CN212601856U - Supermarket shopping guide robot - Google Patents
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- CN212601856U CN212601856U CN202021381705.XU CN202021381705U CN212601856U CN 212601856 U CN212601856 U CN 212601856U CN 202021381705 U CN202021381705 U CN 202021381705U CN 212601856 U CN212601856 U CN 212601856U
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Abstract
The utility model provides a supermarket shopping guide robot belongs to intelligent robot technical field. Comprises a robot body and a robot control system; the robot body comprises a shopping basket and a packing chamber; the robot control system comprises an upper computer with ROS, a lower computer with a central controller, a man-machine interaction module, a laser radar, an IMU module, a motion driving module, a wireless communication module, a code scanning and account settling module, an automatic packing module and a power supply unit. The upper computer comprises a map creating module, a robot positioning module, a commodity positioning module and a path planning module. The utility model discloses can not only plan the shopping route, guide, can also settle accounts immediately, pack immediately, improve the efficiency of shopping, for busy city consumer's saving time, increased shopping experience and felt. The condition that people gather in the supermarket can be effectively avoided, the contact between people and objects is reduced, and great help is provided for disease control prevention and infection path cutoff.
Description
[ technical field ] A method for producing a semiconductor device
The utility model relates to a robot development and application technical field, concretely relates to supermarket shopping guide robot.
[ background of the invention ]
With the development of economy and the development of business in China, more and more markets and supermarkets are provided, the area is larger and larger, and the shopping experience of people is enriched, and meanwhile, some problems are brought:
1. due to the large area, it may be difficult for a consumer to find the correct route accurately at a time, thereby wasting time, or to find a desired item, even getting lost in a supermarket.
2. After shopping is finished, a certain time is needed to queue for checkout and packaging the commodities, particularly during holidays and supermarket sales promotion, the queuing phenomenon is particularly obvious, and the shopping experience is reduced.
All of the above problems increase the time that people stay in supermarkets and malls, and increase the possibility of infection during the period of epidemic disease. At present, some markets adopt fixed navigation robots to carry out shopping navigation, but the fixed navigation robots only give the positions of commodities and cannot guide the commodities, and consumers often cannot find the positions of the commodities quickly due to the large areas of the markets or supermarkets. Some supermarkets have increased the device of self-service cash registering, but still have the phenomenon of lining up, and the commodity takes out from the shopping cart, carries out the manual bagging-off again, also needs to spend some time, arouses crowd's gathering easily.
[ Utility model ] content
The invention of the utility model aims to: aiming at the existing problems, the supermarket shopping guide robot is provided, can realize automatic navigation of commodity shelves, has a man-machine interaction service, easily helps supermarket consumers to navigate to any place in a supermarket, realizes quick and accurate shopping of the consumers, can greatly solve the problems of long commodity searching time and the like particularly for the consumers entering the supermarket for the first time, improves the shopping experience of the supermarket consumers, and improves the service quality and level of the whole supermarket, thereby improving the competitiveness of the supermarket.
In order to realize the purpose, the utility model discloses a technical scheme as follows:
a supermarket shopping guide robot comprises a robot body and a robot control system arranged on the robot body;
the robot body comprises a shopping frame, a shopping basket and a packing room are arranged in the shopping frame, and a moving mechanism is arranged below the shopping frame;
the robot control system comprises an upper computer with ROS, a lower computer with a central controller, a man-machine interaction module, a laser radar, a motion driving module, a wireless communication module, a code scanning and checkout module, an automatic packing module and a power supply unit; the upper computer with the ROS control module is connected with the lower computer with the central controller through a wireless communication module; the laser radar, the man-machine interaction module, the motion driving module, the code scanning checkout module and the automatic packaging module are all electrically and mechanically connected with a lower computer with a central controller;
a positioning and obstacle avoiding module is arranged in the upper computer with the ROS, and comprises a map creating module, a robot positioning module, a commodity positioning module and a path planning module; the map creating module is used for creating an environment local electronic map and a global electronic map; the robot positioning module is used for positioning the current position of the robot; the commodity positioning module is used for storing or acquiring the position information of the commodity; the path planning module is used for automatically planning the optimal path of the robot according to the current position of the robot and the position information of the commodity and by combining an electronic map; the upper computer with the ROS is also used for receiving information sent by the lower computer with the central controller and sending the robot motion control instruction to the lower computer with the central controller through the wireless communication module according to the optimal path;
the laser radar is used for acquiring data and then sending the data to a lower computer with a central controller;
the lower computer with the central controller has the functions of receiving data or instructions of the laser radar, the man-machine interaction module and the code scanning checkout module, communicating with the upper computer, receiving a motion control instruction of the upper computer, and controlling the motion driving module and the automatic packing module to work;
the man-machine interaction module comprises a touch screen, a loudspeaker and a voice input module, and the touch screen, the loudspeaker and the voice input module are all connected with the lower computer circuit with the central controller;
the motion driving module comprises a driving motor and a speed reducing motor, the driving motor is connected with a lower computer circuit with a central controller, and the speed reducing motor is connected with the moving mechanism and used for driving the moving mechanism to work according to a motion control instruction sent by the lower computer;
the code scanning and settling module is used for scanning, pricing and settling the commodities and feeding back settlement information to the lower computer with the central controller;
the automatic packing module is arranged in the shopping frame and used for automatically packing after settlement is finished.
