CN208034674U - Automatic moving type shopping auxiliary robot - Google Patents
Automatic moving type shopping auxiliary robot Download PDFInfo
- Publication number
- CN208034674U CN208034674U CN201820397513.4U CN201820397513U CN208034674U CN 208034674 U CN208034674 U CN 208034674U CN 201820397513 U CN201820397513 U CN 201820397513U CN 208034674 U CN208034674 U CN 208034674U
- Authority
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- China
- Prior art keywords
- robot
- module
- controller
- robot body
- fuselage
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
Abstract
The utility model discloses a kind of automatic moving type shopping auxiliary robots,Including robot body and control system,Robot body includes columnar fuselage,It is set to the traveling wheel at fuselage both ends,Travel driving system for driving traveling wheel to rotate,The babinet being set in fuselage for installing commodity and the case lid for closed box,Control system includes power module,Wireless communication module,Self-balancing module,Self-positioning module,Identification module,Obstacle avoidance module and controller,Robot body makes robot body keep balance by self-balancing module,Module and supermarket's central server wireless telecommunications by radio communication,Device is interacted by self-positioning module with identification module and hand-held to match,Realize the dynamic tracing between robot and user,The commodity chosen are placed in the babinet of robot body by user,Robot body installs the commodity chosen and independently user is followed to walk,To make shopper liberate both hands,Substantially improve the shopping experience of shopper.
Description
Technical field
The utility model is related to robot fields, specially a kind of automatic moving type shopping auxiliary robot.
Background technology
Nowadays supermarket shopping has become the indispensable activity of men and women, old and young's life, and supermarket's commodity are resourceful, and type is various, than
The shopping at network that can't see entity is acted, people are still keen to enjoy dazzling entity shelf on one side, choose oneself on one side
The commodity liked.So during choosing, people are unwilling that two portable full things bear a heavy burden appreciation heavyly certainly,
And traditional shopping cart although solve the problems, such as without portable commodity this, but shopping cart very large in tow is nor people are favorite
Thing, certain people do not like queuing checkout yet.
Therefore in the epoch increasingly risen in people's quality of life, need one kind that can install commodity autonomous, to make
Shopper liberates the automatic moving type shopping auxiliary robot of both hands.
Utility model content
In view of this, the purpose of the utility model is to overcome the defect of the prior art, commodity can be installed certainly by providing one kind
Main walking, to make shopper liberate the automatic moving type shopping auxiliary robot of both hands.
A kind of automatic moving type shopping auxiliary robot disclosed by the utility model, including robot body and for controlling machine
The control system of human body's action, the robot body include columnar fuselage, are set to the walking at the fuselage both ends
Wheel is electrically connected with the control system and to be used for for driving the travel driving system of traveling wheel rotation, being set in the fuselage
Install the babinet of commodity and the case lid for closed box.
Further, the control system includes power module, wireless communication module, self-balancing module, self-positioning module, body
Part identification module, obstacle avoidance module and controller；
The power module is to wireless communication module, self-balancing module, self-positioning module, identification module, avoidance mould
Block and controller power supply, module is connect the controller with supermarket central server communication by radio communication, the self-balancing
The robot body dip angle signal and angular velocity signal that detect are sent to controller and carry out calculation process, the control by module
Device is communicated to connect with self-positioning module and identification module respectively, and the obstacle avoidance module is by the barrier detected and robot
Between relative position information be sent to supermarket's central server.
Further, the travel driving system includes the gear ring for being coaxially fixed on the traveling wheel inner circle and the gear ring
Meshed gears and stepper motor for driving gear rotation, the controller control stepper motor and power module it
Between electrical break-make.
Further, the robot self-balancing module includes acceleration transducer, gyroscope and is set under the fuselage
The linear acceleration signals of the robot fuselage detected are sent to controller by the balance weight in portion, the acceleration transducer, institute
It states gyroscope and the angular velocity signal of the robot fuselage detected is sent to controller.
Further, the self-positioning module includes being set to the UWB positioning labels of robot top of the box and being arranged super
On each shelf in city for read UWB positioning label information UWB sensors, the UWB sensors respectively with robot body
Controller and supermarket's central server between communicate to connect, the power module to UWB position it is tag-powered.
Further, the identification module includes：RFID card and the first RFID Card Readers for reading RFID card information
Device, first RFID card reader are communicated to connect with controller.
