CN212502248U

CN212502248U - Intelligent recognition's supermarket inspection robot

Info

Publication number: CN212502248U
Application number: CN202021067532.4U
Authority: CN
Inventors: 张新宇
Original assignee: China University of Petroleum East China
Current assignee: China University of Petroleum East China
Priority date: 2020-06-11
Filing date: 2020-06-11
Publication date: 2021-02-09
Anticipated expiration: 2030-06-11

Abstract

The utility model provides an intelligent recognition's supermarket inspection robot, including carrying the thing car, recognition device and manipulator, it includes the chassis to carry the thing car, the wheel, the protection is filled up, the storage tank, a supporting beam, the spacer pin, tow hook and pilot lamp, recognition device includes image acquisition module, the pivot, image processing module, controller and locator, the manipulator includes rotating base, a driving motor, first regulating arm, second driving motor, the second regulating arm, third driving motor, the third regulating arm, the connecting axle, runner assembly and mechanical tongs. The utility model discloses a carry the arrangement mode that the thing car carried the manipulator, can snatch in a flexible way and adjust the position and the direction of commodity through the manipulator, catch the image information and the overall dimension of commodity through recognition device, can carry out online identification and monitoring to the article that each position was put in the supermarket effectively, improved the efficiency of the work of patrolling and examining.

Description

Intelligent recognition's supermarket inspection robot

Technical Field

The utility model relates to an intelligence patrols and examines technical field, specifically is an intelligent recognition's supermarket patrols and examines robot.

Background

With the continuous progress of science, the intelligent recognition technology is more and more applied to the life of people. The intelligent identification technology is a technology for identifying objects of articles to identify targets and objects in various modes, and is an important field of artificial intelligence.

At present, a mode of arranging shopping guide near various commodities to guide customers is commonly adopted in a supermarket, so that a large amount of manpower is occupied, and the expenditure of the supermarket is increased. In addition, the traditional supermarket has the problems of untimely commodity supplement, queuing congestion, incapability of finding out happy commodities in time and the like.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a main aim at provides an intelligent recognition's supermarket inspection robot, can effectively solve the problem in the background art.

The utility model provides an intelligent recognition's supermarket inspection robot, is including carrying thing car, recognition device and manipulator, it includes chassis, wheel, protection pad, storage tank, a supporting beam, spacer pin, tow hook and pilot lamp to carry the thing car, recognition device includes image acquisition module, pivot, image processing module, controller and locator, the manipulator includes rotating base, first driving motor, first regulating arm, second driving motor, second regulating arm, third driving motor, third regulating arm, connecting axle, runner assembly and mechanical tongs.

Preferably, the wheels are installed on the chassis, the supporting beam is fixed on the chassis, the storage box is installed on the supporting beam, the protection pad is installed on the storage box and is respectively arranged at the outer sides of four corners of the storage box, the limiting pins are installed at the outer sides of the storage box, the tow hook is installed on the chassis, and the indicating lamp is installed on the side face of the storage box.

Preferably, the number of the recognition devices is 4, the recognition devices are installed on a chassis of the loading vehicle, three of the recognition devices are installed on the front portion of the chassis, one of the recognition devices is installed on the rear portion of the chassis, the image acquisition module and the image processing module are both fixedly connected with a rotating shaft, the rotating shaft is installed on the controller, the image acquisition module and the image processing module are both electrically connected with the controller, and the positioner is installed on the controller.

Preferably, the manipulator is installed on a storage box of the loading vehicle, the rotating base is installed on the loading vehicle, the second driving motor is fixedly installed on the rotating base, the rotating base is connected with the first adjusting arm through the first driving motor, the first adjusting arm can rotate clockwise or counterclockwise around the first driving motor, the first adjusting arm is connected with the second adjusting arm through the second driving motor, the second adjusting arm can rotate clockwise or counterclockwise around the second driving motor, the second adjusting arm is connected with the third adjusting arm through the third driving motor, the third adjusting arm can rotate clockwise or counterclockwise around the third driving motor, the rotating assembly is connected with the third adjusting arm through the connecting shaft, and the rotating assembly can rotate around the connecting shaft, the mechanical hand grip is arranged on the rotating assembly and can be stretched and unfolded.

Preferably, the wheels are Mccahm wheels, and can realize the movement in any direction in a plane according to the difference of the rotating speeds of the wheels at two sides.