In the utility model, preferably, the shopping frame is a three-dimensional structure with a closed bottom and an upper opening and surrounding shelves, the shopping frame is divided into a shopping basket at the upper part and a packing room at the lower part by a bottom plate, the bottom plate is composed of a fixed bottom plate, a first movable bottom plate and a second movable bottom plate, the fixed bottom plate is fixedly connected with the inner side wall of the shopping frame, the first movable bottom plate and the second movable bottom plate are hinged with the inner side wall of the shopping frame to form a split door structure, and electromagnetic locks are arranged between the first movable bottom plate and the inner side wall of the shopping frame; the automatic packaging module is arranged in the packaging chamber and comprises a first rotating shaft, a plastic film, a first rotating drum, a conveying plate and an electric heating piece; two sides of the bottom in the packing chamber are provided with first rotating shafts which are parallel to each other, and plastic films are wound on the two first rotating shafts; the downward plate surfaces of the first movable bottom plate and the second movable bottom plate are respectively connected with one end of two first connecting rods, the other ends of the two first connecting rods are connected with a same second rotating shaft, the second rotating shaft is rotatably connected with the first connecting rods, a first rotating drum is fixedly arranged on the outer side of the second rotating shaft, and the central axis of the first rotating drum is parallel to the central axis of the first rotating shaft; two mounting blocks are arranged on the lower sides of the end parts, away from each other, of the first movable bottom plate and the second movable bottom plate, first mounting brackets are rotatably mounted on the mounting blocks, a third rotating shaft is rotatably mounted between the two first mounting brackets, a second mounting bracket is rotatably mounted at one end, away from the mounting plate, of each first mounting bracket, a fourth rotating shaft is rotatably mounted between the two second mounting brackets, and the third rotating shaft and the fourth rotating shaft are parallel to each other and are in contact with each other; the bottom surfaces of the first movable bottom plate and the second movable bottom plate are connected with conveying plates through four connecting columns, the conveying plates are in contact with the first rotating drum, and top tangent lines of the conveying plates and the third rotating drum are located on the same horizontal plane; the interior of each conveying plate is of a cavity structure, the two end parts, close to each other, of each conveying plate are of an opening shape, a first electric push rod is fixed in each cavity of the interior of each conveying plate, the end part of the movable end of each first electric push rod is fixedly connected with a sliding seat, and each sliding seat is connected to the opening of each conveying plate in a sliding mode; the interior of the sliding seat is a cavity, a second electric push rod is fixedly arranged in the cavity of the sliding seat, the movable end part of the second electric push rod extends out of the sliding seat and then is fixedly connected with the blades, the blades are horizontally arranged, and the knife edges of the two blades are opposite; the telescopic directions of the two first electric push rods are opposite, and the telescopic directions of the two second electric push rods are opposite; one end, far away from the conveying plate, of the sliding seat is connected with one end of a material guide plate and one end of a heating plate, the material guide plate and the heating plate are respectively parallel to the blades, the material guide plate is located above the blades, the heating plate is located below the blades, the other end of the material guide plate is an arc chamfer, and an electric heating piece is arranged at the other end of the heating plate; the side wall of the packing chamber is also provided with an electric sliding table, a sliding block is arranged on the electric sliding table, an electric clamping jaw is arranged on the sliding block, the sliding direction of the sliding block is a vertical direction, and the height of the electric clamping jaw is smaller than the gap between the material guide plate and the blade; the electric heating piece is divided into three sections and is respectively powered by the power supply unit, the total length of the electric heating piece is equal to the width of the plastic film, and the length of the two sections of the electric heating piece at the two ends is 1-3 cm; the end parts of the plastic films on the two first rotating shafts upwards penetrate through a gap between the second rotating shaft and the third rotating shaft and then penetrate between the two material guide plates, between the two blades and between the two electric heating pieces.
The utility model discloses in, further preferably, the lower computer of taking central controller still is connected with the high in the clouds server in supermarket through wireless communication module for acquire the position of commodity, and carry out real-time update to the stock of commodity.
