WO2021051755A1 - 商场自动购物方法、存储介质、电子设备及设备 - Google Patents

商场自动购物方法、存储介质、电子设备及设备 Download PDF

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Publication number
WO2021051755A1
WO2021051755A1 PCT/CN2020/078278 CN2020078278W WO2021051755A1 WO 2021051755 A1 WO2021051755 A1 WO 2021051755A1 CN 2020078278 W CN2020078278 W CN 2020078278W WO 2021051755 A1 WO2021051755 A1 WO 2021051755A1
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WO
WIPO (PCT)
Prior art keywords
shopping
mobile device
path
pick
commodity
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PCT/CN2020/078278
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English (en)
French (fr)
Inventor
曾军英
朱伯远
王璠
秦传波
甘俊英
翟懿奎
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五邑大学
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Publication of WO2021051755A1 publication Critical patent/WO2021051755A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q30/00—Commerce
    • G06Q30/02—Marketing; Price estimation or determination; Fundraising
    • G06Q30/0281—Customer communication at a business location, e.g. providing product or service information, consulting
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q30/00—Commerce
    • G06Q30/06—Buying, selling or leasing transactions
    • G06Q30/0601—Electronic shopping [e-shopping]
    • G06Q30/0639—Item locations
    • 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
    • B25J11/008—Manipulators for service tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q20/00—Payment architectures, schemes or protocols
    • G06Q20/08—Payment architectures
    • G06Q20/12—Payment architectures specially adapted for electronic shopping systems
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q20/00—Payment architectures, schemes or protocols
    • G06Q20/08—Payment architectures
    • G06Q20/20—Point-of-sale [POS] network systems
    • G06Q20/202—Interconnection or interaction of plural electronic cash registers [ECR] or to host computer, e.g. network details, transfer of information from host to ECR or from ECR to ECR
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q20/00—Payment architectures, schemes or protocols
    • G06Q20/08—Payment architectures
    • G06Q20/20—Point-of-sale [POS] network systems
    • G06Q20/208—Input by product or record sensing, e.g. weighing or scanner processing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q20/00—Payment architectures, schemes or protocols
    • G06Q20/22—Payment schemes or models
    • G06Q20/28—Pre-payment schemes, e.g. "pay before"
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q20/00—Payment architectures, schemes or protocols
    • G06Q20/30—Payment architectures, schemes or protocols characterised by the use of specific devices or networks
    • G06Q20/32—Payment architectures, schemes or protocols characterised by the use of specific devices or networks using wireless devices
    • G06Q20/322—Aspects of commerce using mobile devices [M-devices]
    • G06Q20/3224—Transactions dependent on location of M-devices
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q20/00—Payment architectures, schemes or protocols
    • G06Q20/38—Payment protocols; Details thereof
    • G06Q20/40—Authorisation, e.g. identification of payer or payee, verification of customer or shop credentials; Review and approval of payers, e.g. check credit lines or negative lists
    • G06Q20/401—Transaction verification
    • G06Q20/4015—Transaction verification using location information
    • G06Q20/40155—Transaction verification using location information for triggering transactions
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07G—REGISTERING THE RECEIPT OF CASH, VALUABLES, OR TOKENS
    • G07G1/00—Cash registers
    • G07G1/0036—Checkout procedures

Definitions

  • the present invention relates to the technical field of smart shopping, in particular to a shopping mall automatic shopping method, storage medium, electronic equipment and equipment.
  • the smart shopping system uses a shopping guide robot or a smart shopping guide shopping cart to provide a shopping guide service for users to shop in the mall.
  • the shopping guide robot or smart shopping guide shopping cart guides the customer to the shelf where the selected product is located through the product information input by the user. Reduce the cost of users looking for goods in large shopping malls.
  • the shopping guide robot or smart shopping guide shopping cart leads consumers to walk together in the supermarket, while the shopping guide robot or smart shopping guide shopping cart leads consumers to use sensors to observe the surrounding environment and estimate their current pose. Positioning, and ultimately lead consumers to the shelf where the selected product is located.