Further, the outer circular top part of the fuselage is equipped with the shell covered for the top to fuselage and traveling wheel, institute
It states shell position corresponding with babinet and is equipped with opening, the case lid is articulated with the shell；
It is provided with the socket being inserted into for RFID card on the fuselage outer side wall, is provided in the socket for controlling machine
The switch that people starts.
Further, automatic moving type shopping auxiliary robot further includes interacting device with the matching used hand-held of robot body,
The hand-held interaction device includes user's locating module, touch screen interactive interface, calls robot button, hand held controller, communication
Module and commodity code reader, the hand held controller respectively with touch screen interactive interface, call robot button and commodity barcode scanning
Device connects, and user's locating module and hand held controller communicate to connect, the hand held controller by communication module respectively with
The controller of robot body is connected with supermarket central server；
Hand-held interaction device further includes the second RFID reader for reading RFID card information, and the 2nd RFID is read
Device is write to communicate to connect with hand held controller；
Hand-held interaction device surface is provided with RFID card socket, and second RFID reader is located at inserting for hand-held interaction device
Mouth position.
Further, the robot obstacle-avoiding module includes being set to the human infrared sensor of robot body and surpassing
Sonic sensor, the human infrared sensor and ultrasonic sensor send signal to controller in real time.
Further, the bottom of box is provided with the resistance-strain type weighing and sensing that Item Weight is born for detecting babinet
Device, the resistance strain weighing transducer is by the box weight signal transmission detected to controller.
The utility model has the beneficial effects that：The automatic moving type shopping auxiliary robot of the utility model, robot body
Cylindrical shape fuselage is in horizontal setting, and two traveling wheels are respectively arranged at its both ends, and traveling wheel is under the driving of travel driving system
Independent rotation, to realize that robot body is flexibly walked between supermarket shelves.The babinet insertion machine for carrying commodity is man-machine
In body, shell is mounted on robot body, and the wheel on avoidable fuselage damage and contact ground accidentally brushes against user and makes dirty
Clothes.Robot body makes robot body keep balancing when walking by self-balancing module, by being integrated on mainboard
Wireless communication module is communicated wirelessly with supermarket central server, and the self-positioning module on robot body is equipped with positioning chip
With the sensor that the chip information can be read on each shelf of supermarket is set, sensor sends out the location information of robot body
Supermarket's central server is given to realize that the positioning work(function of robot, the identification module being arranged on robot body are available
Make robot authentication, can also interact device with hand-held is matched, and the self-positioning module of robot is coordinated to realize machine
People interact device with the hand-held that user carries between dynamic tracing, when robot ambulation hides the barrier of surrounding by obstacle avoidance module
Hinder object, user the commodity chosen can be placed in the babinet of robot body, it is autonomous that robot body installs the commodity chosen
It follows user to walk, to make shopper liberate both hands, substantially improves the shopping experience of shopper.
Description of the drawings
The utility model is further described with reference to the accompanying drawings and examples：
Fig. 1 is the explosive view of the robot body of the utility model；
Fig. 2 is that the hand-held of the utility model interacts the front view of device；
Fig. 3 is that the hand-held of the utility model interacts the vertical view of device；
Fig. 4 is the front view of the fuselage of the robot body of the utility model；
Fig. 5 is A-A sectional views in Fig. 4；
Fig. 6 is C-C sectional views in Fig. 4；
Fig. 7 is the structural schematic diagram of the traveling wheel of the robot body of the utility model；
Fig. 8 is the functional block diagram of the robot of the utility model；
Fig. 9 is the box house schematic diagram of the utility model；
Figure 10 is the electrical schematic diagram of the robot RFID card spigot switch of the utility model.