The utility model discloses in, further preferably, first movable bottom plate, the ascending face of second movable bottom plate all are equipped with the handle.
The utility model discloses in, further preferably, the bottom both sides in the packing chamber are equipped with the base that is parallel to each other, first axis of rotation rotates and installs on the base.
The utility model discloses in, further preferably, electromagnetic lock, first electric putter, second electric putter, electronic slip table, electronic clamping jaw, electric heat piece all with take central controller's next computer circuit to connect.
The utility model discloses in, further preferably, the power supply unit sets up in the equipment room of baling chamber below.
The utility model discloses in, further preferably, moving mechanism is 4 wheels, and wherein there are two wheels that are the diagonal angle to pass through driving motor drive, and two other wheels that are the diagonal angle are for following the driving wheel.
To sum up, owing to adopted above-mentioned technical scheme, the beneficial effects of the utility model are that:
1. when the shopping guide robot is used, a consumer chooses to purchase goods on a human-computer interaction interface, the ROS software system provides the most time-saving shopping path through the global path planning and the local planning algorithm in the path planning, and the navigation is carried out after the confirmation of the consumer, so that the time for searching the goods is saved. After the commodities are selected by the consumer, the consumer directly puts into the shopping guide vehicle, a code scanning and payment module capable of identifying the electronic tags of the commodities is arranged behind the interactive screen, the commodities are displayed on the interactive interface after being identified, charging is carried out, payment can be carried out immediately after shopping is finished, and queuing time is saved.
2. When the shopping guide robot is used, a consumer scans a code at an interactive interface and settles accounts, the automatic packing module starts to operate, commodities needing to be packed directly fall into a shopping bag in a packing chamber from a shopping basket, and are immediately sealed and packed without sorting one by one, so that the packing time is saved.
The utility model discloses a shopping guide robot can not only plan the shopping route, guides, can also settle accounts immediately, packs immediately, has improved the efficiency of shopping, for busy city consumer's saving the time, has increased shopping experience and has felt. The condition that people gather in the supermarket can be effectively avoided, the contact between people and objects is reduced, and great help is provided for disease control prevention and infection path cutoff.
[ description of the drawings ]
FIG. 1 is a control schematic diagram of a supermarket shopping guide robot
Fig. 2 is a schematic plan structure diagram of a supermarket shopping guide robot.
FIG. 3 is a schematic view of the structure of the shopping basket;
FIG. 4 is a schematic top view of a portion of the automatic packing module;
FIG. 5 is an enlarged view taken at A in FIG. 2;
FIG. 6 is a relational diagram;
fig. 7 is a schematic diagram of the robot in the packing state.
Wherein, 1-shopping basket 1, 101-first movable bottom plate, 102-electromagnetic lock, 103-handle, 104-second movable bottom plate, 105-fixed bottom plate, 2-man-machine interaction device, 3-device room; 4-a first rotating shaft, 5-a plastic film, 6-a packing chamber, 7-a fourth rotating shaft, 8-a second mounting bracket, 9-a third rotating shaft and 10-a first mounting bracket; 11-a first link; 12-a first drum; 13-connecting column, 14-conveying plate, 15-first electric push rod, 16-electric sliding table, 1601-sliding block, 1602-sliding rail, 1603-electric clamping jaw, 17-first fixing seat, 18-second fixing seat, 19-second electric push rod, 20-heating plate, 21-blade, 22-guide plate and 23-cutter seat.
[ detailed description ] embodiments
In order to express the present invention more clearly, the present invention will be further described below by way of specific examples.
Referring to fig. 1-7, the utility model provides a supermarket shopping guide robot, which comprises a robot body and a robot control system installed on the robot body;
the robot body comprises a shopping frame, a shopping basket 1 and a packing chamber 6 are arranged in the shopping frame, the shopping basket 1 is used for placing commodities selected and purchased by a consumer, and the packing chamber 6 is used for bagging and packing the commodities; an equipment chamber 3 is arranged below the packing chamber 6 and used for placing auxiliary elements such as power supply equipment and the like, and a moving mechanism is arranged below the shopping frame, specifically, the moving mechanism comprises 4 wheels, wherein two diagonal wheels are driven by a driving motor, and the other two diagonal wheels are driven wheels; by controlling the driving motor, the actions of advancing, rear legs, turning and the like can be realized.
The robot control system comprises an upper computer with ROS, a lower computer with a central controller, a man-machine interaction module, a laser radar, a motion driving module, a wireless communication module, a code scanning checkout module, an automatic packing module and a power supply unit; the upper computer with the ROS control module is connected with the lower computer with the central controller through the wireless communication module; the laser radar, the man-machine interaction module, the motion driving module, the code scanning checkout module and the automatic packaging module are all electrically and mechanically connected with a lower computer with a central controller.
