CN112960022B - Supermarket intelligent shopping cart system and method based on wearable terminal - Google Patents

Supermarket intelligent shopping cart system and method based on wearable terminal Download PDF

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CN112960022B
CN112960022B CN202110390948.2A CN202110390948A CN112960022B CN 112960022 B CN112960022 B CN 112960022B CN 202110390948 A CN202110390948 A CN 202110390948A CN 112960022 B CN112960022 B CN 112960022B
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shopping cart
intelligent shopping
terminal
module
supermarket
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CN112960022A (en
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李�杰
杨蕊绽
郑宏宇
郭中阳
宗长富
宋娟娟
王剑波
吴竟启
束琦
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Jilin University
Jiangsu Chaoli Electric Inc
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Jiangsu Chaoli Electric Inc
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q30/00—Commerce
    • G06Q30/02—Marketing; Price estimation or determination; Fundraising
    • G06Q30/0281—Customer communication at a business location, e.g. providing product or service information, consulting
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C9/00—Individual registration on entry or exit
    • G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
    • G07C9/00896—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys specially adapted for particular uses
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B19/00—Alarms responsive to two or more different undesired or abnormal conditions, e.g. burglary and fire, abnormal temperature and abnormal rate of flow
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
    • H04B1/38—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
    • H04B1/3827—Portable transceivers
    • H04B1/385—Transceivers carried on the body, e.g. in helmets
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/024—Guidance services
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C9/00—Individual registration on entry or exit
    • G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
    • G07C9/00896—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys specially adapted for particular uses
    • G07C2009/0092—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys specially adapted for particular uses for cargo, freight or shipping containers and applications therefore in general
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
    • H04B1/38—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
    • H04B1/3827—Portable transceivers
    • H04B1/385—Transceivers carried on the body, e.g. in helmets
    • H04B2001/3861—Transceivers carried on the body, e.g. in helmets carried in a hand or on fingers

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Abstract

The invention discloses a wearable terminal-based supermarket intelligent shopping cart system and a wearable terminal-based supermarket intelligent shopping cart method, and belongs to the technical field of shopping carts; the system comprises a bracelet-type wearable terminal, an intelligent shopping cart and a supermarket background processing platform; the invention aims to help customers to shop efficiently and conveniently, save shopping time, reduce shopping burden and provide safety warning for customers who shop with children, thereby improving shopping experience of the customers and improving operation efficiency of a supermarket. The bracelet-type wearable terminal comprises a power supply module, a wireless communication module, an information display and interaction module, an alarm module and a positioning module; the intelligent shopping cart comprises a layered intelligent shopping cart box body, a four-wheel module, a wireless communication module, a positioning module, a voice module and a navigation control module; the supermarket background processing platform comprises a display screen, a wireless communication module, a camera module, an information processing module and an alarm module.

Description

Supermarket intelligent shopping cart system and method based on wearable terminal
Technical Field
The invention belongs to the technical field of shopping carts, and particularly provides a supermarket intelligent shopping cart system based on a bracelet-type wearable terminal and a using method thereof.
Background
The traditional shopping places such as supermarkets and the like are continuously improved and developed, the scale of the shopping cart is larger and larger, the types of commodities are more and more abundant, a customer still needs to spend a certain time in the process of searching the commodities, and no intelligent shopping cart which is in mass production and put into use is available in the market at present, can help the customer to quickly search the commodities, automatically drive, watch the goods, locate and monitor the distance between children, and improve the management efficiency of the supermarkets.
At present, most shopping carts in large shopping places such as supermarkets, malls and the like are in a manual pushing mode, although the shopping burden of customers can be reduced to a certain extent, when the shopping time is long or the purchased commodities are heavy, the shopping carts still bring great burden and inconvenience to the customers, and therefore the shopping experience of the customers is influenced. When a customer purchases goods, the traditional hand-push shopping cart brings certain convenience for the customer to place the goods, but the storage problems that the taste of the goods is tainted, the fresh goods cannot reach the storage temperature and the like because the equipment is simple and crude and the goods cannot be placed in a classified mode exist.
Some customers can bring children to go to together when shopping, but the customer inevitably can reduce the attention to children when shopping, and children run around can cause getting lost or even have the risk of wandering away, especially when having a plurality of children, probably still can use more than one shopping cart this moment, and customer's burden can further increase to customer also can influence shopping experience when giving consideration to shopping and guard children, even feels the debilitation of dividing into one's body, therefore it is very necessary that supermarket side takes certain measure to share the pressure that customer guard children or other guard objects when shopping.
At present, in shopping places such as supermarkets and the like, customers often need to go to a specific area to take shopping carts, the steps are relatively complicated, and the problem that a supermarket manager feels very headache due to the fact that the shopping carts are parked randomly after shopping is finished is solved, so that the operating efficiency and the operating order of the supermarkets are influenced to a certain extent.
Disclosure of Invention
Aiming at the problems, the invention provides a wearable terminal-based supermarket intelligent shopping cart system and a wearable terminal-based supermarket intelligent shopping cart method, which are used for solving various problems of a traditional shopping cart in shopping scenes such as supermarkets and the like, improving the shopping experience of customers and improving the management efficiency of supermarkets.
The technical scheme of the invention is as follows: the supermarket intelligent shopping cart system based on the wearable terminal is divided into a set of bracelet-type wearable terminals, an intelligent shopping cart and a supermarket background processor; the bracelet-type wearable terminal can be provided with a primary mode and a secondary mode, the two modes are different in control authority and function, the primary mode terminal is used for interaction and positioning between a customer and a supermarket intelligent shopping cart system, and the secondary mode terminal is mainly used for positioning children, alarming and sending out an intelligent shopping cart return application; the bracelet-type wearable terminal comprises a power module, a wireless communication module, an information display and interaction module, an alarm module and a positioning module; the wireless communication module transmits real-time position information of the bracelet-type wearable terminal to the intelligent shopping cart and the supermarket background processing platform according to an instruction of the bracelet-type wearable terminal processor, and can also receive voice and text information transmitted by the intelligent shopping cart and the supermarket background processing platform, and is used for prompting a customer and realizing voice communication between the customer and background staff; the wireless communication module is also used for realizing pairing between the primary-secondary mode bracelet type wearable terminals; the information display and interaction module is provided with a rectangular touchable display screen for a customer to browse and select commodities, and can prompt the customer by displaying text information; the alarm module consists of a voice module, a buzzer and a vibration module, wherein the voice module has a background voice call function and a built-in voice prompt function, the background voice call function is that background management personnel can directly communicate with customers through a supermarket background processing platform, and the built-in voice prompt function is that simple voice prompt is carried out through built-in voice segments when the customers carry out corresponding operation; a high-precision positioning chip is arranged in the positioning module and used for acquiring the precise position information of the bracelet-type wearable terminal in the supermarket, and the bracelet-type wearable terminal can be specifically positioned on different floors of the supermarket; the positioning module acquires position information of the bracelet-type wearable terminal once every 1 second and sends the information to the intelligent shopping cart and the supermarket background processing platform through the wireless communication module; the intelligent shopping cart comprises a layered intelligent shopping cart box body, a four-wheel module, a wireless communication module, a positioning module, a voice module and a navigation control module; the intelligent shopping cart box body adopts a layered assembly form and supports the addition and replacement of the box body; the intelligent shopping cart box body specifically has: private article storage boxes, fresh goods storage boxes and other goods storage boxes; the private article storage box body is opened before a customer starts shopping, is kept closed in the shopping process, cannot be opened by the customer, and can be opened to allow the customer to take away the private article only after the customer returns to the bracelet-type wearable terminal; the fresh commodity storage box body has the functions of refrigeration and heat preservation, and is convenient for customers to store fresh commodities; the other commodity storage box bodies do not have the functions of refrigeration and heat preservation and are used for storing other commodities; the intelligent shopping cart is provided with one box body under the default condition, wherein the private article storage box body is a mandatory option and is positioned at the lowest layer of the whole intelligent shopping cart and used for installing the four-wheel module and the positioning module, and meanwhile, the upper layer of the private article storage box body can carry out addition and replacement operation of the specific box body according to the shopping requirements of customers; the box bodies adopt hinge type cabinet doors which can be closed in the same specification, the cabinet doors are transversely installed and provided with electromagnetic locks and force sensors, and when the cabinet doors are subjected to external force in a closed state, the force sensors can detect the external force; the intelligent shopping cart navigation control module receives door opening force signals detected by the three force sensors, corresponding door opening risk degrees can be calculated through a built-in door opening risk degree calculating algorithm, corresponding alarm can be given when the door opening risk degrees reach a limit value, and the alarm level is increased along with the increase of the risk degrees; the door opening risk degree measuring and calculating algorithm is as follows:
Figure GDA0003331721750000021
wherein:
γ1、γ2respectively a force sensor weight factor and a people stream density weight factor, and satisfies gamma1+γ2Initially set to 1, γ1＝0.9，γ2＝0.1；
ω1、ω2、ω3Respectively are a weighting factor of a cabinet door left edge force sensor, a weighting factor of a cabinet door right edge force sensor and a weighting factor of a cabinet door middle edge force sensor, and meet omega1+ω2+ω3＝1；
FL、FR、FMRespectively taking the value of a left edge force sensor of the cabinet door, the value of a right edge force sensor of the cabinet door and the value of an edge force sensor in the cabinet door;
FLmax、FRmax、FMmaxthe limit values of the door opening force at the left edge of the cabinet door, the right edge of the cabinet door and the middle edge of the cabinet door are respectively, and reliable values can be obtained through repeated tests of opening and closing the cabinet door;
rho is the people flow density of the area where the intelligent shopping cart is located, and is obtained by analyzing the video pictures collected by the camera module through the supermarket background processing platform information processing module;
ρmaxallowing maximum people flow density for the area where the intelligent shopping cart is located;
four wheels in the four-wheel module of the intelligent shopping cart are distributed at four corners of a box body of the intelligent shopping cart and are detachably connected with a chassis, and four tires can independently rotate around the vertical axis of the four wheels by 180 degrees and are driven by a built-in hub motor; pressure sensors are arranged on 4 wheels in the four-wheel module and can be used for measuring the weight of the intelligent shopping cart box body; when the hub motor rotates, the motion direction of the top point on the rim is the same as the advancing direction of the shopping cart, so that the intelligent shopping cart can be driven, and when the motion direction of the top point on the rim is opposite to the advancing direction of the shopping cart, the intelligent shopping cart can be braked; when the intelligent shopping cart is parked, the built-in hub motors of the four wheels are locked, the four wheels deflect outwards at a certain angle at the same time, the angle range is 0-90 degrees, and a fuzzy control method considering the running speed of the intelligent shopping cart and the weight of a box body of the intelligent shopping cart is adopted for the specific deflection angle:
the fuzzy control method comprises the following steps that input of an intelligent shopping cart running speed and intelligent shopping cart box body weight is defined as V ═ ZE, PO, PS, PM and PB }, namely { zero, positive, negative, middle and positive }, G ═ ZE, PO, PS, PM and PB }, namely { zero, positive, negative, middle and positive }, output is an intelligent shopping cart four-wheel outward deflection angle, and a fuzzy set is defined as D ═ ZE, PO, PS, PM and PB }, namely { zero, positive, negative, middle and positive }; wherein V is the running speed of the intelligent shopping cart in km/h, G is the box body weight of the intelligent shopping cart in N, D is the outward deflection angle of four wheels of the intelligent shopping cart in an angle range of 0-90 degrees;