Specific implementation mode
Fig. 1 is the bright structural schematic diagram of the utility model, as shown, a kind of automatic moving type shopping auxiliary machine of the present embodiment
Device people, including robot body and control system, robot body include columnar fuselage 10, are set to 10 both ends of fuselage
Traveling wheel 2 is electrically connected with control system for driving travel driving system that traveling wheel 2 rotates, being set in fuselage 10 and be used for
Install the babinet 3 of commodity and the case lid 6 for closed box 3.The automatic moving type shopping auxiliary robot of the present embodiment, robot
The cylindrical shape fuselage 10 of ontology is in horizontal setting, and two traveling wheels 2 are respectively arranged at its both ends, and traveling wheel 2 is in hoofing part system
It is independently rotated under the driving of system, to realize that robot body is flexibly walked between supermarket shelves.The babinet 3 for carrying commodity is inserted
Enter in robot fuselage 10, shell 5 is mounted on robot body, and the wheel that can avoid fuselage damage and contact ground accidentally touches
Clothes is made dirty to user.The commodity chosen are placed in the babinet 3 of robot body by user, and robot body installation is chosen
Commodity independently user is followed to walk, to make shopper liberate both hands, substantially improve the shopping experience of shopper.
In the present embodiment, control system includes power module, wireless communication module, self-balancing module, self-positioning module, body
Part identification module, obstacle avoidance module and controller, power module is to wireless communication module, self-balancing module, self-positioning module, identity
Identification module, obstacle avoidance module and controller power supply, module is connect controller with supermarket central server communication by radio communication,
The robot body dip angle signal and angular velocity signal that detect are sent to controller and carry out calculation process, control by self-balancing module
Device processed is communicated to connect with self-positioning module and identification module respectively, obstacle avoidance module by the barrier detected and robot it
Between relative position information be sent to supermarket's central server.Robot body makes robot body be expert at by self-balancing module
Balance is kept when walking, and is communicated wirelessly, is passed through with supermarket central server by the wireless communication module that is integrated on mainboard
The location information of robot body is sent to supermarket's central server by self-positioning module, by identification module by robot
Identity information be sent to the controller and supermarket's central server of robot body, can be used as robot authentication, pass through
Relative position information between the barrier detected and robot body is sent to supermarket's central server by obstacle avoidance module, is surpassed
The location information of barrier is carried out storage record by city's central server, and robot command finds the path row of clear
It walks, robot is made to avoid shelter around completely in the process of walking, avoid causing live confusion.
Wireless wifi communication modules and wireless 4G moulds can be used in the wireless communication module of robot body in the present embodiment
Block.
In the present embodiment, travel driving system includes the gear ring 13 for being coaxially fixed on 2 inner circle of traveling wheel, is engaged with gear ring 13
Gear 1 and for drive gear 1 rotate stepper motor.10 both ends of columnar fuselage are formed with round boss, traveling wheel 2
It is rotatable outer to be sleeved on the round boss, in fuselage 10 driver box body 8 is equipped with close to bottom position, the two of driver box body 8
Output motor axis is driven by two stepper motors respectively, and two motor shafts respectively drive two gears 1 and rotate, and 10 bottom of fuselage opens up
There are straight slot, gear 1 to may pass through the straight slot and engaged with the gear ring 13 being fixed on traveling wheel 2, and then respectively drives two traveling wheels 2
Rotation.When robot going straight ahead, the operating of two stepping motor synchronous, when robot turns, differential operates, therefore can realize
No-radius is turned, also can be nimbly and freely between complicated shelf.In order to more accurately control the start and stop of stepper motor, can increase
Add PLC controller and carry corresponding stepper motor encoder to control the rotation of motor, i.e., PLC controller is according to stepper motor
Encoder detects the rotating speed of motor to adjust the precision of stepping motor rotor.
In the present embodiment, robot self-balancing module includes acceleration transducer, gyroscope and is set under the fuselage
The linear acceleration signals of the robot fuselage detected are sent to controller, gyroscope by the balance weight in portion, acceleration transducer
The angular velocity signal of the robot fuselage detected is sent to controller.Wherein, it is equipped in robot bottom of box center of gravity
Acceleration transducer and gyroscope are optimum structure, and testing result is more accurate, more conducively the control of fuselage.Controller adds line
Speed signal and angular velocity signal are handled in conjunction with existing algorithm, and control instruction control motor driving is sent to driving motor
Gear 1 acts, and accelerates or slows down to realize that robot keeps balance to control traveling wheel 2, while being set in 10 lower part of fuselage
It is equipped with balance weight, allows robot center of gravity to remain at wheel hereinafter, controller control robot is preferably made to keep itself flat
Weighing apparatus.