  • the present invention aims to solve at least one of the technical problems existing in the prior art.
  • the present invention provides an automatic shopping method, storage medium, and electronic equipment in a mall, which can improve the positioning accuracy of an automatic shopping cart and reduce the cost of consumers looking for product locations when shopping in the mall.
  • the present invention also provides an automatic shopping equipment for shopping malls, which can help consumers automatically find selected commodities in the shopping malls and take them out of the container without manually reaching the container to pick up the goods, thereby reducing consumers’ need for shopping guide robots or intelligent shopping guide shopping carts.
  • the interference of the automatic shopping cart improves the positioning accuracy of the automatic shopping cart and reduces the cost for consumers to find the location of the product when shopping in the mall.
  • an automatic shopping method in a mall includes:
  • An automatic shopping method in a mall has at least the following beneficial effects: after a consumer selects a product, the path for the mobile device to pick up the goods from the container is planned according to the first coordinates carried in the product information, Then control the mobile device to automatically walk in the mall according to the planned path, and adjust the height of the lifting device according to the height value of the corresponding product on the container. When the mobile device reaches the designated position on the path, the goods are picked up by the lifting device The device removes the goods selected by the consumer from the container.
  • the shopping cart or shopping robot with the mobile device can help the consumer complete the shopping process in the mall without manual intervention after the consumer selects the product.
  • This method not only avoids interference with the positioning of the shopping cart or the shopping robot when the consumer and the shopping cart or the shopping robot are walking together in the mall, thereby improving the positioning accuracy of the shopping cart or the shopping robot; and further saves the consumer from shopping.
  • the operator’s manual pick-up operation saves consumers’ time and cost.
  • a computer-readable storage medium has a computer program stored thereon, and when the computer program is executed by a processor, the computer program implements what is described in the embodiment of the first aspect of the present invention Automatic shopping method in the mall. Therefore, the embodiment of the second aspect of the present invention has all the beneficial effects of the embodiment of the first aspect of the present invention.
  • An electronic device includes: one or more processors; a storage device for storing one or more programs, when one or more of the programs are executed by one or more When the processor is executed, one or more of the processors are caused to implement the automatic shopping method in the mall as described in the embodiment of the first aspect of the present invention. Therefore, the embodiment of the third aspect of the present invention has all the beneficial effects of the embodiment of the first aspect of the present invention.
  • the mechanical body including the moving device, the lifting device and the picking device
  • the mobile device is provided with a mobile driving device for driving the mobile device to walk,
  • the lifting device is provided with a lifting driving device for driving the lifting device to rise and fall,
  • the pick-up device is provided with a pick-up drive device for driving the action of the pick-up device;
  • Input device for receiving consumer's selection of goods
  • a memory storing one or more computer programs and a global map
  • One or more processors for executing the computer program for:
  • the processor controls the mobile driving device to drive the mobile device to move according to the path;
  • the processor controls the lifting and driving device to drive the lifting device to lift according to the height value ;
  • the processor determines whether the position information corresponds to a designated position on the path and whether the height information corresponds to the corresponding position information of the mobile device and the height information of the lifting device.
  • the height value if yes, control the pick-up drive device to drive the pick-up device to move to pick up the goods from the container.
  • an automatic shopping equipment for shopping malls has at least the following beneficial effects: after a consumer selects a product from the input device, the first coordinate carried in the product information is displayed on the global map to the mobile device from the container. Plan the path when picking up the goods, and then control the mobile device to automatically walk in the mall according to the planned path, and adjust the height of the lifting device according to the height value of the corresponding product on the container. When the mobile device reaches the designated position on the path, The pick-up device located on the lifting device removes the goods selected by the consumer from the container. By controlling the mobile device to complete the path according to the above process, the shopping cart or shopping robot with the mobile device can help the consumer complete the shopping process in the mall without manual intervention after the consumer selects the product.
  • This method not only avoids interference with the positioning of the shopping cart or the shopping robot when the consumer and the shopping cart or the shopping robot are walking together in the mall, thereby improving the positioning accuracy of the shopping cart or the shopping robot; and further saves the consumer from shopping.