the intelligent shopping cart wireless communication module is used for receiving instructions of the bracelet-type wearable terminal, commodity position information of the supermarket background processing platform and map information inside the supermarket and transmitting the information to the navigation control module; the intelligent shopping cart wireless communication module sends the position information of the intelligent shopping cart and the user use record to the supermarket background processing platform, the supermarket background processing platform carries out intelligent shopping cart use evaluation according to the intelligent shopping cart record and feeds the intelligent shopping cart use evaluation back to a developer, and the evaluation contents mainly comprise: (1) the intelligent shopping cart navigation route tracking precision is as follows: referring to a transverse deviation root mean square value between a planning route and an actual driving route of the intelligent shopping cart; (2) time loss of navigation route of intelligent shopping cart: referring to the time used by the intelligent shopping cart to travel a unit distance; (3) obstacle effect is kept away to intelligence shopping cart: referring to the minimum distance between the intelligent shopping cart and the obstacle in the driving process and whether an obstacle avoidance failure accident occurs; the intelligent shopping cart positioning module comprises four blocksEach chip can independently work to acquire the position information of the intelligent shopping cart, and the intelligent shopping cart positioning module acquires the accurate position coordinate information of the intelligent shopping cart according to the position information of the intelligent shopping cart measured by the four positioning chips by using a coordinate calculation formula arranged in the module; the intelligent shopping cart voice modules are symmetrically embedded in the middle positions of the upper edges of the left side and the right side of the intelligent shopping cart box body respectively, and the distances from the intelligent shopping cart voice modules to the edges of the front box body and the rear box body of the intelligent shopping cart are equal, so that the intelligent shopping cart voice modules are used for prompting customers and giving out voice warning under emergency; the intelligent shopping cart navigation control module comprises two high-performance processors and a radar module and is used for calculating the distance between the intelligent shopping cart and the bracelet type wearable terminal in real time, planning a route and tracking the route; the radar module is used for detecting surrounding obstacle information and feeding the obstacle information back to the processor in time so as to correct the track in time and carry out obstacle avoidance operation; the two processors simultaneously and independently participate in system operation and output instructions, and the navigation control module fuses instruction information of the two processors and then finally outputs the fused instruction information, so that the system can still work normally when one processor fails and cannot work; the intelligent shopping cart can be used for carrying out intelligent shopping cart formation driving according to shopping demands of customers, a parent terminal is supported to be communicated with a plurality of intelligent shopping carts, the intelligent shopping cart formation adopts a distributed control strategy, and a specific control method can adopt
Figure GDA0003331721750000022
Cooperative following navigator method: setting the intelligent shopping cart initially paired with the parent terminal as a pilot cart of an intelligent shopping cart formation, wherein subsequent intelligent shopping carts in the intelligent shopping cart formation are guided by the pilot cart and perform information interaction and cooperative motion with other intelligent shopping carts in the formation; the intelligent shopping cart formation runs in the system by taking a pilot cart of the intelligent shopping cart formation as a description object; the supermarket background processing platform comprises a display, a camera module, a wireless communication module, an information processing module and an alarm module; the supermarket background processing platform display is used for displaying in real timeShow the position information and the inside goods shelves three-dimensional map information of the wearable terminal of the inside bracelet formula in supermarket and intelligent shopping cart, indicate the position of the wearable terminal of primary and secondary mode bracelet formula and intelligent shopping cart with the icon of different colours and shape respectively on the display, and represent emergency degree through the shade of icon colour: if the bracelet-type wearable terminal or the intelligent shopping cart is in the supermarket operation range and is closer to the boundary, the darker the color of the corresponding icon is; when the bracelet-type wearable terminal or the intelligent shopping cart starts to exceed the supermarket operation range, the corresponding icon continuously flickers at the initial frequency of 5Hz, the flickering frequency is increased gradually as the distance of the intelligent shopping cart exceeding the operation range increases, and the specific increasing mode is that the flickering frequency of the icon is increased by 1Hz every time the distance is increased by 0.5 m; the supermarket background processing platform information processing module is used for calculating the people flow density information in the supermarket according to the video pictures transmitted by the supermarket background processing platform camera module, controlling the output pictures of the supermarket background processing platform display, setting and storing map information and commodity information in the supermarket, supporting the operation of adding information and modifying information, and sending the information to the hand ring type wearable terminal and the intelligent shopping cart in time through the supermarket background processing platform wireless communication module; the supermarket background processing platform information processing module is also used for evaluating the use records of the whole system and recording the evaluation results, and the evaluation records are integrated every two weeks to generate a use report which is fed back to a supermarket manager; supermarket backstage processing platform alarm module is used for the position of real-time supervision bracelet formula wearable terminal and intelligent shopping cart, when finding that above-mentioned bracelet formula wearable terminal or intelligent shopping cart position are outside supermarket operating range, can be in time send out voice warning to the staff through built-in voice module, the inside voice prompt of bracelet formula wearable terminal and intelligent shopping cart under various scenes of having predetermine of alarm module simultaneously, voice prompt supports the backstage and adds, the editing operation of modification, voice prompt can be synchronous to all bracelet formula wearable terminals and intelligent shopping cart through wireless communication module after the completion of editing, simultaneously built-in voice module of alarm module also can be used to the pronunciation expert between staff and the terminalIf so; the supermarket background processing platform camera module is arranged above each shopping channel in the supermarket, can acquire dynamic pictures of each shopping channel in the supermarket in real time, and transmits the pictures to the supermarket background processing platform information processing module in real time for calculating the people flow density; when a customer shops, the shopping navigation mode, the shopping following mode, the sentinel mode and the child monitoring mode can be selected through the bracelet-type wearable terminal, and then all parts of the system enter corresponding working states according to the selected modes.
The bracelet-type wearable terminal is provided with a primary-secondary mode by a user, a terminal set as the primary mode is called a primary terminal, a terminal set as the secondary mode is called a secondary terminal, one primary terminal and a plurality of secondary terminals matched with the primary terminal can be arranged, and the bracelet-type wearable terminal corresponds to a scene that a customer takes a plurality of children to shop; after the bracelet-type wearable terminal is started, a customer can manually select and set the bracelet-type wearable terminal as a parent terminal or a child terminal on a touch display screen of the bracelet-type wearable terminal, and if the bracelet-type wearable terminal is not set, the intelligent shopping cart corresponding to the parent terminal cannot be in a dormant state; if the customer selects the parent terminal, the display interface enters the interface for adding the child terminal, at the moment, the user can perform the operation of adding and pairing the child terminal, and if no child terminal needs to add and pair, skipping can be selected; if the customer selects the child terminal, the customer needs to perform pairing operation with the corresponding parent terminal; the bracelet-type wearable terminal is characterized in that a string of digital labels is engraved on the surface of the bracelet-type wearable terminal and serves as a unique identifier of the bracelet-type wearable terminal, when a matched child terminal is added to a parent terminal, the digital labels corresponding to the child terminal are input only through a touchable display screen of the parent terminal, and pairing operation can be agreed after the identifier of the parent terminal is confirmed on the touchable display screen of the child terminal, so that pairing between the parent terminal and the child terminal is realized, wherein the pairing is realized through a wireless communication module built in the bracelet-type wearable terminal; after the operation of setting the primary and secondary terminals is finished, a customer can select a shopping mode on the primary terminal to start shopping, and encrypted communication is started among the primary terminal, the secondary terminal, the primary terminal, the intelligent shopping cart and the supermarket background processing platform; after shopping is completed and the customer returns the wearable terminal of bracelet formula, the above-mentioned primary and secondary terminal sets up inefficacy, and the terminal needs to repeat the above-mentioned step of setting when starting up next time.
The positioning module of the intelligent shopping cart comprises a No. 1 positioning chip, a No. 2 positioning chip, a No. 3 positioning chip and a No. 4 positioning chip, wherein the No. 1 positioning chip is installed at the left top corner of the front upper side of the inner wall of a box body of the intelligent shopping cart and is fixed by being in contact with three adjacent wall surfaces, the No. 2 positioning chip is installed at the right top corner of the front upper side of the inner wall of the box body of the intelligent shopping cart and is fixed by being in contact with three adjacent wall surfaces, the No. 3 positioning chip is installed at the left top corner of the rear lower side of the inner wall of the box body of the intelligent shopping cart and is fixed by being in contact with three adjacent wall surfaces, and the No. 4 positioning chip is installed at the right top corner of the rear lower side of the inner wall of the box body of the intelligent shopping cart and is fixed by being in contact with three adjacent wall surfaces; the intelligent shopping cart positioning module can obtain a more accurate intelligent shopping cart position according to the position calculation formula:
Figure GDA0003331721750000031
wherein:
Xdcalculating the horizontal coordinate of the position of the intelligent shopping vehicle in the supermarket map coordinate system, wherein the unit is meter and YdCalculating the vertical coordinate of the position of the intelligent shopping vehicle in the supermarket map coordinate system, wherein the unit is meter and ZdCalculating the vertical coordinate of the position of the intelligent shopping vehicle in the supermarket map coordinate system, wherein the unit is meter and XiFor actually measuring the horizontal coordinate of the position of the ith positioning chip in the coordinate system of the supermarket map, the unit is meter and YiThe vertical coordinate of the position of the ith positioning chip in the supermarket map coordinate system is actually measured, and the unit is meter and ZiThe unit of the vertical coordinate of the position of the ith positioning chip in the supermarket map coordinate system is measured in meters, wherein subscript i is 1, 2, 3 and 4, and the subscript i corresponds to four positioning chips on the intelligent shopping cart respectively.
The intelligent shopping cart can be released from dormancy and automatically tracks the position of the parent terminal after the parent terminal is started; when the power switch of the parent terminal is turned on, a navigation control module of the intelligent shopping cart automatically plans a shortest path to the position of the parent terminal according to the received real-time position information of the parent terminal and map information inside the supermarket received from a supermarket background processing platform, and controls a four-wheel module to track the path; the radar module of the intelligent shopping cart can detect the path obstacles in real time and feed the path obstacles back to the navigation control module, and the navigation control module can replan the route according to the position information of the obstacles; the intelligent shopping cart stops after entering a circular area with the mother terminal as the center of a circle and 1 meter as the radius, if the intelligent shopping cart is formed, the intelligent shopping cart is formed and stops after the pilot car enters the circular area with the mother terminal as the center of a circle and 1 meter as the radius, a voice module on the mother terminal informs a customer that the intelligent shopping cart arrives and prompts the customer to perform mode selection, and if the customer does not perform active selection within 5 seconds, the intelligent shopping cart defaults to enter a shopping following mode; in the process of tracking the position of the parent terminal, the driving speed control method of the intelligent shopping cart adopts fuzzy control:
the fuzzy control method comprises the steps that people flow density in a circular area with an intelligent shopping cart as a center and a radius of 10 meters and the distance from the intelligent shopping cart to a mother terminal are input, a fuzzy subset is defined as rho ═ ZE, PO, PS, PM and PB }, namely { zero, positive, negative and positive }, S ═ ZE, PO, PS, PM and PB }, namely { zero, positive, negative, positive and positive }, the output is the traveling speed of the intelligent shopping cart, and a fuzzy set is defined as V ═ ZE, PO, PS, PM and PB }, namely { zero, positive, negative, positive and positive }; wherein rho is the people flow density in a limited area, S is the distance from the intelligent shopping cart to the parent terminal and is measured in meters, and V is the running speed of the intelligent shopping cart and is measured in km/h.
The intelligent shopping cart can automatically follow a customer in a shopping following mode, so that the cart burden of the customer is reduced; in the following process, a radar module of the intelligent shopping cart can detect obstacles on a path in real time and feed the obstacles back to a navigation control module, and the navigation control module corrects a planned route according to the position information of the obstacles and continuously follows a customer; in a shopping following mode, the intelligent shopping cart continuously receives the position information of the parent terminal, the navigation control module calculates the distance S between the intelligent shopping cart and the parent terminal in real time, if the intelligent shopping cart is formed, the distance S is the distance between the pilot cart and the parent terminal, and the travelling speed v of the intelligent shopping cart is determined by comparing the distance S with the set distance:
(1) when 0 is present<S<R1When the intelligent shopping cart runs, the running speed v of the intelligent shopping cart is 0;
(2) when R is1<S≤R2When the intelligent shopping cart travels, the traveling speed v is 4.5km/h, and the average walking speed of the adults is referred to as: 4-4.5 km/h;
(3) when R is2<S, the moving speed v of the intelligent shopping cart is 9km/h, so that the intelligent shopping cart can conveniently catch up with customers in time;
wherein:
R10.9 m
R22 m ═ 2 m
The unit of S is meter.