In the present embodiment, the self-positioning module includes being set to UWB positioning labels and the setting of robot top of the box
On each shelf of supermarket for read UWB positioning label information UWB sensors, the UWB sensors respectively with robot
It is communicated to connect between the controller and supermarket's central server of ontology, the power module positions tag-powered to UWB.UWB is passed
Be stored with co-ordinate position information known to sensor in sensor, set UWB sensors to locating base station, UWB sensors according to
The time of the information of UWB positioning labels is received to carry out the mixed positioning of arrival time angle A OA and reaching time-difference TDOA
Operation, and the data after operation are sent to supermarket's central server and carry out data processing, a general UWB positions label meeting
Send information to four UWB sensors of surrounding simultaneously, the data that supermarket's central server is passed back according to four UWB sensors into
Row analytic operation obtains the accurate location information of UWB positioning labels, and the location information of UWB positioning labels is stored.For
Avoid UWB sensors and supermarket's central server from being likely to occur communication failure and can not data transmission, UWB sensors and machine
It can be also communicatively coupled between the controller of human body, controller, can be by data after the data for obtaining the transmission of UWB sensors
It is transferred to after supermarket's central server carries out calculation process and obtains the accurate location information of UWB positioning labels.In order to make UWB position
Speed more rapidly, can set up wireless Mesh netword in supermarket, and Ubisense7000 cooperations can be used in active location label
Ubisense sensors simultaneously carry the prior art and can be achieved with UWB wireless location technologies.
In the present embodiment, identification module includes RFID card and the first RFID Card Readers for reading RFID card information
Device, first RFID card reader are communicated to connect with controller.Passive RFID electronic tag can be used in RFID card, and can be with machine
The separated use of device people.First RFID reader sends out radiofrequency signal and RFID cards, RFID card is given to obtain energy and be activated, the
One RFID reader reads the information such as the robot identity coding on RFID card and sends to robot controller, robot control
Device is by the information comparison of information and controller itself storage on the RFID card received, RFID card and robot if information is identical
It is mating, RFID card is not matched with robot if information differs, and robot can send out alarm, reminds related personnel timely
Correctly card is replaced, is avoided because more robots because being equipped with the identical RFID card of shape simultaneously in use, occur mutually mixed
Confuse, influences the normal use of robot.
In the present embodiment, 10 outer circular top part of fuselage is outer equipped with being covered for the top to fuselage 10 and traveling wheel 2
Shell 5, the position corresponding with babinet 3 of shell 5 are equipped with opening, and case lid 6 is articulated with the shell 5.It is provided with confession on fuselage outer side wall
The socket 16 that RFID card is inserted into is provided with the switch for controlling robot startup in the socket 16.Switch includes：Metal elastic
One end of piece 21 and metal contact piece 22, metal clips 21 is fixed on the side of RFID card socket 16, metal clips as fixing end
The other end be free end, and the fixing end of metal clips is electrically connected with the power supply output end of the power supply of robot, metal contact piece
22 are fixed on the other side of RFID card socket 16, and metal contact piece is electrically connected with the power input of the electrical equipment of robot, gold
The free end for belonging to shrapnel 21 is connected with metal contact piece 22 when RFID card is not inserted into RFID sockets 16, but is inserted in RFID card
After entering, the free end of metal clips 21 and metal contact piece 22 are spaced, so that the power supply of the entire electrical equipment of robot
It is disconnected.This automatic moving type shopping auxiliary robot cleverly controls robot on/off by the way of inserting card taking, operates
It is simple and convenient, greatly meet the quick shopping experience of shopper.