  • the operator’s manual pick-up operation saves consumers’ time and cost.
  • Fig. 1 is a flowchart of an automatic shopping method in a mall according to an embodiment of the present invention
  • FIG. 2 is a flowchart of a method for planning a route in a shopping mall automatic shopping method according to an embodiment of the present invention
  • FIG. 3 is a flowchart of a method for adjusting a posture of a mobile device in an automatic shopping method in a mall according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of the principle of a mobile device positioning solution provided in a shopping mall automatic shopping method according to one of the embodiments of the present invention
  • FIG. 5 is a schematic diagram of the principle of a mobile device positioning solution provided in a shopping mall automatic shopping method according to another embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of an automatic shopping equipment in a mall according to an embodiment of the present invention.
  • Fig. 7 is a system block diagram of an automatic shopping equipment in a mall according to one of the embodiments of the present invention.
  • FIG. 8 is a system block diagram of an automatic shopping equipment in a mall according to another embodiment of the present invention.
  • FIG. 6 it is a schematic structural diagram of an automatic shopping equipment in a mall according to an embodiment of the present invention.
  • An embodiment of the fourth aspect of the present invention provides an automatic shopping device for shopping malls, including:
  • the machine body 800 includes a moving device 200, a lifting device 300 and a pickup device 400,
  • the mobile device 200 is provided with a mobile driving device 820 for driving the mobile device 200 to walk,
  • the lifting device 300 is provided with a lifting driving device 830 for driving the lifting device 300 to rise and fall,
  • the pick-up device 400 is provided with a pick-up drive device 840 for driving the action of the pick-up device 400;
  • the input device 920 is used to receive the consumer's selection of commodities
  • a memory storing one or more computer programs and a global map
  • One or more processors for executing the computer program for:
  • the processor controls the mobile driving device 820 to drive the mobile device 200 to move according to the path;
  • the processor controls the lifting and driving device to drive the lifting device 300 according to the height value Lift
  • the processor determines whether the position information corresponds to the designated position on the path and whether the height information corresponds to the corresponding position information of the mobile device 200 and the height information of the lifting device 300 obtained by the processor. If the height value is yes, the pickup driving device 840 is controlled to drive the pickup device 400 to perform actions to pick up the goods from the container.
  • the input device 920 may be an operating terminal with a touch screen installed in a shopping mall.
  • the operating terminal is connected to the processor.
  • the user selects a product on the operating terminal and determines the final product to be purchased.
  • the selected product will be Collected in the "shopping cart” menu page, the products in the "shopping cart” menu page are regarded as selected products, and these selected products are sent to the processor when the consumer performs a confirmation operation on the operating terminal.
  • the touch screen of the operation terminal displays the commodities in the mall, and the touch screen corresponds to each commodity to display part of the commodity information of the commodity. This information may include the name of the commodity, the photo, the unit price of the commodity, and other information;
  • Another part of the content includes the first coordinate of the product in the global map of the mall and the height value on the container, which does not need to be displayed on the touch screen.
  • the selection of supermarket commodities can be realized through mobile terminal devices connected to the Internet. Smart phones and tablet computers can be used as input devices 920 for receiving selected products from consumers. By running corresponding APPs (applications) on these mobile terminal devices, the product information in the supermarket can be provided through the mobile phone APP. Consumers, consumers can realize the selection of goods in the supermarket on the mobile APP. The selected products are also concentrated in the "shopping cart" menu page. When consumers confirm shopping in the APP, these selected products are sent to the processor via the Internet. Therefore, the shopping mall's automatic shopping equipment should be equipped with Communication module connected to the Internet.
  • the memory stores global map data of the shopping mall. These global maps should be constructed before the consumer performs a shopping operation, and then all commodities in the shopping mall are assigned a coordinate position in the global map, that is, the first coordinate.
  • the method of constructing the indoor global map can use the SLAM method.
  • the SLAM method uses a known motion model to move in an environment with a large number of landmark features from an unknown location.