The intelligent shopping cart can prevent articles in the cart from being taken under a sentry mode and can give an alarm prompt when a critical condition occurs; under the sentinel mode, intelligent shopping cart stops in situ, and each box cabinet door is closed, and the electricity is locked to the electromagnetism, only accessible female terminal remote control is opened or is closed, and force sensor real-time supervision power of opening the door and warn when the power of opening the door risk degree surpasss the setting value:
(1) when the door built-in force sensor of the intelligent shopping cart cabinet door detects that the door opening risk degree in the sentinel mode is greater than Frisk1Meanwhile, the intelligent shopping cart wireless communication module sends a signal to the female terminal, the female terminal can touch a specific cabinet door which is being forcibly opened on the display screen by text information, and the built-in voice module of the female terminal can also perform voice prompt for the customer for three times;
(2) if the sensor still detects that the door opening risk degree is larger than F after the first warningrisk1The intelligent shopping cart and the female terminal can continuously repeat the warning in the mode and repeat the warning at a time interval of 5 seconds, when the accumulated warning times reach 5 times and the warning prompt is not processed by the client through the female terminal, the wireless communication module of the intelligent shopping cart can send warning information to the supermarket background processing platform, and the supermarket background processing platform can process the warning prompt for the staffCarrying out corresponding voice prompt and displaying the specific position information of the intelligent shopping cart which is being forcibly opened and the monitoring picture of the corresponding area by the supermarket background processing platform display;
(3) when the door opening risk degree is detected to be less than F within 10 secondsrisk2Stopping alarming, otherwise, repeating the steps (1), (2) and (3);
wherein:
Frisk1to a high risk threshold, Frisk2The low risk threshold value can be trained through a neural network to obtain a proper value;
under the sentry mode, navigation control module record sentry mode operating time, and the wearable terminal of bracelet formula can indicate customer sentry mode live time every 10 minutes of interval to inquire whether need cancel: if the customer chooses not to cancel, the intelligent shopping cart continues to keep the sentinel mode; if the customer selects to cancel or the working time of the sentinel mode reaches 30 minutes, the navigation control module controls the intelligent shopping cart to travel to the area where the customer is located, and then the intelligent shopping cart enters a shopping following mode by default; the customer can also cancel the sentinel mode and select other modes at any time through the mother terminal under the mode.
The intelligent shopping cart can display specific position information of commodities to a customer through a touch display screen of the parent terminal in a shopping navigation mode and automatically plan a route to guide the customer to go to the position; in the shopping navigation mode, a customer can input commodities to be purchased through a touch display screen of a mother terminal, the mother terminal transmits a commodity list selected by the customer to an intelligent shopping cart through a wireless communication module, the intelligent shopping cart plans out a shortest path according to commodity position information stored in the intelligent shopping cart and map information inside a supermarket, the planned path and visual information of the commodity position selected by the customer are displayed on a display screen of the mother terminal, meanwhile, the display screen of the mother terminal inquires whether the customer goes right away or not through text information and voice, two options of 'yes'/'no' are given on a touch screen of the mother terminal, and the customer can select the options through touch options and also through voice input: if the customer selects 'yes', the navigation control module controls the intelligent shopping cart to move to the goods shelf where the goods are located, and the intelligent shopping cart stops when reaching the area where the goods are located; if the customer selects 'no', returning to the commodity selection interface to continuously select the commodities which the customer wants to purchase; if the customer stops midway, the pause option can be clicked on the display screen of the female terminal, then the speed of the intelligent shopping cart is reduced to 0, at the moment, the customer can temporarily select and purchase other commodities, then the recovery option is clicked, and then the intelligent shopping cart continues to go to the area where the commodities are located; in the navigation process of the intelligent shopping cart, the navigation control module can continuously receive the position information transmitted by the parent terminal and calculate the distance S, and the advancing speed v of the intelligent shopping cart is determined according to the distance S between the two:
(1) when 0 is less than or equal to S<L1When the intelligent shopping cart travels, the traveling speed v is 4.5km/h, and the average walking speed of the adults is referred to as: 4-4.5 km/h;
(2) when L is1≤S<L2When the intelligent shopping cart travels, the travel speed v is 2.5 km/h;
(3) when L is2<S, the moving speed v of the intelligent shopping cart is equal to 0;
wherein:
L12 m ═ 2 m
L24 m ═ 4 m
When the intelligent shopping cart arrives in the commodity place area, the intelligent shopping cart can prompt a goods shelf where the commodities of a customer are located through the voice module, meanwhile, the touch display screen of the female terminal can also display the goods shelf information of the commodities in the form of characters and pictures, after the commodities are purchased by the customer, the information is confirmed through the female terminal, then the main interface of the touch display screen of the female terminal is returned, and the shopping mode is reselected.
The child monitoring mode of the intelligent shopping cart can detect the position of a child in real time and give different degrees of prompts according to the distance range of the child, so that the child is prevented from getting lost; the child monitoring mode is logically independent from other modes and can be simultaneously superposed with the other modes for operation; in the child monitoring mode, a parent terminal worn by a customer and a child terminal worn by a child can send self position information to an intelligent shopping cart and a supermarket background processing platform through a wireless communication module, an intelligent shopping cart navigation control module calculates the distance between two primary and secondary terminals in real time, if the intelligent shopping cart is formed, the average value of the calculated distance of each intelligent shopping cart is taken as the final distance and is recorded as L, and corresponding processing is carried out according to the size of L:
(1) when L is more than or equal to 0<LaThen, the range is judged to be a relieved area, and the child can freely move in the area;
(2) when L isa≤L<LbWhen the area is determined to be the attention area, and L is detected to be more than L for 5 secondsaWhen the information is received by the customer on the display screen of the primary terminal, the voice prompt and the text prompt of the primary terminal disappear;
(3) when L isb≤L<LcThen, the range is determined as the warning area, and L is detected to last for 5 seconds and is more than LbWhen the information is received, the voice module of the primary terminal can repeatedly prompt the client that the child enters the warning area, the message is prompted by rolling in a text mode on the display screen of the primary terminal, the voice module of the secondary terminal can also perform repeated voice prompt on the child without being too far away from the parent, and the voice prompt and the text prompt of the primary and secondary terminals can not disappear until the client confirms that the information is received on the display screen of the primary terminal;
(4) when L iscWhen L is less than or equal to L, the range is judged as an alarm area, and when L is detected to be more than L for 2 secondscWhen the child safety warning device is used, the parent terminal buzzer continuously sounds, the vibration module starts to vibrate at the same time, the voice module can repeatedly remind a customer that the child exceeds the maximum safety distance, the child terminal buzzer and the vibration module also work in the same mode, and the child terminal voice module repeatedly reminds the child not to go far and pacifies that the child stays in place;
(5) when the child terminal and the mother terminal are on different floors, the logic is still applicable, but at the moment, the information of the floor where the child terminal is located is additionally displayed on the mother terminal;
wherein:
Figure GDA0003331721750000051
Figure GDA0003331721750000052
Figure GDA0003331721750000053
in the above expression, LaSetting a default first distance value in meters for the positioning module, and supporting a user to set the value in a self-defined manner; l isbSetting a default second distance value in meters for the positioning module; l iscSetting a default third distance value in meters for the positioning module; s1The method is characterized in that the method is a supermarket single-floor business area, and when a child terminal and a mother terminal are on different floors, the unit is square meters based on the area of the floor business area where the mother terminal is located;
after the child monitoring mode is started, a customer can see a supermarket plane map marked with the position of the child terminal on a touch display screen of the parent terminal at any time, and the customer can select to go to the area where the child is located at any time, at the moment, the navigation control module can plan the shortest route to the child terminal according to the real-time position information of the child terminal and track the shortest route, and the leading mode is consistent with the navigation shopping mode; under children's guardianship mode, children also can select to apply for to connect back the operation through the tangible display screen of child terminal, customer can agree to the application on the tangible display screen of parent terminal after confirming through parent terminal voice module and children talking, intelligence shopping cart can use child terminal to carry out route planning and tracking as the target afterwards, arrive child terminal position back, intelligence shopping cart can carry out corresponding suggestion to children through pronunciation, intelligence shopping cart carries out route planning and tracking as the target again with parent terminal afterwards, take children to go to the customer place area, the speed of travel control algorithm that intelligence shopping cart took the in-process is unanimous with the navigation shopping mode.
The distance X is extended outwards from the boundary of the supermarket operation area1The region of (1) is a warning region SdThe supermarket background processing platform can receive the position information of the primary-secondary terminal and the intelligent shopping cart in real time, and when the primary-secondary terminal or the intelligent shopping cart is detected to be outside the supermarket operation area and at SdWhen the shopping cart is within the range, the supermarket background processing platform sends an instruction to force the shopping cart to enter a parking state, the bracelet-type wearable terminal vibration module vibrates at high frequency, and the bracelet-type wearable terminal voice module and the intelligent shopping cart voice module repeatedly prompt that the customer exceeds the supermarket range and requires to return to supermarket returning equipment in time; the supermarket background processing platform informs background workers of leaving the supermarket operating area of equipment through the built-in voice module, the position information of the leaving primary and secondary terminals and the intelligent shopping cart is displayed on a supermarket background processing platform display, and the background workers can select to communicate with primary terminal customers through the background voice module; when in conversation, the alarm prompt of the voice module of the bracelet type wearable terminal is closed, and only the conversation function is carried out; after the customer confirms the alarm information on the touch display screen of the parent terminal, the alarm is temporarily released, and at the moment, the shopping cart enters a navigation following mode and returns to a supermarket operation area along with the customer; when the primary and secondary terminals or the intelligent shopping cart are detected to be out of the supermarket operation area and at SdWhen the shopping cart is out of the range, the supermarket background processing platform sends an instruction to force the shopping cart to run back to the supermarket management area, and meanwhile, the bracelet-type wearable terminal can continuously vibrate at high frequency to carry out voice prompt on the customer and urge the customer to return to the bracelet-type wearable terminal;
wherein:
Figure GDA0003331721750000061
the unit is meter.
The invention provides a use method of a supermarket intelligent shopping cart system based on a wearable terminal, which comprises the following steps:
A. a customer enters a supermarket, a required number of bracelet-type wearable terminals are picked up and worn on a terminal storage table, if a child or other accompanying personnel needing to be attended by the customer are in charge, the other bracelet-type wearable terminals can be worn on the accompanying personnel, a bracelet-type wearable terminal switch is pressed to activate, then the bracelet-type wearable terminals are set in a primary-secondary mode, after the primary-secondary mode is set, the number of required intelligent shopping carts and corresponding intelligent shopping cart boxes are selected according to needs, and then the intelligent shopping carts matched with the primary terminal are activated and tracked to travel to the position of the primary terminal;
B. the customer selects a corresponding shopping mode through a touch display screen on the parent terminal: the method comprises the following steps of firstly, shopping navigation mode, secondly, shopping following mode, thirdly, sentinel mode and fourthly, child monitoring mode, wherein the child monitoring mode belongs to additional options and can be selected in a superposition mode with the modes, and when a child terminal is activated, the child monitoring mode is started by default;
C. the system enters a corresponding working mode according to the customer option, under the navigation shopping mode, a customer determines an article to be purchased through a display screen of a parent terminal, and the intelligent shopping cart plans a shortest path according to the article selected by the customer and leads the customer to go to a goods shelf where the article is located; in the shopping following mode, a customer can freely shop in a supermarket, and the intelligent shopping cart follows the customer; in the sentinel mode, four wheels of the intelligent shopping cart deflect outwards at a certain angle at the same time to stabilize the goods left in place and take care of customers; in the child monitoring mode, the intelligent shopping cart collects position information of the primary and secondary terminals in real time and calculates the distance, and when the distance between the primary and secondary terminals exceeds different set ranges, the intelligent shopping cart performs corresponding prompt and alarm and makes corresponding response according to the command of the primary terminal of the customer;
D. after the customer selects the commodity, the intelligent shopping cart follows the customer to go to a settlement counter for queuing and settlement, after the settlement is completed, the customer closes the primary and secondary terminals and returns the primary and secondary terminals through the settlement counter, and at the moment, the intelligent shopping cart automatically plans a path and returns to an intelligent shopping cart parking area along the path to enter a standby dormant state to wait for awakening next time.
The invention has the beneficial effects that: the intelligent shopping cart system based on the wearable terminal and the method thereof can be used for shopping navigation and following in a supermarket, keeping articles, refrigerating fresh goods, positioning, monitoring the distance between children, automatically recycling the shopping cart and the like, so that supermarket shopping is more convenient, quicker and more humanized, the extra shopping burden of customers is reduced, the shopping experience is improved, and the management efficiency of the supermarket is also improved.