In the present embodiment, automatic moving type shopping auxiliary robot further includes being interacted with the matching used hand-held of robot body
Device, hand-held interaction device include user's locating module, touch screen interactive interface 15, call robot button 12, hand held controller, lead to
Believe module and commodity code reader 14, hand held controller respectively with touch screen interactive interface 15, call robot button 12 and commodity
Code reader 14 connects, and user's locating module and hand held controller communicate to connect, hand held controller by communication module respectively with machine
The controller of device human body is connected with supermarket central server, and hand-held interaction device further includes for reading RFID card information
Two RFID readers, the second RFID reader are communicated to connect with hand held controller, and hand-held interaction device surface is provided with RFID card
Socket, the second RFID reader are located at the tap position of hand-held interaction device.User need robot execute stop wait for or
Walk on order when, can directly press and robot button 12 is called to carry out function selection, call robot button 12 will triggering
Signal is sent to hand held controller, and hand held controller sends a command to the controller of robot body, and robot body executes
Related command.Communication module includes wireless wifi module and 4G modules.When wireless router works normally in supermarket, hand-held
Interaction device preferentially enables the controller of wireless wifi module and robot body and supermarket's central server carries out wireless communication, when
Hand-held interacts wifi communication connections are established between device and robot body after, press the call robot of hand-held interaction device by
Button 12 can realize that remote control is called to robot body.Hand-held interacts device and is previously provided with 4G cards of surfing Internet with robot body, when
When wireless router occurs abnormal in supermarket, hand-held interaction device enables the controller of 4G modules and robot body and surpasses automatically
City central server carries out 4G communications, after hand-held, which interacts, establishes 4G communication connections between device and robot body, it can be achieved that
Hand-held interacts the remote control call for calling robot button 12 to robot body of device.It is equipped with to hand-held interaction device a variety of logical
Believe module, hand-held interaction device can be avoided to be unable to normal use because of communication failure completely.Hand-held interacts user's positioning of device
Module is identical as the self-positioning module operation principle of robot, that is, uses UWB positioning labels and be arranged on each shelf of supermarket
The UWB sensors of label information, UWB sensors and hand held controller and supermarket's central server communication are positioned for reading UWB
Connection.Supermarket's central server interacts the location information of the UWB sensors acquisition user of device, supermarket's central service by hand-held
The movement locus of user store spare by device.The RFID card of robot body is taken out and is inserted into hand-held interaction device
In RFID card socket 17, the second RFID reader on hand-held interaction device identifies the information in current RFID card, the RFID
Card information includes at least robot identity coding information, and hand-held interacts the hand held controller of device by the identity coding information of itself
And the robot body received obtains identity coding information and forms a team to be sent to supermarket's central server, supermarket's central server passes through
After the location information of obtained robot body and hand-held interaction device carries out operation, finds out optimal path and be sent to machine
People, robot are followed according to optimal path.Since the identity coding information that robot body and hand-held interact device is unique always,
Supermarket's central server can interact the best of device movement with the hand-held of this pairing for robot body transmission always and follow route.
It is inserted into the RFID card socket 17 of hand-held interaction device using the RFID card of robot body is taken out, and device is interacted by hand-held
The method for the identity information that second RFID reader read machine human body's RFID card of interior setting stores gives supermarket's central server
It is maximum to simplify pairing process to robot and hand-held interaction device pairing, pairing reliability is increased, it can be achieved that allowing machine
Human body and any one hand-held interaction device match, and avoid automatic moving type shopping auxiliary robot and use the complicated of process
Program has saved the time that user waits for shopping.Touch screen interactive interface 15 is used for display of commodity information list, such as commodity point
Class, commodity area distribution, discounting merchandise news and function sex service, such as：Calling manual service, robot follow, and await orders,
Shopping guide, barcode scanning valuate, reckon up the bill.User will need the commodity bought to be swept in the commodity code reader 14 that hand-held interacts device
It is put into after retouching in robot babinet, can directly pass through mobile phone after the mobile phone terminal foundation connection of device and user are interacted by hand-held
Terminal is settled accounts, and is eliminated the time that manual service need to occupy, is made the faster convenience of supermarket shopping more hommization.Hand-held interacts
Device be internally provided with rechargeable storage battery to user's locating module, touch screen interactive interface 15, call robot button 12, hand-held
Controller, communication module and commodity code reader 14 are powered.
In the present embodiment, robot obstacle-avoiding module includes being set to 11 He of human infrared sensor of robot body
Ultrasonic sensor 4, human infrared sensor 11 send out infrared ray in real time, and ultrasonic sensor 4 sends out ultrasound in real time
Wave, when ultrasonic sensor 4 passes complaint message back, it is first determined whether human infrared sensor 11 also passes obstacle letter back
Breath, if human infrared sensor 11 does not pass human body obstruction information back, ultrasonic sensor 4 is directly to robot body
Controller passes complaint message back, and controller exports obstacle position information, supermarket's central server pair to supermarket's central server
Obstacle Position marks and is that robot body selects another to walk close to path, if human infrared sensor 11 is passed back
Human body obstruction information, then controller is to supermarket's central server output human body obstruction object location information, by supermarket's central server
Analyze another it is whether remote close to path, supermarket's central server order robot body changes its course advance if not far, such as
Then supermarket's central server order robot this waiting human body leaves fruit farther out, and the stand-by period is arranged to robot body, such as
Then order robot body changes its course advance fruit time-out.