A positioning and obstacle avoiding module is arranged in the upper computer with the ROS, and comprises a map creating module, a robot positioning module, a commodity positioning module and a path planning module; the map creating module is used for creating an environment local electronic map and a global electronic map; the robot positioning module is used for positioning the current position of the robot; the commodity positioning module is used for storing or acquiring the position information of the commodity; and the path planning module is used for automatically planning the optimal path of the robot according to the current position of the robot and the position information of the commodity in combination with an electronic map.
The laser radars are arranged at a plurality of positions of the shopping cart, and are used for acquiring data and then sending the data to the lower computer with the central controller;
the lower computer with the central controller is used for receiving data or instructions of the laser radar, the man-machine interaction module and the code scanning checkout module, communicating with the upper computer, receiving a motion control instruction of the upper computer, and controlling the motion driving module and the automatic packing module to work.
The lower computer with the central controller adopts an STM32 single chip microcomputer based on an ARM Cortex-M3 framework, and comprises a power supply voltage stabilizing circuit, a reset circuit external crystal oscillator circuit, a USB-to-TTL circuit, a motor driving circuit, an IMU interface circuit and the like. The lower computer with the central controller is further connected with a cloud server of a supermarket through a wireless communication module, and is used for acquiring the positions of commodities and updating the inventory of the commodities in real time.
The man-machine interaction module comprises a touch screen, a loudspeaker and a voice input module, and the touch screen, the loudspeaker and the voice input module are all connected with the lower computer circuit with the central controller; the touch screen can display interactive information, the loudspeaker can carry out various voice prompts, and the voice input module can be used for a consumer to send a voice instruction.
The motion driving module comprises a driving motor and a speed reducing motor, the driving motor is connected with a lower computer circuit with a central controller, and the speed reducing motor is connected with the moving mechanism and used for driving the moving mechanism to work according to a motion control instruction sent by the lower computer.
And the code scanning and settling module is used for scanning, pricing and settling the commodities and feeding back settlement information to the lower computer with the central controller, and the lower computer with the central controller simultaneously displays the scanning, pricing and settling results through the touch screen.
The automatic packing module is arranged in the shopping frame and used for automatically packing after settlement is finished.
Referring to fig. 2, the shopping frame is a three-dimensional structure with a closed bottom and an upper opening and surrounding barriers arranged on the periphery, the surrounding barriers can be net-shaped or plate-shaped, the human-computer interaction module is specifically embodied in the form of human-computer interaction equipment 2, the touch screen and the control switch are arranged on the surface of the shopping frame and arranged on one side of the shopping frame through a support, and the upper computer with the ROS, the lower computer with the central controller and the code scanning and payment module can be integrated with the human-computer interaction equipment 2 into a whole, so that the whole is simple and attractive.
The shopping cart frame is internally divided into a shopping basket 1 positioned above and a packing chamber 6 positioned below by a bottom plate, the bottom plate consists of a fixed bottom plate 105, a first movable bottom plate 101 and a second movable bottom plate 104, the fixed bottom plate 105 is fixedly connected with the inner side wall of the shopping cart frame, and the purpose of the arrangement is to place some articles which are not convenient to pack, such as boxed milk with larger volume or a large volume of rolled paper. The fixed bottom plate 105 has a side surface which is not connected with the inner side wall of the shopping cart frame, a first movable bottom plate 101 and a second movable bottom plate 104 are arranged beside the side surface, and the first movable bottom plate 101 and the second movable bottom plate 104 are hinged with the inner side wall of the shopping cart frame to form a split door structure. Electromagnetic locks 102 are arranged between the first movable bottom plate 101 and the inner side wall of the shopping frame and between the second movable bottom plate 104 and the inner side wall of the shopping frame, when the shopping frame is powered on, the first movable bottom plate 101 and the second movable bottom plate 104 are attracted to be in a horizontal folding state, when the shopping frame is powered off, the electromagnetic locks 102 do not attract the first movable bottom plate 101 and the second movable bottom plate 104, and the first movable bottom plate 101 and the second movable bottom plate 104 are downwards overturned under the action of gravity. The utility model discloses still preferably all be equipped with handle 103 at first movable bottom plate 101, second movable bottom plate 104 face up, when the repacking finishes, supplementary first movable bottom plate 101, the reset of second movable bottom plate 104.