Drawings
FIG. 1 is a block diagram of an intelligent shopping cart system;
FIG. 2 is a schematic view of an intelligent shopping cart voice module installation;
FIG. 3 is a diagram of an intelligent shopping cart operating mode;
FIG. 4 is a logic diagram of the primary-secondary mode setting of the bracelet-type wearable terminal;
FIG. 5 is a logic diagram for sentinel mode operation;
FIG. 6 is a logic diagram of shopping navigation mode operation;
FIG. 7 is a distribution diagram of zones in a child care mode;
FIG. 8 is a shopping flow diagram of the intelligent shopping cart.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, a supermarket intelligent shopping cart system based on a wearable terminal is divided into a set of bracelet-type wearable terminals, an intelligent shopping cart and a supermarket background processing platform; the bracelet-type wearable terminal can be provided with a primary mode and a secondary mode, the two modes are different in control authority and function, the primary mode terminal is used for interaction and positioning between a customer and a supermarket intelligent shopping cart system, and the secondary mode terminal is mainly used for positioning children, alarming and sending out an intelligent shopping cart return application; the bracelet-type wearable terminal comprises a power module, a wireless communication module, an information display and interaction module, an alarm module and a positioning module; the wireless communication module transmits real-time position information of the bracelet-type wearable terminal to the intelligent shopping cart and the supermarket background processing platform according to an instruction of the bracelet-type wearable terminal processor, and can also receive voice and text information transmitted by the intelligent shopping cart and the supermarket background processing platform, and the voice and text information is used for prompting a customer and realizing voice communication between the customer and background staff; the wireless communication module is also used for realizing pairing between the primary-secondary mode bracelet type wearable terminals; the information display and interaction module is provided with a rectangular touchable display screen for a customer to browse and select commodities, and can prompt the customer by displaying text information; the alarm module consists of a voice module, a buzzer and a vibration module, wherein the voice module has a background voice call function and a built-in voice prompt function, the background voice call function is that a background manager can directly communicate with a customer through a supermarket background processing platform, and the built-in voice prompt function is that simple voice prompt is carried out through a built-in voice segment when the customer carries out corresponding operation; a high-precision positioning chip is arranged in the positioning module and used for acquiring the precise position information of the bracelet-type wearable terminal in the supermarket, and the bracelet-type wearable terminal can be specifically positioned on different floors of the supermarket; the positioning module acquires position information of the bracelet-type wearable terminal once every 1 second and sends the information to the intelligent shopping cart and the supermarket background processing platform through the wireless communication module; the intelligent shopping cart comprises a layered intelligent shopping cart box body, a four-wheel module, a wireless communication module, a positioning module, a voice module and a navigation control module; the intelligent shopping cart box body adopts a layered assembly form and supports the addition and replacement of the box body; the intelligent shopping cart box body specifically has: private article storage boxes, fresh goods storage boxes and other goods storage boxes; the private article storage box body is opened before a customer starts shopping, is kept closed in the shopping process, cannot be opened by the customer, and can be opened to allow the customer to take away the private article only after the customer returns to the bracelet-type wearable terminal; the fresh commodity storage box body has the functions of refrigeration and heat preservation, and is convenient for customers to store fresh commodities; the other commodity storage box bodies do not have the functions of refrigeration and heat preservation and are used for storing other commodities; the intelligent shopping cart is provided with one box body under the default condition, wherein the private article storage box body is a mandatory option and is positioned at the lowest layer of the whole intelligent shopping cart and used for installing the four-wheel module and the positioning module, and meanwhile, the upper layer of the private article storage box body can carry out addition and replacement operation of the specific box body according to the shopping requirements of customers; the box bodies adopt hinge type cabinet doors which can be closed in the same specification, the cabinet doors are transversely installed and provided with electromagnetic locks and force sensors, and when the cabinet doors are subjected to external force in a closed state, the force sensors can detect the external force; the intelligent shopping cart navigation control module receives door opening force signals detected by the three force sensors, corresponding door opening risk degrees can be calculated through a built-in door opening risk degree calculating algorithm, corresponding alarm can be given when the door opening risk degrees reach a limit value, and the alarm level is increased along with the increase of the risk degrees; the door opening risk degree measuring and calculating algorithm is as follows:
Figure GDA0003331721750000071
wherein:
γ1、γ2respectively a force sensor weight factor and a people stream density weight factor, and satisfies gamma1+γ2Initially set to 1, γ1＝0.9，γ2＝0.1；
ω1、ω2、ω3Respectively are a weighting factor of a cabinet door left edge force sensor, a weighting factor of a cabinet door right edge force sensor and a weighting factor of a cabinet door middle edge force sensor, and meet omega1+ω2+ω3＝1；
FL、FR、FMRespectively taking the value of a left edge force sensor of the cabinet door, the value of a right edge force sensor of the cabinet door and the value of an edge force sensor in the cabinet door;
FLmax、FRmax、FMmaxthe limit values of the door opening force at the left edge of the cabinet door, the right edge of the cabinet door and the middle edge of the cabinet door are respectively, and reliable values can be obtained through repeated tests of opening and closing the cabinet door;
rho is the people flow density of the area where the intelligent shopping cart is located, and is obtained by analyzing the video pictures collected by the camera module through the supermarket background processing platform information processing module;
ρmaxallowing maximum people flow density for the area where the intelligent shopping cart is located;
four wheels in the four-wheel module of the intelligent shopping cart are distributed at four corners of a box body of the intelligent shopping cart and are detachably connected with a chassis, and four tires can independently rotate around the vertical axis of the four wheels by 180 degrees and are driven by a built-in hub motor; pressure sensors are arranged on 4 wheels in the four-wheel module and can be used for measuring the weight of the intelligent shopping cart box body; when the hub motor rotates, the motion direction of the top point on the rim is the same as the advancing direction of the shopping cart, so that the intelligent shopping cart can be driven, and when the motion direction of the top point on the rim is opposite to the advancing direction of the shopping cart, the intelligent shopping cart can be braked; when the intelligent shopping cart is parked, the built-in hub motors of the four wheels are locked, the four wheels deflect outwards at a certain angle at the same time, the angle range is 0-90 degrees, and a fuzzy control method considering the running speed of the intelligent shopping cart and the weight of a box body of the intelligent shopping cart is adopted for the specific deflection angle:
the fuzzy control method comprises the following steps that input of an intelligent shopping cart running speed and intelligent shopping cart box body weight is defined as V ═ ZE, PO, PS, PM and PB }, namely { zero, positive, negative, middle and positive }, G ═ ZE, PO, PS, PM and PB }, namely { zero, positive, negative, middle and positive }, output is an intelligent shopping cart four-wheel outward deflection angle, and a fuzzy set is defined as D ═ ZE, PO, PS, PM and PB }, namely { zero, positive, negative, middle and positive }; wherein V is the running speed of the intelligent shopping cart in km/h, G is the box body weight of the intelligent shopping cart in N, D is the outward deflection angle of four wheels of the intelligent shopping cart in an angle range of 0-90 degrees;
the intelligent shopping cart wireless communication module is used for receiving instructions of the bracelet-type wearable terminal, commodity position information of the supermarket background processing platform and map information inside the supermarket and transmitting the information to the navigation control module; the intelligent shopping cart wireless communication module sends the position information of the intelligent shopping cart and the user use record to the supermarket background processing platform, and the supermarket background processing platform evaluates the use of the intelligent shopping cart according to the intelligent shopping cart record and evaluates the use of the intelligent shopping cartAnd (5) feeding back to a developer, wherein the evaluation contents mainly comprise: (1) the intelligent shopping cart navigation route tracking precision is as follows: referring to a transverse deviation root mean square value between a planning route and an actual driving route of the intelligent shopping cart; (2) time loss of navigation route of intelligent shopping cart: referring to the time used by the intelligent shopping cart to travel a unit distance; (3) obstacle effect is kept away to intelligence shopping cart: referring to the minimum distance between the intelligent shopping cart and the obstacle in the driving process and whether an obstacle avoidance failure accident occurs; the intelligent shopping cart positioning module comprises four high-precision positioning chips, each chip can independently work to acquire the position information of the intelligent shopping cart, and the intelligent shopping cart positioning module acquires the accurate position coordinate information of the intelligent shopping cart according to the position information of the intelligent shopping cart measured by the four positioning chips by using a coordinate calculation formula arranged in the module; the intelligent shopping cart voice modules are symmetrically embedded and installed in the middle positions of the upper edges of the left side and the right side of the intelligent shopping cart box body respectively, the distances from the intelligent shopping cart voice modules to the edges of the front box body and the rear box body of the intelligent shopping cart are equal, and the intelligent shopping cart voice modules are used for prompting customers and giving out voice warning in emergency, and as shown in fig. 2, the intelligent shopping cart voice modules are installed schematically; the intelligent shopping cart navigation control module comprises two high-performance processors and a radar module and is used for calculating the distance between the intelligent shopping cart and the bracelet type wearable terminal in real time, planning a route and tracking the route; the radar module is used for detecting surrounding obstacle information and feeding the obstacle information back to the processor in time so as to correct the track in time and carry out obstacle avoidance operation; the two processors simultaneously and independently participate in system operation and output instructions, and the navigation control module fuses instruction information of the two processors and then finally outputs the fused instruction information, so that the system can still work normally when one processor fails and cannot work; the intelligent shopping cart can be used for carrying out intelligent shopping cart formation driving according to shopping demands of customers, a parent terminal is supported to be communicated with a plurality of intelligent shopping carts, the intelligent shopping cart formation adopts a distributed control strategy, and a specific control method can adopt
Figure GDA0003331721750000081
Cooperative following navigator method: will be provided withThe intelligent shopping cart initially paired with the parent terminal is set as a pilot cart of the intelligent shopping cart formation, and subsequent intelligent shopping carts in the intelligent shopping cart formation are guided by the pilot cart and perform information interaction and cooperative motion with other intelligent shopping carts in the formation; the intelligent shopping cart formation runs in the system by taking a pilot cart of the intelligent shopping cart formation as a description object; the supermarket background processing platform comprises a display, a camera module, a wireless communication module, an information processing module and an alarm module; the supermarket backstage processing platform display is used for displaying the position information of the wearable terminal of the bracelet type in the supermarket and the intelligent shopping cart and the three-dimensional map information of the shelf in the supermarket in real time, the positions of the wearable terminal of the bracelet type in the primary and secondary mode and the intelligent shopping cart are respectively indicated by icons with different colors and shapes on the display, and the emergency degree is represented by the depth of the icon color: if the bracelet-type wearable terminal or the intelligent shopping cart is in the supermarket operation range and is closer to the boundary, the darker the color of the corresponding icon is; when the bracelet-type wearable terminal or the intelligent shopping cart starts to exceed the supermarket operation range, the corresponding icon continuously flickers at the initial frequency of 5Hz, the flickering frequency is increased gradually as the distance of the intelligent shopping cart exceeding the operation range increases, and the specific increasing mode is that the flickering frequency of the icon is increased by 1Hz every time the distance is increased by 0.5 m; the supermarket background processing platform information processing module is used for calculating the people flow density information in the supermarket according to the video pictures transmitted by the supermarket background processing platform camera module, controlling the output pictures of the supermarket background processing platform display, setting and storing map information and commodity information in the supermarket, supporting the operation of adding information and modifying information, and sending the information to the hand ring type wearable terminal and the intelligent shopping cart in time through the supermarket background processing platform wireless communication module; the supermarket background processing platform information processing module is also used for evaluating the use records of the whole system and recording the evaluation results, and the evaluation records are integrated every two weeks to generate a use report which is fed back to a supermarket manager; supermarket background processing platform alarm module is used for the position of real-time supervision bracelet formula wearable terminal and intelligent shopping cart, when discovering above-mentioned braceletWhen the position of the wearable terminal or the intelligent shopping cart is out of the supermarket operation range, a voice warning is sent to a worker in time through the built-in voice module, meanwhile, voice prompts of the wearable terminal and the intelligent shopping cart in various scenes are preset in the alarm module, the voice prompts support editing operations of background addition and modification, after the editing is completed, the voice prompts are synchronized to all the wearable terminals and the intelligent shopping cart through the wireless communication module, and meanwhile, the built-in voice module of the alarm module can also be used for voice communication between the worker and the terminals; the supermarket background processing platform camera module is arranged above each shopping channel in the supermarket, can acquire dynamic pictures of each shopping channel in the supermarket in real time, and transmits the pictures to the supermarket background processing platform information processing module in real time for calculating the people flow density; when a customer shops, a shopping navigation mode, a shopping following mode, a sentinel mode and a child monitoring mode can be selected through the bracelet-type wearable terminal, and then all parts of the system enter corresponding working states according to the selected modes, such as an intelligent shopping cart operation mode diagram shown in fig. 3.