In the present embodiment, supermarket's central server is completed the three-dimensional scenic map for having supermarket, when supermarket's central server
Receive robot body and hand-held interaction device location information when, supermarket's central server according to location information through mixing
The movement locus of robot and the user for carrying hand-held interaction device are shown on three-dimensional scenic map after location algorithm operation
It shows to come, and three-dimensional scenic map number is constantly updated according to the obstacle position information that the robot obstacle-avoiding module being collected into is passed back
According to supermarket's central server can be according to the positional information calculation of the location information and reference barrier of robot body and user
Go out the optimal of robot body and follows route.Supermarket's central server also interacts device for hand-held and provides merchandise news, payment
Information and manual service.
In the present embodiment, the bottom of box of robot body, which is provided with, to be born the resistance of Item Weight for detecting babinet and answers
Variant weighing sensor, resistance strain weighing transducer is by the box weight signal transmission detected to controller.It considers
Robot electric quantity is limited, experiences in order to not influence the shopping of user, it is necessary to set the load-bearing limit to robot, i.e., in robot
Shopping box bottom is evenly distributed with resistance strain weighing transducer, the shopping box that resistance strain weighing transducer will detect
Gravimetric value be transmitted back to controller, controller is equipped with limiting value, and when weight exceeds limit value, alarm is sent to by robot
Prompt user checks on the touch screen interactive interface of hand-held interaction device, and when weight is more than 1.2 times of limit value, robot stops moving
It is dynamic, it would indicate that robot stops mobile reason on the touch screen interactive interface that hand-held interacts device.
In the present embodiment, as shown in figure 9, box house is provided with baffle 18, baffle 18 is controlled by robot device control and turns
Dynamic direction.The bottom of box is additionally provided with branched pressure sensor 19, and pressure sensor 19 sends out the tank pressure signal detected
Give the controller of robot body.18 original state of baffle is vertical with traveling wheel axis, and running through at 18 inside center of baffle has
Rotation axis, rotation axis are connect with motor, and the controller of robot body can control motor positive and inverse.The controller of robot body
It is analyzed according to the pressure signal of the position of centre of gravity of babinet and the babinet of reception according to controller, which side pressure in shopping box is judged
Power is excessive, and the controller control baffle of robot body guides user by article court towards the small inclination on one side of pressure in shopping box
The small one end of tank pressure is placed, and robot is avoided to cause robot center of gravity uneven because user arbitrarily places article.
DSP control chips can be used in the controller of robot body in the present embodiment, such as：DsPIC30F4011, and carry
Available circuit can be realized functional to institute of automatic moving type shopping auxiliary robot.
Finally illustrate, above example is merely intended for describing the technical solutions of the present application, but not for limiting the present application, although ginseng
The utility model is described in detail according to preferred embodiment, it will be understood by those of ordinary skill in the art that, it can be to this
The technical solution of utility model is modified or replaced equivalently, without departing from the objective and model of technical solutions of the utility model
It encloses, should all cover in the right of the utility model.
Claims (10)
1. a kind of automatic moving type shopping auxiliary robot, it is characterised in that：Including robot body and for controlling robot body
The control system of action, the robot body include columnar fuselage, are set to traveling wheel and the institute at the fuselage both ends
Control system electrical connection is stated for driving the travel driving system of traveling wheel rotation, being set in the fuselage for installing commodity
Babinet and case lid for closed box.
2. automatic moving type shopping auxiliary according to claim 1 robot, it is characterised in that：The control system includes power supply
Module, wireless communication module, self-balancing module, self-positioning module, identification module, obstacle avoidance module and controller；
The power module to wireless communication module, self-balancing module, self-positioning module, identification module, obstacle avoidance module and
Controller is powered, and module is connect the controller with supermarket central server communication by radio communication, the self-balancing module
The robot body dip angle signal and angular velocity signal that detect are sent to controller and carry out calculation process, the controller point
It is not communicated to connect with self-positioning module and identification module, the obstacle avoidance module will be between the barrier that detected and robot
Relative position information be sent to supermarket's central server.
