shopping place;
the control system is used for issuing a control instruction to the control system after the robot runs to a target position;
the positioning navigation device is used for inquiring initial information of the robot and returning the initial information to the control platform, and the initial information comprises an initial position of the robot;
the system comprises a control platform, a control system and a control system, wherein the control platform is used for controlling the robot to automatically run according to the global path after receiving an automatic running instruction sent by the control platform, acquiring real-time information in the running process of the robot and returning the real-time information to the control platform, and the real-time information comprises a real-time position and a real-time environment image acquired by the control system in real time;
the controller is used for controlling the robot to load the commodity selected by the user into the article storage device according to the control instruction sent by the control platform; judging whether the article storage device is full in real time, and reporting a warning to the control platform when the article storage device is full to remind that the article storage device is full;
and the control system is used for generating a commodity list from the commodities in the article storage device and reporting the commodity list to the control platform when receiving a shopping finishing instruction issued by the control platform.
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