As shown in fig. 4, a primary-secondary mode setting logic diagram of a wearable bracelet terminal is shown, the wearable bracelet terminal is set in a primary-secondary mode by a user, a terminal set in the primary mode is a primary terminal, a terminal set in the secondary mode is a secondary terminal, and a primary terminal and a plurality of secondary terminals matched with the primary terminal can be set, so as to correspond to a scene that a customer takes a plurality of children to shop; after the bracelet-type wearable terminal is started, a customer can manually select and set the bracelet-type wearable terminal as a parent terminal or a child terminal on a touch display screen of the bracelet-type wearable terminal, and if the bracelet-type wearable terminal is not set, the corresponding intelligent shopping cart cannot be in a dormant state; if the customer selects the parent terminal, the display interface enters the interface for adding the child terminal, at the moment, the user can perform the operation of adding and pairing the child terminal, and if no child terminal needs to add and pair, skipping can be selected; if the customer selects the child terminal, the customer needs to perform pairing operation with the corresponding parent terminal; the bracelet-type wearable terminal is characterized in that a string of digital labels is engraved on the surface of the bracelet-type wearable terminal and serves as a unique identifier of the bracelet-type wearable terminal, when a matched child terminal is added to a parent terminal, the digital labels corresponding to the child terminal are input only through a touchable display screen of the parent terminal, and pairing operation can be agreed after the identifier of the parent terminal is confirmed on the touchable display screen of the child terminal, so that pairing between the parent terminal and the child terminal is realized, wherein the pairing is realized through a wireless communication module built in the bracelet-type wearable terminal; after the operation of setting the primary and secondary terminals is finished, a customer can select a shopping mode on the primary terminal to start shopping, and encrypted communication is started among the primary terminal, the secondary terminal, the primary terminal, the intelligent shopping cart and the supermarket background processing platform; after shopping is completed and the customer returns the wearable terminal of bracelet formula, the above-mentioned primary and secondary terminal sets up inefficacy, and the terminal needs to repeat the above-mentioned step of setting when starting up next time.
The positioning module of the intelligent shopping cart comprises a No. 1 positioning chip, a No. 2 positioning chip, a No. 3 positioning chip and a No. 4 positioning chip, wherein the No. 1 positioning chip is installed at the left top corner of the front upper side of the inner wall of a box body of the intelligent shopping cart and is fixed by being in contact with three adjacent wall surfaces, the No. 2 positioning chip is installed at the right top corner of the front upper side of the inner wall of the box body of the intelligent shopping cart and is fixed by being in contact with three adjacent wall surfaces, the No. 3 positioning chip is installed at the left top corner of the rear lower side of the inner wall of the box body of the intelligent shopping cart and is fixed by being in contact with three adjacent wall surfaces, and the No. 4 positioning chip is installed at the right top corner of the rear lower side of the inner wall of the box body of the intelligent shopping cart and is fixed by being in contact with three adjacent wall surfaces; the intelligent shopping cart positioning module can obtain a more accurate intelligent shopping cart position according to the position calculation formula:
Figure GDA0003331721750000091
in the formula, XdCalculating the horizontal coordinate of the position of the intelligent shopping vehicle in the supermarket map coordinate system, wherein the unit is meter and YdCalculating the vertical coordinate of the position of the intelligent shopping vehicle in the supermarket map coordinate system, wherein the unit is meter and ZdCalculating the vertical coordinate of the position of the intelligent shopping vehicle in the supermarket map coordinate system, wherein the unit is meter and XiFor actually measuring the abscissa of the position of the ith positioning chip in the coordinate system of the supermarket mapIn units of meter, YiThe vertical coordinate of the position of the ith positioning chip in the supermarket map coordinate system is actually measured, and the unit is meter and ZiThe unit of the vertical coordinate of the position of the ith positioning chip in the supermarket map coordinate system is measured in meters, wherein subscript i is 1, 2, 3 and 4, and the subscript i corresponds to four positioning chips on the intelligent shopping cart respectively.
The intelligent shopping cart automatically releases dormancy and automatically tracks the position of the parent terminal after the parent terminal is opened; when the power switch of the parent terminal is turned on, a navigation control module of the intelligent shopping cart automatically plans a shortest path to the position of the parent terminal according to the received real-time position information of the parent terminal and map information inside the supermarket received from a supermarket background processing platform, and controls a four-wheel module to track the path; the radar module of the intelligent shopping cart can detect the path obstacles in real time and feed the path obstacles back to the navigation control module, and the navigation control module can replan the route according to the position information of the obstacles; the intelligent shopping cart stops after entering a circular area with the mother terminal as the center of a circle and 1 meter as the radius, if the intelligent shopping cart is formed, the intelligent shopping cart is formed and stops after the pilot car enters the circular area with the mother terminal as the center of a circle and 1 meter as the radius, a voice module on the mother terminal informs a customer that the intelligent shopping cart arrives and prompts the customer to perform mode selection, and if the customer does not perform active selection within 5 seconds, the intelligent shopping cart defaults to enter a shopping following mode; in the process of tracking the position of the parent terminal, the driving speed control method of the intelligent shopping cart adopts fuzzy control:
the fuzzy control method comprises the steps that people flow density in a circular area with an intelligent shopping cart as a center and a radius of 10 meters and the distance from the intelligent shopping cart to a mother terminal are input, a fuzzy subset is defined as rho ═ ZE, PO, PS, PM and PB }, namely { zero, positive, negative and positive }, S ═ ZE, PO, PS, PM and PB }, namely { zero, positive, negative, positive and positive }, the output is the traveling speed of the intelligent shopping cart, and a fuzzy set is defined as V ═ ZE, PO, PS, PM and PB }, namely { zero, positive, negative, positive and positive }; wherein rho is the people flow density in a limited area, S is the distance from the intelligent shopping cart to the parent terminal and is measured in meters, and V is the running speed of the intelligent shopping cart and is measured in km/h.
The intelligent shopping cart can automatically follow a customer in a shopping following mode, so that the cart burden of the customer is reduced; in the following process, a radar module of the intelligent shopping cart can detect obstacles on a path in real time and feed the obstacles back to a navigation control module, and the navigation control module corrects a planned route according to the position information of the obstacles and continuously follows a customer; in a shopping following mode, the intelligent shopping cart continuously receives the position information of the parent terminal, the navigation control module calculates the distance S between the intelligent shopping cart and the parent terminal in real time, if the intelligent shopping cart is formed, the distance S is the distance between the pilot car and the parent terminal, and the travelling speed v of the intelligent shopping cart is determined by comparing the distance S with the set distance:
(1) when 0 is present<S<R1When the intelligent shopping cart runs, the running speed v of the intelligent shopping cart is 0;
(2) when R is1<S≤R2When the intelligent shopping cart travels, the traveling speed v is 4.5km/h, and the average walking speed of the adults is referred to as: 4-4.5 km/h;
(3) when R is2<S, the moving speed v of the intelligent shopping cart is 9km/h, so that the intelligent shopping cart can conveniently catch up with customers in time;
wherein:
R10.9 m
R22 m ═ 2 m
The unit of S is meter.
The intelligent shopping cart can prevent articles in the cart from being taken under a sentry mode and can give an alarm prompt when a critical condition occurs; as shown in fig. 5, the logic diagram of sentinel mode operation is shown, in the sentinel mode, the intelligent shopping cart stays in place, the cabinet doors of the boxes are closed, the electromagnetic lock is powered on, and can be opened or closed only through the remote control of the master terminal, and the force sensor monitors the door opening force in real time and warns when the risk degree of the door opening force exceeds a set value:
(1) when the door built-in force sensor of the intelligent shopping cart cabinet door detects that the door opening risk degree in the sentinel mode is greater than Frisk1When the intelligent shopping cart is used, the cabinet door is judged to be forcibly opened, the voice warning can be given out by the built-in voice module of the intelligent shopping cart at the moment, the process is repeated for three times, and meanwhile, the intelligent shopping cart is wirelessly communicatedThe information module sends a signal to the mother terminal, the mother terminal can touch a specific cabinet door which is being forcibly opened and is prompted by text information on a display screen, and the voice module arranged in the mother terminal can also perform voice prompt for the customer for three times;
(2) if the sensor still detects that the door opening risk degree is larger than F after the first warningrisk1The intelligent shopping cart and the female terminal can continuously repeat the warning in the mode and repeat the warning at a time interval of 5 seconds, when the accumulated warning times reach 5 times and a customer does not process the warning prompt through the female terminal, the wireless communication module of the intelligent shopping cart can send warning information to the supermarket background processing platform, the supermarket background processing platform can carry out corresponding voice prompt on workers, and a display of the supermarket background processing platform can display specific position information of the intelligent shopping cart which is being forcibly opened and a monitoring picture of a corresponding area;
(3) when the door opening risk degree is detected to be less than F within 10 secondsrisk2Stopping alarming, otherwise, repeating the steps (1), (2) and (3);
wherein:
Frisk1to a high risk threshold, Frisk2The low risk threshold value can be trained through a neural network to obtain a proper value;
under the sentry mode, navigation control module record sentry mode operating time, and the wearable terminal of bracelet formula can indicate customer sentry mode live time every 10 minutes of interval to inquire whether need cancel: if the customer chooses not to cancel, the intelligent shopping cart continues to keep the sentinel mode; if the customer selects to cancel or the working time of the sentinel mode reaches 30 minutes, the navigation control module controls the intelligent shopping cart to travel to the area where the customer is located, and then the intelligent shopping cart enters a shopping following mode by default; the customer can also cancel the sentinel mode and select other modes at any time through the mother terminal under the mode.
As shown in fig. 6, which is a logic diagram for operating in a navigation shopping mode, the intelligent shopping cart can display specific location information of a commodity to a customer through a touch display screen of a parent terminal and automatically plan a route to guide the customer to go to the location in the shopping navigation mode; in the shopping navigation mode, a customer can input commodities to be purchased through a touch display screen of a mother terminal, the mother terminal transmits a commodity list selected by the customer to an intelligent shopping cart through a wireless communication module, the intelligent shopping cart plans out a shortest path according to commodity position information stored in the intelligent shopping cart and map information inside a supermarket, the planned path and visual information of the commodity position selected by the customer are displayed on a display screen of the mother terminal, meanwhile, the display screen of the mother terminal inquires whether the customer goes right away or not through text information and voice, two options of 'yes'/'no' are given on a touch screen of the mother terminal, and the customer can select the options through touch options and also through voice input: if the customer selects 'yes', the navigation control module controls the intelligent shopping cart to move to the goods shelf where the goods are located, and the intelligent shopping cart stops when reaching the area where the goods are located; if the customer selects 'no', returning to the commodity selection interface to continuously select the commodities which the customer wants to purchase; if the customer stops midway, the pause option can be clicked on the display screen of the female terminal, then the speed of the intelligent shopping cart is reduced to 0, at the moment, the customer can temporarily select and purchase other commodities, then the recovery option is clicked, and then the intelligent shopping cart continues to go to the area where the commodities are located; in the navigation process of the intelligent shopping cart, the navigation control module can continuously receive the position information transmitted by the parent terminal and calculate the distance S, and the advancing speed v of the intelligent shopping cart is determined according to the distance S between the two:
(1) when 0 is less than or equal to S<L1When the intelligent shopping cart travels, the traveling speed v is 4.5km/h, and the average walking speed of the adults is referred to as: 4-4.5 km/h;
(2) when L is1≤S<L2When the intelligent shopping cart travels, the travel speed v is 2.5 km/h;
(3) when L is2<S, the moving speed v of the intelligent shopping cart is equal to 0;
wherein:
L12 m ═ 2 m
L24 m ═ 4 m
When the intelligent shopping cart arrives in the commodity place area, the intelligent shopping cart can prompt a goods shelf where the commodities of a customer are located through the voice module, meanwhile, the touch display screen of the female terminal can also display the goods shelf information of the commodities in the form of characters and pictures, after the commodities are purchased by the customer, the information is confirmed through the female terminal, then the main interface of the touch display screen of the female terminal is returned, and the shopping mode is reselected.