The automatic packaging module is arranged in the packaging chamber 6 and comprises a first rotating shaft 4, a plastic film 5, a first rotating cylinder 12, a conveying plate 14, an electric heating piece and other elements; two sides of the bottom in the packing chamber 6 are provided with first rotating shafts 4 which are parallel to each other, plastic films 5 are wound on the two first rotating shafts 4, specifically, two sides of the bottom in the packing chamber 6 can be provided with bases which are parallel to each other, and the first rotating shafts 4 are rotatably installed on the bases; the downward plate surfaces of the first movable bottom plate 101 and the second movable bottom plate 104 are respectively connected with one end of two first connecting rods 11, the other end of each of the two first connecting rods 11 is connected with a same second rotating shaft, the second rotating shafts are rotatably connected with the first connecting rods 11, a first rotating drum 12 is fixedly arranged on the outer side of each second rotating shaft, and the central axis of each first rotating drum 12 is parallel to the central axis of the corresponding first rotating shaft 4; first movable bottom plate 101, the tip downside that second movable bottom plate 104 kept away from each other all sets up two installation pieces, rotate the first installing support 10 of installation on two installation pieces, it installs third axis of rotation 9 to rotate between two first installing supports 10 on the same movable bottom plate, the one end that the installing panel was kept away from to first installing support 10 is rotated and is installed second installing support 8, it installs fourth axis of rotation 7 to rotate between two second installing support 8, the central axis of third axis of rotation 9, the central axis of fourth axis of rotation 7 is parallel with the central axis of first axis of rotation 4, the surface contaction of third axis of rotation 9 and fourth axis of rotation 7, be used for carrying out the guide and pressing to plastic film 5 and level and smooth.
The bottom surfaces of the first movable bottom plate 101 and the second movable bottom plate 104 are connected with a conveying plate 14 through four connecting columns 13, the conveying plate 14 is in mutual contact with the first rotary drum 12, the top tangent lines of the conveying plate 14 and the third rotary drum 9 are located on the same horizontal plane, and one of the functions of the conveying plate 14 is to support the plastic film 5 and convey the plastic film 5 through the cooperation of the first rotary drum 12. The second function of the conveying plate 14 is used as an installation seat for an electric heating plate and a blade 21, therefore, the inside of the conveying plate 14 is of a cavity structure, the two end parts of the two conveying plates 14, which are close to each other, are of an open shape, a first electric push rod 15 is fixed in the inner cavity of each of the two conveying plates 14 through a first fixing seat 17, the end part of the movable end of the first electric push rod 15 is fixedly connected with a sliding seat, the sliding seat is slidably connected at the opening of the conveying plate 14, under the action of the first electric push rod 15, the sliding seat slides at the opening, and the two sliding seats are close to or far away from each other; the inside of the sliding seat is a cavity, a second electric push rod 19 is fixedly arranged in the cavity of the sliding seat through a first fixing seat 18, the movable end part of the second electric push rod 19 extends out of the sliding seat and then is fixedly connected with a blade 21 through a blade holder 23, the blade 21 is horizontally arranged, and the edges of the two blades 21 are opposite; the two first electric push rods 15 are opposite in telescopic direction, and the two second electric push rods 19 are opposite in telescopic direction; the two second electric push rods 19 can make the blades 21 on the two sides close to or far away from each other, thereby achieving the purpose of cutting.
The one end that the slide block kept away from its conveyer plate 14 that belongs to connects the one end of stock guide 22 and the one end of hot plate 20, stock guide 22 and hot plate 20 are parallel with blade 21 respectively, and stock guide 22 is located the blade 21 top, and hot plate 20 is located the blade 21 below, the other end of stock guide 22 is the circular arc chamfer, the other end of hot plate 20 is equipped with the electrical heating piece, the other end of stock guide 22 and the other end of hot plate 20 are located same vertical plane.
An electric sliding table 16 is further arranged on the side wall of the packing chamber 6, a sliding rail 1601 and a sliding block 1602 are arranged on the electric sliding table 16, an electric clamping jaw 1603 is arranged on the sliding block 1602, the sliding direction of the sliding block 1602 is vertical, namely, the electric clamping jaw 1603 can slide up and down, and the height of the electric clamping jaw 1603 is smaller than the gap between the material guide plate 22 and the blade 21, so that the electric clamping jaw 1603 can extend into the gap between the material guide plate 22 and the blade 21 to clamp the plastic film 5; the electric heating piece is divided into three sections and is respectively powered by the power supply unit, the total length of the electric heating piece is equal to the width of the plastic film 5, and the length of the two sections of the electric heating piece at the two ends is 1-3 cm; the ends of the plastic films 5 on the two first rotating shafts 4 pass upward through the gap between the fourth rotating shaft 7 and the third rotating shaft 9, and then pass between the two guide plates 22, between the two blades 21, and between the two electric heating plates. The electromagnetic lock 102, the first electric push rod 15, the second electric push rod 19, the electric sliding table 16, the electric clamping jaw 1603 and the electric heating sheet are all connected with the lower computer circuit with the central controller and used for coordination and control of the lower computer.