3. automatic moving type shopping auxiliary according to claim 2 robot, it is characterised in that：The travel driving system includes
Coaxially it is fixed on the gear ring of the traveling wheel inner circle, the step with the gear ring meshed gears and for driving the gear rotation
Stepper motor, electrical break-make between the controller control stepper motor and power module.
4. automatic moving type shopping auxiliary according to claim 2 robot, it is characterised in that：The robot self-balancing module
Including acceleration transducer, gyroscope and the balance weight for being set to the underbelly, the acceleration transducer will detect
The linear acceleration signals of robot fuselage be sent to controller, the gyroscope is by the angular speed of the robot fuselage detected
Signal is sent to controller.
5. automatic moving type shopping auxiliary according to claim 2 robot, it is characterised in that：The self-positioning module includes setting
It is placed in the UWB positioning labels of robot top of the box and is arranged on each shelf of supermarket for reading UWB positioning label informations
UWB sensors, the UWB sensors communication link between the controller of robot body and supermarket's central server respectively
It connects, the power module positions tag-powered to UWB.
6. automatic moving type shopping auxiliary according to claim 2 robot, it is characterised in that：The identification module packet
It includes：RFID card and the first RFID card reader for reading RFID card information, first RFID card reader are communicated with controller
Connection.
7. automatic moving type shopping auxiliary according to claim 6 robot, it is characterised in that：The outer circular top part of the fuselage is equipped with
For the shell that the top to fuselage and traveling wheel is covered, shell position corresponding with babinet is equipped with opening, described
Case lid is articulated with the shell；
It is provided with the socket being inserted into for RFID card on the fuselage outer side wall, is provided in the socket and is opened for controlling robot
Dynamic switch.
8. automatic moving type shopping auxiliary according to claim 6 robot, it is characterised in that：Automatic moving type shopping auxiliary robot
Further include that device is interacted with the matching used hand-held of robot body, the hand-held interaction device includes user's locating module, touches
Shield interactive interface, call robot button, hand held controller, communication module and commodity code reader, the hand held controller point
It is not connect with touch screen interactive interface, call robot button and commodity code reader, user's locating module and hand held controller
Communication connection, the hand held controller are connected with the controller of robot body and supermarket's central server respectively by communication module
It connects；
Hand-held interaction device further includes the second RFID reader for reading RFID card information, second RFID reader with
Hand held controller communicates to connect；
Hand-held interaction device surface is provided with RFID card socket, and second RFID reader is located at the socket of hand-held interaction device
Position.
9. automatic moving type shopping auxiliary according to claim 2 robot, it is characterised in that：The robot obstacle-avoiding module
Human infrared sensor and ultrasonic sensor including being set to robot body, the human infrared sensor and super
Sonic sensor sends signal to controller in real time.
10. automatic moving type shopping auxiliary according to claim 2 robot, it is characterised in that：The bottom of box is provided with
The resistance strain weighing transducer of Item Weight is born for detecting babinet, the resistance strain weighing transducer will detect
The box weight signal transmission arrived is to controller.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710359157.7A CN107414781A (en) | 2017-05-19 | 2017-05-19 | supermarket shopping intelligent robot |
| CN2017103591577 | 2017-05-19 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208034674U true CN208034674U (en) | 2018-11-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710359157.7A Pending CN107414781A (en) | 2017-05-19 | 2017-05-19 | supermarket shopping intelligent robot |