The child monitoring mode of the intelligent shopping cart can detect the position of a child in real time and give different degrees of prompts according to the distance range of the child, so that the child is prevented from getting lost; the child monitoring mode is logically independent from other modes and can be simultaneously superposed with the other modes for operation; as shown in fig. 7, the area schematic diagram of the child monitoring mode is shown, in the child monitoring mode, a parent terminal worn by a customer and a child terminal worn by a child both send own position information to an intelligent shopping cart and a supermarket background processing platform through a wireless communication module, an intelligent shopping cart navigation control module calculates the distance between the parent terminal and the child terminal in real time, if the parent terminal and the child terminal are formed by the intelligent shopping carts, the average value of the calculated distances of each intelligent shopping cart is taken as a final distance, which is recorded as L, and corresponding processing is performed according to the size of L:
(1) when L is more than or equal to 0<LaThen, the range is judged to be a relieved area, and the child can freely move in the area;
(2) when L isa≤L<LbWhen the area is determined to be the attention area, and L is detected to be more than L for 5 secondsaWhen the information is received by the customer on the display screen of the primary terminal, the voice prompt and the text prompt of the primary terminal disappear;
(3) when L isb≤L<LcThen, the range is determined as the warning area, and L is detected to last for 5 seconds and is more than LbWhen the information is received, the voice module of the primary terminal can repeatedly prompt the client that the child enters the warning area, the message is prompted by rolling in a text mode on the display screen of the primary terminal, the voice module of the secondary terminal can also perform repeated voice prompt on the child without being too far away from the parent, and the voice prompt and the text prompt of the primary and secondary terminals can not disappear until the client confirms that the information is received on the display screen of the primary terminal;
(4) when L iscWhen L is less than or equal to L, the range is judged as an alarm area, and when L is detected to be more than L for 2 secondscWhen the child safety warning device is used, the parent terminal buzzer continuously sounds, the vibration module starts to vibrate at the same time, the voice module can repeatedly remind a customer that the child exceeds the maximum safety distance, the child terminal buzzer and the vibration module also work in the same mode, and the child terminal voice module repeatedly reminds the child not to go far and pacifies that the child stays in place;
(5) when the child terminal and the mother terminal are on different floors, the logic is still applicable, but at the moment, the information of the floor where the child terminal is located is additionally displayed on the mother terminal;
wherein:
Figure GDA0003331721750000111
Figure GDA0003331721750000112
Figure GDA0003331721750000113
in the above expression, LaSetting a default first distance value in meters for the positioning module, and supporting a user to set the value in a self-defined manner; l isbSetting a default second distance value in meters for the positioning module; l iscSetting a default third distance value in meters for the positioning module; s1The method is characterized in that the method is a supermarket single-floor business area, and when a child terminal and a mother terminal are on different floors, the unit is square meters based on the area of the floor business area where the mother terminal is located;
after the child monitoring mode is started, a customer can see a supermarket plane map marked with the position of the child terminal on a touch display screen of the parent terminal at any time, and the customer can select to go to the area where the child is located at any time, at the moment, the navigation control module can plan the shortest route to the child terminal according to the real-time position information of the child terminal and track the shortest route, and the leading mode is consistent with the navigation shopping mode; under children's guardianship mode, children also can select to apply for to connect back the operation through the tangible display screen of child terminal, customer can agree to the application on the tangible display screen of parent terminal after confirming through parent terminal voice module and children talking, intelligence shopping cart can use child terminal to carry out route planning and tracking as the target afterwards, arrive child terminal position back, intelligence shopping cart can carry out corresponding suggestion to children through pronunciation, intelligence shopping cart carries out route planning and tracking as the target again with parent terminal afterwards, take children to go to the customer place area, the speed of travel control algorithm that intelligence shopping cart took the in-process is unanimous with the navigation shopping mode.
The distance X is extended outwards from the boundary of the supermarket operation area1The region of (1) is a warning region SdThe supermarket background processing platform can receive the position information of the primary-secondary terminal and the intelligent shopping cart in real time, and when the primary-secondary terminal or the intelligent shopping cart is detected to be outside the supermarket operation area and at SdWhen the shopping cart is within the range, the supermarket background processing platform sends an instruction to force the shopping cart to enter a parking state, the bracelet-type wearable terminal vibration module vibrates at high frequency, and the bracelet-type wearable terminal voice module and the intelligent shopping cart voice module repeatedly prompt that the customer exceeds the supermarket range and requires to return to supermarket returning equipment in time; the supermarket background processing platform informs background workers of leaving the supermarket operating area of equipment through the built-in voice module, the position information of the leaving primary and secondary terminals and the intelligent shopping cart is displayed on a supermarket background processing platform display, and the background workers can select to communicate with primary terminal customers through the background voice module; when in conversation, the alarm prompt of the voice module of the bracelet type wearable terminal is closed, and only the conversation function is carried out; after the customer confirms the alarm information on the touch display screen of the parent terminal, the alarm is temporarily released, and at the moment, the shopping cart enters a navigation following mode and returns to a supermarket operation area along with the customer; when the primary and secondary terminals or the intelligent shopping cart are detected to be out of the supermarket operation area and at SdWhen the shopping cart is out of range, the supermarket background processing platform sends an instruction to force the shopping cart to go back to the supermarket management area, and meanwhile, the bracelet-type wearable terminal can continuously vibrate at high frequency to the customerVoice prompt is carried out to prompt the customer to return to the bracelet type wearable terminal;
wherein the content of the first and second substances,
Figure GDA0003331721750000114
the unit is meter.
In this embodiment, a method for using an intelligent shopping cart based system is provided, as shown in fig. 8, the process includes the following steps:
A. a customer enters a supermarket, a required number of bracelet-type wearable terminals are picked up and worn on a terminal storage table, if a child or other accompanying personnel needing to be attended by the customer are in charge, the other bracelet-type wearable terminals can be worn on the accompanying personnel, a bracelet-type wearable terminal switch is pressed to activate, then the bracelet-type wearable terminals are set in a primary-secondary mode, after the primary-secondary mode is set, the number of required intelligent shopping carts and corresponding intelligent shopping cart boxes are selected according to needs, and then the intelligent shopping carts matched with the primary terminal are activated and tracked to travel to the position of the primary terminal;
B. the customer selects a corresponding shopping mode through a touch display screen on the parent terminal: the method comprises the following steps of firstly, shopping navigation mode, secondly, shopping following mode, thirdly, sentinel mode and fourthly, child monitoring mode, wherein the child monitoring mode belongs to additional options and can be selected in a superposition mode with the modes, and when a child terminal is activated, the child monitoring mode is started by default;
C. the system enters a corresponding working mode according to the customer option, under the navigation shopping mode, a customer determines an article to be purchased through a display screen of a parent terminal, and the intelligent shopping cart plans a shortest path according to the article selected by the customer and leads the customer to go to a goods shelf where the article is located; in the shopping following mode, a customer can freely shop in a supermarket, and the intelligent shopping cart follows the customer; in the sentinel mode, four wheels of the intelligent shopping cart deflect outwards at a certain angle at the same time to stabilize the goods left in place and take care of customers; in the child monitoring mode, the intelligent shopping cart collects position information of the primary and secondary terminals in real time and calculates the distance, and when the distance between the primary and secondary terminals exceeds different set ranges, the intelligent shopping cart performs corresponding prompt and alarm and makes corresponding response according to the command of the primary terminal of the customer;
D. after the customer selects the commodity, the intelligent shopping cart follows the customer to go to a settlement counter for queuing and settlement, after the settlement is completed, the customer closes the primary and secondary terminals and returns the primary and secondary terminals through the settlement counter, and at the moment, the intelligent shopping cart automatically plans a path and returns to an intelligent shopping cart parking area along the path to enter a standby dormant state to wait for awakening next time.

Claims (9)

1. A supermarket intelligent shopping cart system based on a wearable terminal is characterized by comprising a set of bracelet-type wearable terminals, an intelligent shopping cart and a supermarket background processing platform;
the bracelet-type wearable terminal can be provided with a primary mode and a secondary mode, the two modes are different in control authority and function, the primary mode terminal is used for interaction and positioning between a customer and a supermarket intelligent shopping cart system, and the secondary mode terminal is mainly used for positioning children, alarming and sending out an intelligent shopping cart return application; the bracelet-type wearable terminal comprises a power module, a wireless communication module, an information display and interaction module, an alarm module and a positioning module;
the wireless communication module transmits real-time position information of the bracelet-type wearable terminal to the intelligent shopping cart and the supermarket background processing platform according to an instruction of the bracelet-type wearable terminal processor, and can also receive voice and text information transmitted by the intelligent shopping cart and the supermarket background processing platform, and is used for prompting a customer and realizing voice communication between the customer and background staff; the wireless communication module is also used for realizing pairing between the primary-secondary mode bracelet type wearable terminals;
the information display and interaction module is provided with a rectangular touchable display screen for a customer to browse and select commodities, and can prompt the customer by displaying text information;
the alarm module consists of a voice module, a buzzer and a vibration module, wherein the voice module has a background voice call function and a built-in voice prompt function, the background voice call function is that background management personnel can directly communicate with customers through a supermarket background processing platform, and the built-in voice prompt function is that simple voice prompt is carried out through built-in voice segments when the customers carry out corresponding operation;
a high-precision positioning chip is arranged in the positioning module and used for acquiring the precise position information of the bracelet-type wearable terminal in the supermarket, and the bracelet-type wearable terminal can be specifically positioned on different floors of the supermarket; the positioning module acquires position information of the bracelet-type wearable terminal once every 1 second and sends the information to the intelligent shopping cart and the supermarket background processing platform through the wireless communication module;
the intelligent shopping cart comprises a layered intelligent shopping cart box body, a four-wheel module, a wireless communication module, a positioning module, a voice module and a navigation control module;
the intelligent shopping cart box body adopts a layered assembly form and supports the addition and replacement of the box body; the intelligent shopping cart box body specifically has: private article storage boxes, fresh goods storage boxes and other goods storage boxes; the private article storage box body is opened before a customer starts shopping, is kept closed in the shopping process, cannot be opened by the customer, and can be opened to allow the customer to take away the private article only after the customer returns to the bracelet-type wearable terminal; the fresh commodity storage box body has the functions of refrigeration and heat preservation, and is convenient for customers to store fresh commodities; the other commodity storage box bodies do not have the functions of refrigeration and heat preservation and are used for storing other commodities; the intelligent shopping cart is provided with one box body under the default condition, wherein the private article storage box body is a mandatory option and is positioned at the lowest layer of the whole intelligent shopping cart and used for installing the four-wheel module and the positioning module, and meanwhile, the upper layer of the private article storage box body can carry out addition and replacement operation of the specific box body according to the shopping requirements of customers;
the box bodies adopt hinge type cabinet doors which can be closed in the same specification, the cabinet doors are transversely installed and provided with electromagnetic locks and force sensors, and when the cabinet doors are subjected to external force in a closed state, the force sensors can detect the external force; the intelligent shopping cart navigation control module receives door opening force signals detected by the three force sensors, corresponding door opening risk degrees can be calculated through a built-in door opening risk degree calculating algorithm, corresponding alarm can be given when the door opening risk degrees reach a limit value, and the alarm level is increased along with the increase of the risk degrees; the door opening risk degree measuring and calculating algorithm is as follows:
Figure FDA0003331721740000011
wherein:
γ1、γ2respectively a force sensor weight factor and a people stream density weight factor, and satisfies gamma1+γ2Initially set to 1, γ1＝0.9，γ2＝0.1；
ω1、ω2、ω3Respectively are a weighting factor of a cabinet door left edge force sensor, a weighting factor of a cabinet door right edge force sensor and a weighting factor of a cabinet door middle edge force sensor, and meet omega1+ω2+ω3＝1；
FL、FR、FMRespectively taking the value of a left edge force sensor of the cabinet door, the value of a right edge force sensor of the cabinet door and the value of an edge force sensor in the cabinet door;
FLmax、FRmax、FMmaxthe limit values of the door opening force at the left edge of the cabinet door, the right edge of the cabinet door and the middle edge of the cabinet door are respectively, and reliable values can be obtained through repeated tests of opening and closing the cabinet door;
rho is the people flow density of the area where the intelligent shopping cart is located, and is obtained by analyzing the video pictures collected by the camera module through the supermarket background processing platform information processing module;
ρmaxallowing maximum people flow density for the area where the intelligent shopping cart is located;