When the utility model is used, the robot of the utility model is put into a stand-by supermarket, the drive motor is started to work through the control switch, the robot is driven to walk in the supermarket, and the laser module collects data and then sends the data to the lower computer with the central controller; the lower computer with the central controller communicates with the upper computer, a map creation module of the upper computer performs robot position and attitude estimation and environment modeling simultaneously in the advancing process of the robot by using a source opening function package in the ROS according to the received information, and a local electronic map and a global electronic map are created in the supermarket by adopting an SLAM algorithm.
When the robot is used by a consumer, the shopping guide method of the robot can refer to the following steps:
(1) a consumer firstly selects commodities needing to be purchased through the human-computer interaction equipment 2, and sends a purchase instruction to a lower computer after the commodities are determined;
(2) after receiving the purchase instruction, the lower computer sends commodity information to the upper computer through the wireless communication module, and the upper computer firstly positions the current position of the robot in the electronic map through the positioning module; then, position information of the commodity to be purchased is acquired through a commodity positioning module;
(3) the upper computer automatically plans an optimal path of the robot through a path planning module according to the current position of the robot and the position information of the commodity and by combining an electronic map; after the consumer confirms the route, the upper computer sends the robot motion control instruction to the lower computer with the central controller through the wireless communication module, the lower computer controls the driving motor to work, and the moving mechanism drives the robot to walk under the action of the driving motor; in the walking process, the data acquired by the laser module is fed back to the lower computer in real time, and the lower computer is communicated with the upper computer after operation and is used for real-time positioning of the robot;
(4) when the real-time position of the robot is consistent with the position of the commodity, the lower computer controls the driving motor to stop working, and the loudspeaker prompts that the commodity reaches a goods shelf; after the consumer takes the commodity, the commodity electronic tag is scanned through the code scanning checkout module, after the consumer confirms that the commodity is selected through the man-machine interaction module, the robot walks to the next commodity shelf and performs voice reminding, after the consumer takes the commodity, the commodity electronic tag is scanned through the code scanning checkout module, after the commodity is selected and confirmed through the man-machine interaction module, the robot walks to the next commodity shelf until the shopping of all commodities is completed;
(5) and the consumer confirms that the purchase is finished and the payment is prepared, the code scanning payment module carries out pricing and payment, payment information is fed back to the lower computer with the central controller, and the lower computer with the central controller simultaneously displays scanning, pricing and payment results through the touch screen.
(6) After settlement is finished, if the customer continues to select the packing requirement, the lower computer sends a packing instruction to the automatic packing module after receiving a certain packing fee through the code scanning settlement module, and the packing module carries out automatic packing; after the packaging is completed, the consumer takes the goods away and the robot returns to the set parking point.
Adopt the utility model discloses an automatic packing module, the flow of its packing can include following step:
6.1 in the initial state, the plastic film 5 is rolled up and installed on the first rotating shaft 4, the second electric push rods 19 corresponding to the two blades 21 are retracted, so that the two blades 21 are not contacted, the free end of the plastic film 5 is pulled to be just positioned between the two blades 21, and the electric clamping jaw 1603 of the electric sliding table 16 is positioned in the gap between the material guide plate 22 and the blades 21 to clamp the plastic film 5. When a consumer starts to use the robot to do navigation shopping, the whole electric heating sheet starts to preheat, after a set delay time, the lower computer controls the first electric push rod 15 to retract for a certain distance, so that the two blades 21 and the two electric heating sheets are separated for a certain distance, so that the electric clamping jaw 1603 can pass through, controls the electric sliding table 16 to drive the sliding block 1602 to move downwards so that the electric clamping jaw 1603 is just positioned below the electric heating sheet, controls the second electric push rod 19 to extend for a certain distance, so that the plastic film 5 is sealed to form the bottom of the plastic bag, immediately cuts off the power of the middle section of the electric heating sheet for cooling, after a certain time delay, the electric clamping jaw 1603 pulls the plastic film 5 downwards, and the plastic film 5 is downwards, and the side edges of the two plastic films 5 form sealed edges under the action of the electric heating sheets; after the electric clamping jaw 1603 reaches the bottommost part, the electric heating piece is powered off to stop heating; the first electric push rod 15 retracts to make the two electric heating sheets spaced a certain distance apart, the electric clamping jaw 1603 returns to the gap between the material guide plate 22 and the blade 21, and the automatic packing module is ready.