  • the motion model here is a two-wheel-drive robot, and the robot measures anything according to its own sensors. The relative distance between a single road sign and the robot and the absolute position of the road sign cannot be obtained.
  • the map is created incrementally, and then the robot is positioned by using the known motion model and the external environment characteristic information obtained by the sensor. It can be seen that because different shopping malls have very different container discharge methods, and each shopping mall has its own unique environment, the SLAM method can automatically build a map for the unknown environment, which has high versatility.
  • Each product is associated with its own corresponding product information, such as the name of the product, the photo, the unit price of the product, the first coordinate of the product in the global map of the shopping mall, and the height value on the container.
  • product information is also associated with the second coordinates for the mobile robot or the shopping cart to stop and pick up the goods.
  • the path planned based on the first coordinate should be a path formed by connecting a movable robot or a shopping cart through the second coordinates associated with the commodity information of all selected commodities, as well as the starting point and the ending point.
  • the second coordinate of the product represents the direction and geometric distance between the mobile device 200 and the first coordinate of the product, so the relationship between the second coordinate and the first coordinate of the same product should depend on the shape of the movable robot or shopping cart Structure, a movable robot or shopping cart should include four parts: a circuit board 700, a mobile device 200, a lifting device 300, and a picking device 400.
  • the containers in shopping malls are generally multi-layered containers. Products on different layers of the same container have the same first coordinate, but are used for different height values. It should be noted that the height value does not limit the horizontal height of the product, but It is used to stipulate the height of the lifting device 300 lifting. A pickup device 400 is installed on the lifting device 300. Therefore, the actual meaning of this height value is that the lifting device 300 lifts the pickup device 400 to a position corresponding to the corresponding product according to the height value.
  • the mobile device 200 reaches the designated position on the path, that is, the mobile device 200 reaches the corresponding second coordinate; and the lifting device 300 drives the pick-up device 400 up and down to the height position corresponding to the height value of the product.
  • the pickup device 400 starts to work to take off the goods. If the mobile device 200 does not reach the designated position, it continues to move to the designated position. If the lifting device 300 reaches the height position corresponding to the height of the product, it continues to perform the lifting action.
  • the lifting device 300 when the mobile device 200 reaches the corresponding second coordinate, that is, when the mobile device 200 stops moving, the lifting device 300 starts to lift.
  • the lifting device 300 drives the pickup device 400 to a height corresponding to the corresponding height value Position, the pick-up device 400 starts picking up.
  • the lifting device 300 starts the lifting action before the mobile device 200 reaches the corresponding second coordinate, that is, while the mobile device 200 is still moving. After the mobile device 200 reaches the corresponding second coordinate, the lifting device 300 has been lifted to the height position corresponding to the height of the second coordinate, and the picking device 400 can immediately start picking up the goods.
  • the mobile device 200 is implemented by a structure in which wheels 220 are driven by a motor.
  • the mobile device 200 includes a chassis 210 and four mecanum wheels arranged on the chassis 210, and a mobile drive motor is used as the mobile drive device. 820, the four mecanum wheels are coordinated by a mobile drive motor to drive the mobile device 200 to travel.
  • the mobile device 200 has flexible adjustment capabilities in multiple directions, which is beneficial to adjust the posture, so that the mobile device 200 reaches the second coordinate according to the set posture, and improves the positioning accuracy.
  • the mobile device 200 can also be realized by replacing the mecanum wheels with ordinary wheels 220.
  • a crawler-type structure of the mobile device 200 may also be used.
  • the implementation structure of the mobile device 200 belongs to the prior art, and will not be repeated here.
  • the lifting device 300 includes a lifting platform and a lifting cylinder for driving the lifting platform, or the lifting device 300 uses a lifting motor to drive a chain structure to drive the lifting platform up and down, and the picking device 400 is installed on the lifting platform.
  • the implementation structure of the lifting device 300 belongs to the prior art, and will not be repeated here.
  • the container is divided into multiple layers according to the horizontal height, each layer is provided with a plurality of storage tanks along the horizontal direction, the front end of the storage tank is provided with a delivery port, and the front end of the storage tank faces the pick-up at the time of stop and shipment.