four wheels in the four-wheel module of the intelligent shopping cart are distributed at four corners of a box body of the intelligent shopping cart and are detachably connected with a chassis, and four tires can independently rotate around the vertical axis of the four wheels by 180 degrees and are driven by a built-in hub motor; pressure sensors are arranged on 4 wheels in the four-wheel module and can be used for measuring the weight of the intelligent shopping cart box body; when the hub motor rotates, the motion direction of the top point on the rim is the same as the advancing direction of the shopping cart, so that the intelligent shopping cart can be driven, and when the motion direction of the top point on the rim is opposite to the advancing direction of the shopping cart, the intelligent shopping cart can be braked; when the intelligent shopping cart is parked, the built-in hub motors of the four wheels are locked, the four wheels deflect outwards at a certain angle at the same time, the angle range is 0-90 degrees, and a fuzzy control method considering the running speed of the intelligent shopping cart and the weight of a box body of the intelligent shopping cart is adopted for the specific deflection angle:
the fuzzy control method comprises the following steps that input of an intelligent shopping cart running speed and intelligent shopping cart box body weight is defined as V ═ ZE, PO, PS, PM and PB }, namely { zero, positive, negative, middle and positive }, G ═ ZE, PO, PS, PM and PB }, namely { zero, positive, negative, middle and positive }, output is an intelligent shopping cart four-wheel outward deflection angle, and a fuzzy set is defined as D ═ ZE, PO, PS, PM and PB }, namely { zero, positive, negative, middle and positive }; wherein V is the running speed of the intelligent shopping cart in km/h, G is the box body weight of the intelligent shopping cart in N, D is the outward deflection angle of four wheels of the intelligent shopping cart in an angle range of 0-90 degrees;
the intelligent shopping cart wireless communication module is used for receiving instructions of the bracelet-type wearable terminal, commodity position information of the supermarket background processing platform and map information inside the supermarket and transmitting the information to the navigation control module; the intelligent shopping cart wireless communication module sends the position information of the intelligent shopping cart and the user use record to the supermarket background processing platform, the supermarket background processing platform carries out intelligent shopping cart use evaluation according to the intelligent shopping cart record and feeds the intelligent shopping cart use evaluation back to a developer, and the evaluation contents mainly comprise: (1) the intelligent shopping cart navigation route tracking precision is as follows: referring to a transverse deviation root mean square value between a planning route and an actual driving route of the intelligent shopping cart; (2) time loss of navigation route of intelligent shopping cart: referring to the time used by the intelligent shopping cart to travel a unit distance; (3) obstacle effect is kept away to intelligence shopping cart: referring to the minimum distance between the intelligent shopping cart and the obstacle in the driving process and whether an obstacle avoidance failure accident occurs;
the intelligent shopping cart positioning module comprises four high-precision positioning chips, each chip can independently work to acquire the position information of the intelligent shopping cart, and the intelligent shopping cart positioning module acquires the accurate position coordinate information of the intelligent shopping cart according to the position information of the intelligent shopping cart measured by the four positioning chips by using a coordinate calculation formula arranged in the module;
the intelligent shopping cart voice modules are symmetrically embedded in the middle positions of the upper edges of the left side and the right side of the intelligent shopping cart box body respectively, and the distances from the intelligent shopping cart voice modules to the edges of the front box body and the rear box body of the intelligent shopping cart are equal, so that the intelligent shopping cart voice modules are used for prompting customers and giving out voice warning under emergency;
the intelligent shopping cart navigation control module comprises two high-performance processors and a radar module and is used for calculating the distance between the intelligent shopping cart and the bracelet type wearable terminal in real time, planning a route and tracking the route; the radar module is used for detecting surrounding obstacle information and feeding the obstacle information back to the processor in time so as to correct the track in time and carry out obstacle avoidance operation; the two processors simultaneously and independently participate in system operation and output instructions, and the navigation control module fuses instruction information of the two processors and then finally outputs the fused instruction information, so that the system can still work normally when one processor fails and cannot work;
the intelligent shopping cart can be used for carrying out intelligent shopping cart formation driving according to shopping demands of customers, a parent terminal is supported to be communicated with a plurality of intelligent shopping carts, the intelligent shopping cart formation adopts a distributed control strategy, and a specific control method can adopt
Figure FDA0003331721740000021
Cooperative following navigator method: intelligent purchase to be initially paired with mother terminalThe object vehicles are arranged as the navigation vehicles of the intelligent shopping vehicle formation, and the subsequent intelligent shopping vehicles in the intelligent shopping vehicle formation are guided by the navigation vehicles and perform information interaction and cooperative motion with other intelligent shopping vehicles in the formation; the intelligent shopping cart formation runs in the system by taking a pilot cart of the intelligent shopping cart formation as a description object;
the supermarket background processing platform comprises a display, a camera module, a wireless communication module, an information processing module and an alarm module;
the supermarket backstage processing platform display is used for displaying the position information of the wearable terminal of the bracelet type in the supermarket and the intelligent shopping cart and the three-dimensional map information of the shelf in the supermarket in real time, the positions of the wearable terminal of the bracelet type in the primary and secondary mode and the intelligent shopping cart are respectively indicated by icons with different colors and shapes on the display, and the emergency degree is represented by the depth of the icon color: if the bracelet-type wearable terminal or the intelligent shopping cart is in the supermarket operation range and is closer to the boundary, the darker the color of the corresponding icon is; when the bracelet-type wearable terminal or the intelligent shopping cart starts to exceed the supermarket operation range, the corresponding icon continuously flickers at the initial frequency of 5Hz, the flickering frequency is increased gradually as the distance of the intelligent shopping cart exceeding the operation range increases, and the specific increasing mode is that the flickering frequency of the icon is increased by 1Hz every time the distance is increased by 0.5 m;
the supermarket background processing platform information processing module is used for calculating the people flow density information in the supermarket according to the video pictures transmitted by the supermarket background processing platform camera module, controlling the output pictures of the supermarket background processing platform display, setting and storing map information and commodity information in the supermarket, supporting the operation of adding information and modifying information, and sending the information to the hand ring type wearable terminal and the intelligent shopping cart in time through the supermarket background processing platform wireless communication module; the supermarket background processing platform information processing module is also used for evaluating the use records of the whole system and recording the evaluation results, and the evaluation records are integrated every two weeks to generate a use report which is fed back to a supermarket manager;
the supermarket background processing platform alarm module is used for monitoring the positions of the bracelet-type wearable terminal and the intelligent shopping cart in real time, when the positions of the bracelet-type wearable terminal or the intelligent shopping cart are found to be out of the supermarket operating range, a voice warning is sent to a worker in time through the built-in voice module, voice prompts of the bracelet-type wearable terminal and the intelligent shopping cart in various scenes are preset in the alarm module, the voice prompts support editing operations of background addition and modification, the voice prompts are synchronized to all the bracelet-type wearable terminals and the intelligent shopping cart through the wireless communication module after the editing is completed, and meanwhile, the built-in voice module of the alarm module can also be used for voice communication between the worker and the terminals;
the supermarket background processing platform camera module is arranged above the front end and the rear end of each shopping channel in the supermarket, and can acquire dynamic pictures of each shopping channel in the supermarket in real time and transmit the pictures to the supermarket background processing platform information processing module in real time for calculating the people flow density;
when a customer shops, the shopping navigation mode, the shopping following mode, the sentinel mode and the child monitoring mode can be selected through the bracelet-type wearable terminal, and then all parts of the system enter corresponding working states according to the selected modes.
2. The intelligent shopping cart system for supermarkets based on wearable terminals as claimed in claim 1, wherein the bracelet-type wearable terminal is set in a primary-secondary mode by a user, the terminal set in the primary mode is called a primary terminal, the terminal set in the secondary mode is called a secondary terminal, and a primary terminal and a plurality of secondary terminals matched with the primary terminal can be set, corresponding to a scene that a customer takes a plurality of children to shop; after the bracelet-type wearable terminal is started, a customer can manually select and set the bracelet-type wearable terminal as a parent terminal or a child terminal on a touch display screen of the bracelet-type wearable terminal, and if the bracelet-type wearable terminal is not set, the intelligent shopping cart corresponding to the parent terminal cannot be in a dormant state; if the customer selects the parent terminal, the display interface enters the interface for adding the child terminal, at the moment, the user can perform the operation of adding and pairing the child terminal, and if no child terminal needs to add and pair, skipping can be selected; if the customer selects the child terminal, the customer needs to perform pairing operation with the corresponding parent terminal; the bracelet-type wearable terminal is characterized in that a string of digital labels is engraved on the surface of the bracelet-type wearable terminal and serves as a unique identifier of the bracelet-type wearable terminal, when a matched child terminal is added to a parent terminal, the digital labels corresponding to the child terminal are input only through a touchable display screen of the parent terminal, and pairing operation can be agreed after the identifier of the parent terminal is confirmed on the touchable display screen of the child terminal, so that pairing between the parent terminal and the child terminal is realized, wherein the pairing is realized through a wireless communication module built in the bracelet-type wearable terminal; after the operation of setting the primary and secondary terminals is finished, a customer can select a shopping mode on the primary terminal to start shopping, and encrypted communication is started among the primary terminal, the secondary terminal, the primary terminal, the intelligent shopping cart and the supermarket background processing platform; after shopping is completed and the customer returns the wearable terminal of bracelet formula, the above-mentioned primary and secondary terminal sets up inefficacy, and the terminal needs to repeat the above-mentioned step of setting when starting up next time.
3. The intelligent shopping cart system based on wearable terminal in supermarket of claim 1, wherein the positioning module of the intelligent shopping cart comprises positioning chip No. 1, positioning chip No. 2, positioning chip No. 3 and positioning chip No. 4, the positioning chip No. 1 is installed at the upper left corner of the front part of the inner wall of the private article storage box of the intelligent shopping cart and fixed by contacting with three adjacent walls, the positioning chip No. 2 is installed at the upper right corner of the front part of the inner wall of the private article storage box of the intelligent shopping cart and fixed by contacting with three adjacent walls, the positioning chip No. 3 is installed at the lower left corner of the rear part of the inner wall of the private article storage box of the intelligent shopping cart and fixed by contacting with three adjacent walls, the positioning chip No. 4 is installed at the lower right corner of the rear part of the inner wall of the private article storage box of the intelligent shopping cart, fixing by contacting with three adjacent walls; the intelligent shopping cart positioning module can obtain a more accurate intelligent shopping cart position according to the position calculation formula:
Figure FDA0003331721740000031
wherein:
Xdcalculating the horizontal coordinate of the position of the intelligent shopping vehicle in the supermarket map coordinate system, wherein the unit is meter and YdCalculating the vertical coordinate of the position of the intelligent shopping vehicle in the supermarket map coordinate system, wherein the unit is meter and ZdCalculating the vertical coordinate of the position of the intelligent shopping vehicle in the supermarket map coordinate system, wherein the unit is meter and XiFor actually measuring the horizontal coordinate of the position of the ith positioning chip in the coordinate system of the supermarket map, the unit is meter and YiThe vertical coordinate of the position of the ith positioning chip in the supermarket map coordinate system is actually measured, and the unit is meter and ZiThe unit of the vertical coordinate of the position of the ith positioning chip in the supermarket map coordinate system is measured in meters, wherein subscript i is 1, 2, 3 and 4, and the subscript i corresponds to four positioning chips on the intelligent shopping cart respectively.
4. The wearable terminal-based supermarket intelligent shopping cart system of claim 1, wherein the intelligent shopping cart is deactivated and automatically tracked to the position of the parent terminal after the parent terminal is started;
when the power switch of the parent terminal is turned on, a navigation control module of the intelligent shopping cart automatically plans a shortest path to the position of the parent terminal according to the received real-time position information of the parent terminal and map information inside the supermarket received from a supermarket background processing platform, and controls a four-wheel module to track the path; the radar module of the intelligent shopping cart can detect the path obstacles in real time and feed the path obstacles back to the navigation control module, and the navigation control module can replan the route according to the position information of the obstacles; the intelligent shopping cart stops after entering a circular area with the mother terminal as the center of a circle and 1 meter as the radius, if the intelligent shopping cart is formed, the intelligent shopping cart is formed and stops after the pilot car enters the circular area with the mother terminal as the center of a circle and 1 meter as the radius, a voice module on the mother terminal informs a customer that the intelligent shopping cart arrives and prompts the customer to perform mode selection, and if the customer does not perform active selection within 5 seconds, the intelligent shopping cart defaults to enter a shopping following mode;
in the process of tracking the position of the parent terminal, the driving speed control method of the intelligent shopping cart adopts fuzzy control:
the fuzzy control method comprises the steps that people flow density in a circular area with an intelligent shopping cart as a center and a radius of 10 meters and the distance from the intelligent shopping cart to a mother terminal are input, a fuzzy subset is defined as rho ═ ZE, PO, PS, PM and PB }, namely { zero, positive, negative and positive }, S ═ ZE, PO, PS, PM and PB }, namely { zero, positive, negative, positive and positive }, the output is the traveling speed of the intelligent shopping cart, and a fuzzy set is defined as V ═ ZE, PO, PS, PM and PB }, namely { zero, positive, negative, positive and positive }; wherein rho is the people flow density in a limited area, S is the distance from the intelligent shopping cart to the parent terminal and is measured in meters, and V is the running speed of the intelligent shopping cart and is measured in km/h.