Preferably, be provided with the protection pad on the outside at four corners of the storage tank of year thing car, the protection pad adopts the rubber materials preparation, can effectively cushion the impact force that the storage tank received when taking place the striking.

Preferably, the trailer hook is used for towing or hoisting.

Preferably, the recognition device can effectively perform online recognition on commodities on the goods shelf, then the controller is used for transmitting the collected goods information to the image processing module through the image acquisition module to be converted into an electric signal, then the image processing module transmits the electric signal to the controller, and the controller controls the manipulator to perform related operation on the goods according to the electric signal information, so that the labor and the labor are greatly saved.

Preferably, the image processing module is equipped with not only an image recognition technology but also a voice recognition technology, the image recognition technology can complete recognition of the two-dimensional code, the commodity photo and the color, and the voice recognition technology can recognize a voice instruction input by a worker or a customer.

Preferably, be equipped with power and speaker subassembly in the controller, the power is battery and external power connector for carrying thing car, recognition device and manipulator power supply, the speaker is used for carrying out voice prompt.

Preferably, the first driving motor, the second driving motor, the third driving motor, the rotating assembly and the mechanical gripper of the manipulator are all electrically connected with the controller, and a worker adjusts the working state of the manipulator by operating the controller, so that various works are completed.

Preferably, the controller can receive wired or wireless signals, can be directly operated on the controller, and can also be remotely controlled and commanded through a remote controller, so that the automation degree is high.

Compared with the prior art, the utility model, following beneficial effect has:

for solving the big problem of current supermarket manpower inspection method intensity of labour, the utility model discloses on be provided with recognition device, in operation, through image information and the overall dimension of recognition device seizure commodity, the commodity information that will obtain transmits the controller, carry out the analysis and identification of commodity kind through database and the algorithm that has set for in advance, can carry out online discernment and monitoring to the article of putting in each position in the supermarket effectively, introduce image recognition technique and replace the manual work, the labour cost has been saved by a wide margin, the efficiency of the work of patrolling and examining is improved, user experience has been improved.

The utility model discloses a carry the arrangement mode that the thing car carried the manipulator, install recognition device on carrying the thing car, can adjust position and direction between patrolling and examining robot and the commodity in a flexible way through the removal of manipulator, have the high, characteristics that the removal flexibility is high, working range is wide of automatic control level, improved and patrolled and examined accuracy and efficiency.

Drawings

Fig. 1 is the utility model relates to an intelligent recognition's supermarket inspection robot's overall structure's schematic diagram.

Fig. 2 is the utility model relates to an intelligent recognition's supermarket inspection robot's overall structure looks sideways's schematic diagram.

Fig. 3 is the utility model relates to an intelligent recognition's supermarket is patrolled and examined the structural schematic diagram of carrying thing car in the robot.

Fig. 4 is the utility model relates to an identification device's among intelligent identification's supermarket inspection robot structural schematic.

Fig. 5 is the utility model relates to a structural schematic of manipulator among intelligent identification's supermarket inspection robot.

The reference numerals are explained below:

1. a carrying vehicle; 2. an identification device; 3. a manipulator; 11. a chassis; 12. a wheel; 13. a protective pad; 14. a storage box; 15. a support beam; 16. a spacing pin; 17. a tow hook; 18. an indicator light; 21. an image acquisition module; 22. a rotating shaft; 23. an image processing module; 24. a controller; 25. a positioner; 31. rotating the base; 32. a first drive motor; 33. a first adjustment arm; 34. a second drive motor; 35. a second adjustment arm; 36. a third drive motor; 37. a third adjusting arm; 38. a connecting shaft; 39. the rotating assembly, 310 mechanical gripper.

Detailed Description

In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand, the present invention is further described below with reference to the following embodiments.

As shown in fig. 1-5, an intelligent identification supermarket inspection robot comprises an object carrying vehicle 1, an identification device 2 and a manipulator 3, wherein the object carrying vehicle 1 comprises a chassis 11, wheels 12, a protective pad 13, a storage box 14, a support beam 15, a limit pin 16, a tow hook 17 and an indicator light 18, the identification device 2 comprises an image acquisition module 21, a rotating shaft 22, an image processing module 23, a controller 24 and a positioner 25, and the manipulator 3 comprises a rotating base 31, a first driving motor 32, a first adjusting arm 33, a second driving motor 34, a second adjusting arm 35, a third driving motor 36, a third adjusting arm 37, a connecting shaft 38, a rotating assembly 39 and a mechanical hand 310.