| CN201810242100.3A Pending CN108356789A (en) | 2017-05-19 | 2018-03-22 | supermarket shopping intelligent robot |
| CN201820397513.4U Expired - Fee Related CN208034674U (en) | 2017-05-19 | 2018-03-22 | Automatic moving type shopping auxiliary robot |
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| CN201710359157.7A Pending CN107414781A (en) | 2017-05-19 | 2017-05-19 | supermarket shopping intelligent robot |
| CN201810242100.3A Pending CN108356789A (en) | 2017-05-19 | 2018-03-22 | supermarket shopping intelligent robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108356789A (en) * | 2017-05-19 | 2018-08-03 | 重庆交通大学 | supermarket shopping intelligent robot |
| CN111673760A (en) * | 2020-06-11 | 2020-09-18 | 四川大学 | Following type balloon robot |
| CN113119133A (en) * | 2019-12-31 | 2021-07-16 | 上海依图信息技术有限公司 | Bag carrying method of shopping robot and shopping robot |
| US11113936B2 (en) * | 2017-08-23 | 2021-09-07 | M2Aim | Geolocation method and anti-theft tracer implementing such a method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108694788A (en) * | 2018-06-14 | 2018-10-23 | 中国地质大学（武汉） | A kind of home shopping robot and home shopping system |
| CN108994816A (en) * | 2018-10-11 | 2018-12-14 | 泉州市宏恩新能源汽车科技有限公司 | A kind of robot of supermarket |
| CN109262628A (en) * | 2018-11-01 | 2019-01-25 | 深圳市三宝创新智能有限公司 | A kind of intelligent robot equipment and method of servicing with foreground function |
| CN109828558A (en) * | 2018-12-20 | 2019-05-31 | 钟胤舜 | A kind of smart motion system and method |
| CN109605399A (en) * | 2019-01-23 | 2019-04-12 | 田家炜 | Remotely operate smart shopper robot device |
| CN113924787A (en) * | 2019-06-14 | 2022-01-11 | 赛斯-伊玛格标签有限责任公司 | Method for locating electronic shelf labels |
| CN110852813A (en) * | 2019-11-20 | 2020-02-28 | 哈尔滨工业大学 | Intelligent Internet of things shopping cart system and shopping method thereof |
| CN111267933A (en) * | 2020-02-29 | 2020-06-12 | 胡夏妹 | Intelligent shopping cart robot |
| CN111438678A (en) * | 2020-05-22 | 2020-07-24 | 陕西科技大学 | Intelligent shopping following robot and method |
| CN112315366A (en) * | 2020-10-28 | 2021-02-05 | 苏州工艺美术职业技术学院 | Intelligent closestool |
| CN112783162A (en) * | 2020-12-29 | 2021-05-11 | 重庆科技学院 | Intelligent shopping system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2792460Y (en) * | 2005-04-11 | 2006-07-05 | 张孟杰 | Electric gearing wheel chair |
| CN101554726B (en) * | 2009-05-15 | 2011-01-19 | 北京工业大学 | Flexible two-wheel self-balance robot system and motion control method thereof |
| CN101782767B (en) * | 2010-01-07 | 2011-11-16 | 西安交通大学 | Digitalized manufacture workshop material real-time distributing system based on Ultra Wideband (UWB) |
| CN103565344B (en) * | 2012-08-08 | 2017-04-19 | 科沃斯机器人股份有限公司 | Self-moving robot and walking method thereof |
| CN104637198A (en) * | 2013-11-14 | 2015-05-20 | 复旦大学 | Intelligent settlement shopping cart system with autonomous tracking function |
| CN105752246A (en) * | 2015-01-06 | 2016-07-13 | 刘岗 | Novel inverted pendulum self-balancing locomotive |
| CN206066463U (en) * | 2016-10-09 | 2017-04-05 | 佳木斯大学 | A kind of Intelligent Recognition for commodity delivery follows robot architecture |
| CN107414781A (en) * | 2017-05-19 | 2017-12-01 | 重庆交通大学 | supermarket shopping intelligent robot |
-
2017
- 2017-05-19 CN CN201710359157.7A patent/CN107414781A/en active Pending
-
2018
- 2018-03-22 CN CN201810242100.3A patent/CN108356789A/en active Pending
- 2018-03-22 CN CN201820397513.4U patent/CN208034674U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108356789A (en) * | 2017-05-19 | 2018-08-03 | 重庆交通大学 | supermarket shopping intelligent robot |
| US11113936B2 (en) * | 2017-08-23 | 2021-09-07 | M2Aim | Geolocation method and anti-theft tracer implementing such a method |
| CN113119133A (en) * | 2019-12-31 | 2021-07-16 | 上海依图信息技术有限公司 | Bag carrying method of shopping robot and shopping robot |
| CN111673760A (en) * | 2020-06-11 | 2020-09-18 | 四川大学 | Following type balloon robot |
| CN111673760B (en) * | 2020-06-11 | 2023-02-17 | 四川大学 | Following type balloon robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107414781A (en) | 2017-12-01 |
| CN108356789A (en) | 2018-08-03 |
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