5. The wearable terminal based supermarket intelligent shopping cart system of claim 1, wherein the intelligent shopping cart can automatically follow a customer in a shopping following mode, thereby reducing the cart burden of the customer;
in the following process, a radar module of the intelligent shopping cart can detect obstacles on a path in real time and feed the obstacles back to a navigation control module, and the navigation control module corrects a planned route according to the position information of the obstacles and continuously follows a customer;
in a shopping following mode, the intelligent shopping cart continuously receives the position information of the parent terminal, the navigation control module calculates the distance S between the intelligent shopping cart and the parent terminal in real time, if the intelligent shopping cart is formed, the distance S is the distance between the pilot cart and the parent terminal, and the travelling speed v of the intelligent shopping cart is determined by comparing the distance S with the set distance:
(1) when 0 is present<S<R1When the intelligent shopping cart runs, the running speed v of the intelligent shopping cart is 0;
(2) when R is1<S≤R2When the intelligent shopping cart travels, the travel speed v is 4.5 km/h;
(3) when R is2<S, the moving speed v of the intelligent shopping cart is 9 km/h;
wherein:
R10.9 m
R22 m ═ 2 m
The unit of S is meter.
6. The wearable terminal based supermarket intelligent shopping cart system of claim 1, wherein the intelligent shopping cart is capable of preventing items in the cart from being taken in a sentinel mode and giving an alarm prompt in case of a critical situation;
under the sentinel mode, intelligent shopping cart stops in situ, and each box cabinet door is closed, and the electricity is locked to the electromagnetism, only accessible female terminal remote control is opened or is closed, and force sensor real-time supervision power of opening the door and warn when the power of opening the door risk degree surpasss the setting value:
(1) when the door built-in force sensor of the intelligent shopping cart cabinet door detects that the door opening risk degree in the sentinel mode is greater than Frisk1Meanwhile, the intelligent shopping cart wireless communication module sends a signal to the female terminal, the female terminal can touch a specific cabinet door which is being forcibly opened on the display screen by text information, and the built-in voice module of the female terminal can also perform voice prompt for the customer for three times;
(2) if the sensor still detects that the door opening risk degree is larger than F after the first warningrisk1The intelligent shopping cart and the female terminal can continuously repeat the warning in the mode and repeat the warning at a time interval of 5 seconds, when the accumulated warning times reach 5 times and a customer does not process the warning prompt through the female terminal, the wireless communication module of the intelligent shopping cart can send warning information to the supermarket background processing platform, the supermarket background processing platform can carry out corresponding voice prompt on workers, and a display of the supermarket background processing platform can display specific position information of the intelligent shopping cart which is being forcibly opened and a monitoring picture of a corresponding area;
(3) when the door opening risk degree is detected to be less than F within 10 secondsrisk2Stopping alarming, otherwise, repeating the steps (1), (2) and (3);
wherein:
Frisk1to a high risk threshold, Frisk2The low risk threshold value can be trained through a neural network to obtain a proper value;
under the sentry mode, navigation control module record sentry mode operating time, and the wearable terminal of bracelet formula can indicate customer sentry mode live time every 10 minutes of interval to inquire whether need cancel: if the customer chooses not to cancel, the intelligent shopping cart continues to keep the sentinel mode; if the customer selects to cancel or the working time of the sentinel mode reaches 30 minutes, the navigation control module controls the intelligent shopping cart to travel to the area where the customer is located, and then the intelligent shopping cart enters a shopping following mode by default; the customer can also cancel the sentinel mode and select other modes at any time through the mother terminal under the mode.
7. A wearable terminal based supermarket intelligent shopping cart system according to claim 1, wherein the intelligent shopping cart is capable of showing specific location information of goods to a customer through a mother terminal touchable display screen and automatically planning a route to guide the customer to the location in a shopping navigation mode;
in the shopping navigation mode, a customer can input commodities to be purchased through a touch display screen of a mother terminal, the mother terminal transmits a commodity list selected by the customer to an intelligent shopping cart through a wireless communication module, the intelligent shopping cart plans out a shortest path according to commodity position information stored in the intelligent shopping cart and map information inside a supermarket, the planned path and visual information of the commodity position selected by the customer are displayed on a display screen of the mother terminal, meanwhile, the display screen of the mother terminal inquires whether the customer goes right away or not through text information and voice, two options of 'yes'/'no' are given on a touch screen of the mother terminal, and the customer can select the options through touch options and also through voice input: if the customer selects 'yes', the navigation control module controls the intelligent shopping cart to move to the goods shelf where the goods are located, and the intelligent shopping cart stops when reaching the area where the goods are located; if the customer selects 'no', returning to the commodity selection interface to continuously select the commodities which the customer wants to purchase; if the customer stops midway, the pause option can be clicked on the display screen of the female terminal, then the speed of the intelligent shopping cart is reduced to 0, at the moment, the customer can temporarily select and purchase other commodities, then the recovery option is clicked, and then the intelligent shopping cart continues to go to the area where the commodities are located;
in the navigation process of the intelligent shopping cart, the navigation control module can continuously receive the position information transmitted by the parent terminal and calculate the distance S, and the advancing speed v of the intelligent shopping cart is determined according to the distance S between the two:
(1) when 0 is less than or equal to S<L1When the intelligent shopping cart travels, the travel speed v is 4.5 km/h;
(2) when L is1≤S<L2When the intelligent shopping cart travels, the travel speed v is 2.5 km/h;
(3) when L is2<S, the moving speed v of the intelligent shopping cart is equal to 0;
wherein:
L12 m ═ 2 m
L24 m ═ 4 m
When the intelligent shopping cart arrives in the commodity place area, the intelligent shopping cart can prompt a goods shelf where the commodities of a customer are located through the voice module, meanwhile, the touch display screen of the female terminal can also display the goods shelf information of the commodities in the form of characters and pictures, after the commodities are purchased by the customer, the information is confirmed through the female terminal, then the main interface of the touch display screen of the female terminal is returned, and the shopping mode is reselected.
8. The wearable terminal-based supermarket intelligent shopping cart system of claim 1, wherein a child monitoring mode of the intelligent shopping cart can detect the position of a child in real time and give different degrees of prompts according to the distance range of the child, so as to prevent the child from being lost;
the child monitoring mode is logically independent from other modes and can be simultaneously superposed with the other modes for operation;
in the child monitoring mode, a parent terminal worn by a customer and a child terminal worn by a child can send self position information to an intelligent shopping cart and a supermarket background processing platform through a wireless communication module, an intelligent shopping cart navigation control module calculates the distance between two primary and secondary terminals in real time, if the intelligent shopping cart is formed, the average value of the calculated distance of each intelligent shopping cart is taken as the final distance and is recorded as L, and corresponding processing is carried out according to the size of L:
(1) when L is more than or equal to 0<LaThen, the range is judged to be a relieved area, and the child can freely move in the area;
(2) when L isa≤L<LbWhen the area is determined to be the attention area, and L is detected to be more than L for 5 secondsaWhen the information is received by the customer on the display screen of the primary terminal, the voice prompt and the text prompt of the primary terminal disappear;
(3) when L isb≤L<LcThen, the range is determined as the warning area, and L is detected to last for 5 seconds and is more than LbWhen the information is received, the voice module of the primary terminal can repeatedly prompt the client that the child enters the warning area, the message is prompted by rolling in a text mode on the display screen of the primary terminal, the voice module of the secondary terminal can also perform repeated voice prompt on the child without being too far away from the parent, and the voice prompt and the text prompt of the primary and secondary terminals can not disappear until the client confirms that the information is received on the display screen of the primary terminal;
(4) when L iscWhen L is less than or equal to L, the range is judged as an alarm area, and when L is detected to be more than L for 2 secondscWhen the child safety warning device is used, the parent terminal buzzer continuously sounds, the vibration module starts to vibrate at the same time, the voice module can repeatedly remind a customer that the child exceeds the maximum safety distance, the child terminal buzzer and the vibration module also work in the same mode, and the child terminal voice module repeatedly reminds the child not to go far and pacifies that the child stays in place;
(5) when the child terminal and the mother terminal are on different floors, the logic is still applicable, but at the moment, the information of the floor where the child terminal is located is additionally displayed on the mother terminal;
wherein:
Figure FDA0003331721740000051
Figure FDA0003331721740000061
Figure FDA0003331721740000062
in the above expression, LaSetting a default first distance value in meters for the positioning module, and supporting a user to set the value in a self-defined manner; l isbSetting a default second distance value in meters for the positioning module; l iscSetting a default third distance value in meters for the positioning module; s1The method is characterized in that the method is a supermarket single-floor business area, and when a child terminal and a mother terminal are on different floors, the unit is square meters based on the area of the floor business area where the mother terminal is located;
after the child monitoring mode is started, a customer can see a supermarket plane map marked with the position of the child terminal on a touch display screen of the parent terminal at any time, and the customer can select to go to the area where the child is located at any time, at the moment, the navigation control module can plan the shortest route to the child terminal according to the real-time position information of the child terminal and track the shortest route, and the leading mode is consistent with the navigation shopping mode;
under children's guardianship mode, children also can select to apply for to connect back the operation through the tangible display screen of child terminal, customer can agree to the application on the tangible display screen of parent terminal after confirming through parent terminal voice module and children talking, intelligence shopping cart can use child terminal to carry out route planning and tracking as the target afterwards, arrive child terminal position back, intelligence shopping cart can carry out corresponding suggestion to children through pronunciation, intelligence shopping cart carries out route planning and tracking as the target again with parent terminal afterwards, take children to go to the customer place area, the speed of travel control algorithm that intelligence shopping cart took the in-process is unanimous with the navigation shopping mode.
9. The wearable-terminal-based supermarket intelligent shopping cart system of claim 1, wherein a distance X is expanded outwards from a supermarket operating area boundary1The region of (1) is a warning region SdThe supermarket background processing platform can receive the position information of the primary-secondary terminal and the intelligent shopping cart in real time, and when the primary-secondary terminal or the intelligent shopping cart is detected to be outside the supermarket operation area and at SdWhen the shopping cart is within the range, the supermarket background processing platform sends an instruction to force the shopping cart to enter a parking state, the bracelet-type wearable terminal vibration module vibrates at high frequency, and the bracelet-type wearable terminal voice module and the intelligent shopping cart voice module repeatedly prompt that the customer exceeds the supermarket range and requires to return to supermarket returning equipment in time; the supermarket background processing platform informs background workers of leaving the supermarket operating area of equipment through the built-in voice module, the position information of the leaving primary and secondary terminals and the intelligent shopping cart is displayed on a supermarket background processing platform display, and the background workers can select to communicate with primary terminal customers through the background voice module; when in conversation, the alarm prompt of the voice module of the bracelet type wearable terminal is closed, and only the conversation function is carried out; after the customer confirms the alarm information on the touch display screen of the parent terminal, the alarm is temporarily released, and at the moment, the shopping cart enters a navigation following mode and returns to a supermarket operation area along with the customer; when the primary and secondary terminals or the intelligent shopping cart are detected to be out of the supermarket operation area and at SdWhen the shopping cart is out of the range, the supermarket background processing platform sends an instruction to force the shopping cart to run back to the supermarket management area, and meanwhile, the bracelet-type wearable terminal can continuously vibrate at high frequency to carry out voice prompt on the customer and urge the customer to return to the bracelet-type wearable terminal;
wherein the content of the first and second substances,
Figure FDA0003331721740000063
the unit is meter.
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