A supporting beam 15 in the loading vehicle 1 is fixed on a chassis 11, a storage box 14 is installed on the supporting beam 15, a limit pin 16 is installed on the outer side of the storage box 14, a trailer hook 17 is installed on the chassis 11, the trailer hook 17 is used for towing or hoisting, and an indicator light 18 is installed on the outer side of the storage box 14 and used for warning surrounding workers in working. The four wheels 12 are all installed on the chassis 11, the wheels 12 are Mccahm wheels, movement in any direction on a plane can be achieved according to different rotating speeds of the wheels 12 on two sides, and movement space is reduced. Be provided with protection pad 13 on the outside at four corners of storage tank 14 of year thing car 1, protection pad 13 adopts the rubber materials preparation, and the impact force that storage tank 14 received when can effectively cushioning the striking takes place effectively ensures transfer robot's transportation work, reduces the damage degree when transfer robot operation in-process takes place the striking with other objects, prolongs transfer robot's life.

The identification devices 2 are 4 in total and are arranged on the chassis 11 of the carrier vehicle 1, three of the identification devices are arranged at the front part of the chassis 11, one identification device is arranged at the rear part of the chassis 11, the image acquisition module 21 and the image processing module 23 in the identification device 2 are fixedly connected with the rotating shaft 22, the rotating shaft 22 is arranged on the controller 24, the image acquisition module 21 and the image processing module 23 are electrically connected with the controller 24, and the positioner 25 is arranged on the controller 24. The controller 24 of the recognition device 2 is provided with a positioner 25, and position information can be fed back to the controller 24 in real time. The controller 24 is also provided with a power supply and a loudspeaker assembly, the power supply is a storage battery and an external power connector and is used for supplying power to the loading vehicle 1, the recognition device 2 and the manipulator 3, and the loudspeaker is used for carrying out voice prompt. The controller 24 can receive wired or wireless signals, can be directly operated on the controller 24, and can also be remotely controlled by a remote controller, so that the automation degree is high.

The recognition device 2 can effectively perform online recognition on commodities on the goods shelf by using the image acquisition module 21, then transmits the acquired goods information to the image processing module 23 through the image acquisition module 21 to be converted into an electric signal, then the image processing module 23 transmits the electric signal to the controller 24, and the controller 24 controls the manipulator 3 to perform related operation on the goods according to the electric signal information, so that the labor force is greatly saved. Meanwhile, the image processing module 23 not only carries an image recognition technology but also carries a voice recognition technology, the image recognition technology can complete recognition of the two-dimensional code, the commodity photo and the color, and the voice recognition technology can recognize a voice instruction input by a worker or a customer.

The manipulator 3 is arranged on the storage box 14 of the carrier vehicle 1, the rotating base 31 is arranged on the carrier vehicle 1, the second driving motor 34 is fixedly arranged on the rotating base 31, the rotating base 31 is connected with the first adjusting arm 33 through the first driving motor 32, the first adjusting arm 33 can rotate clockwise or anticlockwise around the first driving motor 32, the first adjusting arm 33 is connected with the second adjusting arm 35 through the second driving motor 34, the second adjusting arm 35 can rotate clockwise or anticlockwise around the second driving motor 34, the second adjusting arm 35 is connected with the third adjusting arm 37 through the third driving motor 36, the third adjusting arm 37 can rotate clockwise or anticlockwise around the third driving motor 36, the rotating assembly 39 is connected with the third adjusting arm 37 through the connecting shaft 38, the rotating assembly 39 can rotate around the connecting shaft 38, the mechanical hand grip 310 is arranged on the rotating assembly 39, the mechanical gripper 310 may make telescoping and opening and closing movements.

The first driving motor 32, the second driving motor 34, the third driving motor 36, the rotating assembly 39 and the mechanical gripper 310 of the manipulator 3 are all electrically connected with the controller 24, and a worker adjusts the working state of the manipulator 3 by operating the controller 24, so as to complete various works.