6.2 after receiving a packaging instruction, powering off the electromagnetic lock 102, enabling the first movable bottom plate 101 and the second movable bottom plate 104 to sink and open under the action of self gravity and pressure of commodities, enabling the commodities to fall into the plastic bag, reminding a consumer to check a shopping cart column through the man-machine interaction screen device, and after the commodities all fall into the packaging bag, enabling the consumer to click the man-machine interaction screen to confirm packaging, enabling the lower computer to control the electromagnetic lock 102 to be powered on, and enabling the first movable bottom plate 101 and the second movable bottom plate 104 to be closed in an attracting mode; when the electromagnetic lock 102 is powered off, the lower computer controls the whole electric heating sheets to be electrified and preheated, after a consumer clicks the human-computer interaction screen to confirm packaging, the electric clamping jaws 1603 clamp the plastic film 5, the first electric push rod 15 extends until the two electric heating sheets are mutually attached to seal the bag opening, the second electric push rod 19 extends until the two blades 21 are mutually attached to cut off the plastic bag, then the plastic bag is immediately retracted and separated, and the human-computer interaction screen reminds the consumer to take away the packaging bag;
and 6.3, returning the automatic packaging module to the initial state, and repeating the steps to automatically package when the consumer starts to use the robot to perform navigation shopping.
The above description is for the detailed description of the preferred possible embodiments of the present invention, but the embodiments are not intended to limit the scope of the present invention, and all equivalent changes or modifications accomplished under the technical spirit suggested by the present invention should fall within the scope of the present invention.
Claims (8)
1. The utility model provides a supermarket shopping guide robot which characterized in that: comprises a robot body and a robot control system arranged on the robot body;
the robot body comprises a shopping frame, a shopping basket and a packing room are arranged in the shopping frame, and a moving mechanism is arranged below the shopping frame;
the robot control system comprises an upper computer with ROS, a lower computer with a central controller, a man-machine interaction module, a laser radar, a motion driving module, a wireless communication module, a code scanning and checkout module, an automatic packing module and a power supply unit; the upper computer with the ROS and the lower computer with the central controller are connected through a wireless communication module; the laser radar, the man-machine interaction module, the motion driving module, the code scanning checkout module and the automatic packaging module are all electrically and mechanically connected with a lower computer with a central controller;
a positioning and obstacle avoiding module is arranged in the upper computer with the ROS, and comprises a map creating module, a robot positioning module, a commodity positioning module and a path planning module; the map creating module is used for creating an environment local electronic map and a global electronic map; the robot positioning module is used for positioning the current position of the robot; the commodity positioning module is used for storing or acquiring the position information of the commodity; the path planning module is used for automatically planning the optimal path of the robot according to the current position of the robot and the position information of the commodity and by combining an electronic map; the upper computer with the ROS is also used for receiving information sent by the lower computer with the central controller and sending the robot motion control instruction to the lower computer with the central controller through the wireless communication module according to the optimal path;
the laser radar is used for acquiring data and then sending the data to a lower computer with a central controller;
the lower computer with the central controller has the functions of receiving data or instructions of the laser radar, the man-machine interaction module and the code scanning checkout module, communicating with the upper computer, receiving a motion control instruction of the upper computer, and controlling the motion driving module and the automatic packing module to work;
the man-machine interaction module comprises a touch screen, a loudspeaker and a voice input module, and the touch screen, the loudspeaker and the voice input module are all connected with the lower computer circuit with the central controller;
the motion driving module comprises a driving motor and a speed reducing motor, the driving motor is connected with a lower computer circuit with a central controller, and the speed reducing motor is connected with the moving mechanism and used for driving the moving mechanism to work according to a motion control instruction sent by the lower computer;
the code scanning and settling module is used for scanning, pricing and settling the commodities and feeding back settlement information to the lower computer with the central controller;
the automatic packing module is arranged in the shopping frame and used for automatically packing after settlement is finished.