The using method comprises the following steps: in the daily inspection process, the inspection robot can effectively identify commodities on the goods shelves on line by using the image acquisition module 21 through the identification device 2, then transmits the acquired commodity information to the image processing module 23 through the image acquisition module 21 to be converted into an electric signal, then the image processing module 23 transmits the electric signal to the controller 24, and the controller 24 transmits an external central control system, so that the commodity stock information on each goods shelf can be timely fed back to workers, and the workers can conveniently and timely supplement the commodities. When replenishing the goods, the staff places the goods that need carry in storage tank 14, and after the goods was placed, the staff adjusted controller 24, and the robot that patrols and examines is automatic to be transported the goods to the goods shelves that need place according to the circuit that sets for well on, and protection pad 13 can avoid patrolling and examining the robot and strike the barrier and receive the damage, and simultaneously, pilot lamp 18 can go on the bright light warning and remind staff on every side, avoids being patrolled and examined the robot and hit. When the inspection robot reaches a goods shelf, the manipulator 3 is adjusted through the controller 24, the first adjusting arm 33, the second adjusting arm 35 and the third adjusting arm 37 are driven to rotate through the driving of the first driving motor 32, the second driving motor 34 and the third driving motor 36, so that the mechanical hand grip 310 reaches a proper position, goods in the storage box 14 are grabbed through controlling the stretching and opening and closing movement of the mechanical hand grip 310, the grabbed goods are placed on the goods shelf through the controller 24 operating the manipulator 3, and all the goods in the storage box 14 are placed on the corresponding goods shelf in sequence.

The basic principles and the main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. An intelligent identification supermarket inspection robot is characterized by comprising an object carrying vehicle (1), an identification device (2) and a manipulator (3), the carrier (1) comprises a chassis (11), wheels (12), a protective cushion (13), a storage box (14), a support beam (15), a limit pin (16), a tow hook (17) and an indicator light (18), the recognition device (2) comprises an image acquisition module (21), a rotating shaft (22), an image processing module (23), a controller (24) and a positioner (25), the manipulator (3) comprises a rotating base (31), a first driving motor (32), a first adjusting arm (33), a second driving motor (34), a second adjusting arm (35), a third driving motor (36), a third adjusting arm (37), a connecting shaft (38), a rotating assembly (39) and a mechanical gripper (310).

2. The intelligent identification supermarket inspection robot according to claim 1, characterized in that: wheel (12) are installed on chassis (11), it fixes on chassis (11) to prop up supporting beam (15), install on a supporting beam (15) storage tank (14), protection pad (13) are installed on storage tank (14), set up the outside in four corners of storage tank (14) respectively, install in storage tank (14) the outside in spacer pin (16), tow hook (17) and install on chassis (11), install in storage tank (14) side pilot lamp (18).

3. The intelligent identification supermarket inspection robot according to claim 1, characterized in that: the number of the recognition devices (2) is 4, the recognition devices are all mounted on a chassis (11) of the loading vehicle (1), three of the recognition devices are mounted in the front of the chassis (11), one of the recognition devices is mounted at the rear of the chassis (11), the image acquisition module (21) and the image processing module (23) are both fixedly connected with a rotating shaft (22), the rotating shaft (22) is mounted on a controller (24), the image acquisition module (21) and the image processing module (23) are both electrically connected with the controller (24), and a positioner (25) is mounted on the controller (24).

4. The intelligent identification supermarket inspection robot according to claim 1, characterized in that: the manipulator (3) is arranged on a storage box (14) of the loading vehicle (1), the rotating base (31) is arranged on the loading vehicle (1), the second driving motor (34) is fixedly arranged on the rotating base (31), the rotating base (31) is connected with the first adjusting arm (33) through the first driving motor (32), the first adjusting arm (33) can rotate clockwise or anticlockwise around the first driving motor (32), the first adjusting arm (33) is connected with the second adjusting arm (35) through the second driving motor (34), the second adjusting arm (35) can rotate clockwise or anticlockwise around the second driving motor (34), the second adjusting arm (35) is connected with the third adjusting arm (37) through the third driving motor (36), and the third adjusting arm (37) can rotate clockwise or anticlockwise around the third driving motor (36), the rotating assembly (39) is connected with the third adjusting arm (37) through a connecting shaft (38), the rotating assembly (39) can rotate around the connecting shaft (38), the mechanical gripper (310) is installed on the rotating assembly (39), and the mechanical gripper (310) can be stretched and opened and closed.

5. The intelligent identification supermarket inspection robot according to claim 1, characterized in that: be provided with protection pad (13) on the outside at four corners of storage tank (14) of year thing car (1), protection pad (13) adopt the rubber materials preparation, and the impact force that storage tank (14) received when can effectively cushioning the striking takes place.