2. A supermarket shopping guide robot according to claim 1, characterized in that: the shopping frame is of a three-dimensional structure with a closed bottom and an opening at the upper end and surrounding barriers arranged at the periphery, the interior of the shopping frame is divided into a shopping basket positioned above and a packing chamber positioned below through a bottom plate, the bottom plate consists of a fixed bottom plate, a first movable bottom plate and a second movable bottom plate, the fixed bottom plate is fixedly connected with the inner side wall of the shopping frame, the first movable bottom plate and the second movable bottom plate are hinged with the inner side wall of the shopping frame to form a split door structure, and electromagnetic locks are arranged between the first movable bottom plate and the inner side wall of the shopping frame and between the second movable bottom plate and the inner side wall of; the automatic packaging module is arranged in the packaging chamber and comprises a first rotating shaft, a plastic film, a first rotating drum, a conveying plate and an electric heating piece; two sides of the bottom in the packing chamber are provided with first rotating shafts which are parallel to each other, and plastic films are wound on the two first rotating shafts; the downward plate surfaces of the first movable bottom plate and the second movable bottom plate are respectively connected with one end of two first connecting rods, the other ends of the two first connecting rods are connected with a same second rotating shaft, the second rotating shaft is rotatably connected with the first connecting rods, a first rotating drum is fixedly arranged on the outer side of the second rotating shaft, and the central axis of the first rotating drum is parallel to the central axis of the first rotating shaft; two mounting blocks are arranged on the lower sides of the end parts, away from each other, of the first movable bottom plate and the second movable bottom plate, first mounting brackets are rotatably mounted on the mounting blocks, a third rotating shaft is rotatably mounted between the two first mounting brackets, a second mounting bracket is rotatably mounted at one end, away from the mounting plate, of each first mounting bracket, a fourth rotating shaft is rotatably mounted between the two second mounting brackets, and the third rotating shaft and the fourth rotating shaft are parallel to each other and are in contact with each other; the bottom surfaces of the first movable bottom plate and the second movable bottom plate are connected with conveying plates through four connecting columns, the conveying plates are in contact with the first rotating drum, and top tangent lines of the conveying plates and the third rotating drum are located on the same horizontal plane; the interior of each conveying plate is of a cavity structure, the two end parts, close to each other, of each conveying plate are of an opening shape, a first electric push rod is fixed in each cavity of the interior of each conveying plate, the end part of the movable end of each first electric push rod is fixedly connected with a sliding seat, and each sliding seat is connected to the opening of each conveying plate in a sliding mode; the interior of the sliding seat is a cavity, a second electric push rod is fixedly arranged in the cavity of the sliding seat, the movable end part of the second electric push rod extends out of the sliding seat and then is fixedly connected with the blades, the blades are horizontally arranged, and the knife edges of the two blades are opposite; the telescopic directions of the two first electric push rods are opposite, and the telescopic directions of the two second electric push rods are opposite; one end, far away from the conveying plate, of the sliding seat is connected with one end of a material guide plate and one end of a heating plate, the material guide plate and the heating plate are respectively parallel to the blades, the material guide plate is located above the blades, the heating plate is located below the blades, the other end of the material guide plate is an arc chamfer, and an electric heating piece is arranged at the other end of the heating plate; the side wall of the packing chamber is also provided with an electric sliding table, a sliding block is arranged on the electric sliding table, an electric clamping jaw is arranged on the sliding block, the sliding direction of the sliding block is a vertical direction, and the height of the electric clamping jaw is smaller than the gap between the material guide plate and the blade; the electric heating piece is divided into three sections and is respectively powered by the power supply unit, the total length of the electric heating piece is equal to the width of the plastic film, and the length of the two sections of the electric heating piece at the two ends is 1-3 cm; the end parts of the plastic films on the two first rotating shafts upwards penetrate through a gap between the second rotating shaft and the third rotating shaft and then penetrate between the two material guide plates, between the two blades and between the two electric heating pieces.
3. A supermarket shopping guide robot according to claim 2, characterized in that: the lower computer with the central controller is further connected with a cloud server of a supermarket through a wireless communication module, and is used for acquiring the positions of commodities and updating the inventory of the commodities in real time.
4. A supermarket shopping guide robot according to claim 2, characterized in that: the upward plate surfaces of the first movable bottom plate and the second movable bottom plate are provided with handles.
5. A supermarket shopping guide robot according to claim 2, characterized in that: the packing machine is characterized in that bases which are parallel to each other are arranged on two sides of the bottom in the packing chamber, and the first rotating shaft is rotatably installed on the bases.
6. A supermarket shopping guide robot according to claim 2, characterized in that: electromagnetic lock, first electric putter, second electric putter, electronic slip table, electronic clamping jaw, electric heat piece all with take central controller's next computer circuit connection.
7. A supermarket shopping guide robot according to claim 1, characterized in that: the power supply unit is arranged in the equipment chamber below the packing chamber.
8. A supermarket shopping guide robot according to claim 1, characterized in that: the moving mechanism is 4 wheels, wherein two diagonal wheels are driven by a driving motor, and the other two diagonal wheels are driven wheels.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021381705.XU CN212601856U (en) | 2020-07-14 | 2020-07-14 | Supermarket shopping guide robot |
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| CN202021381705.XU CN212601856U (en) | 2020-07-14 | 2020-07-14 | Supermarket shopping guide robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113771048A (en) * | 2021-11-15 | 2021-12-10 | 季华实验室 | Robot shopping guide method and device, electronic equipment and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113771048A (en) * | 2021-11-15 | 2021-12-10 | 季华实验室 | Robot shopping guide method and device, electronic equipment and storage medium |
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