  • the storage tank is provided with a shipping mechanism for driving the commodities in the storage tank to move to the shipping port.
  • the delivery mechanism can choose a conveyor belt.
  • the goods in the storage tank are located on the conveyor belt.
  • the goods are transported to the outgoing port by the conveyor belt.
  • Infrared sensors are installed on the opposite sides of the outgoing port for measuring.
  • the infrared sensor detects that the goods at the outgoing port are empty at this time, and then sends a signal to the processor, and the processor controls the conveyor belt to move the goods forward It is transported to the outgoing port to ensure that the goods are always present at the outgoing port, so that the pick-up device 400 can pick up the goods from the set position.
  • the delivery mechanism can also use a push rod driven by an air cylinder, and the push rod pushes the goods to the delivery port.
  • the picking device 400 is installed on the lifting platform of the lifting device 300, and the picking device 400 includes a support plate or a support rod that can telescopically move toward the delivery port.
  • the pickup device 400 uses a pickup cylinder to drive the support plate.
  • the support plate is driven by the pickup cylinder to reach the delivery port and take out the boxed beverage.
  • the supporting plate is lifted to the accommodating space 500 of the robot or the shopping cart by the lifting device 300, and the supporting plate is tilted under the control of the tilting motor, and the boxed beverage is delivered into the accommodating space 500.
  • the pick-up device 400 uses a pick-up cylinder to drive a support rod.
  • the support rod is driven by the pick-up cylinder to reach the outgoing port and penetrate into the handle position of the plastic bag to take out the plastic bag.
  • the support rod has a certain curvature to better take out the plastic bag from the storage tank, and then the support rod is lifted to the accommodating space 500 of the robot or shopping cart by the lifting device 300, and the support rod is tilted under the control of the tilt motor , Send the plastic bag into the containing space 500.
  • the air claw can also be used to extend into the outlet to grab the corresponding product. It should be clear that the structure of the picking device 400 should be designed according to the shape and characteristics of the product.
  • FIG. 1 it is a flowchart of an automatic shopping method in a mall according to an embodiment of the present invention.
  • the embodiment of the first aspect of the present invention provides an automatic shopping method in a mall, which includes the following steps:
  • Step S100 Obtain product information of a number of selected products
  • Step S101 planning a path based on the first coordinates carried in the commodity information of several selected commodities
  • Step S102 Based on the path, send a movement instruction for controlling the movement of the mobile device 200;
  • Step S103 Send a lifting instruction for controlling the lifting device 300 to lift and lower based on the height value of the selected commodity on the container carried in the commodity information of the selected commodities;
  • Step S104 Obtain the position information of the mobile device 200 and the height information of the lifting device 300;
  • Step S105 Determine whether the height information corresponds to the corresponding height value
  • Step S106 Determine whether the location information corresponds to a designated location on the path
  • step S105 and step S106 are both yes.
  • step S107 is executed: sending an automatic pick-up instruction for controlling the pick-up device 400 to pick up the goods from the container.
  • step S105 If the result of step S105 is no, go back to step S103; if the result of step S106 is no, go back to step S102.
  • FIG. 2 it is a flowchart of a method for planning a route in a method for automatic shopping in a mall according to an embodiment of the present invention.
  • Step S101 includes the following steps:
  • Step S1011 Obtain the first coordinates carried in the commodity information of several selected commodities
  • Step S1012 Generate a second coordinate corresponding to the corresponding first coordinate one-to-one based on the first coordinates carried in the commodity information of the several selected commodities obtained;
  • Step S1013 Acquire the third coordinate of the mobile device 200 at the starting point
  • Step S1014 Generate the path based on the third coordinates and the second coordinates, the path takes the third coordinates as a starting point and passes through all the second coordinates.
  • the position where the movable robot or shopping cart stops should be different from the first coordinate of the product.
  • the coordinates where the car stops to pick up the goods are the second coordinates in the global map, so the product information is also associated with the second coordinates for the mobile robot or the shopping cart to stop and pick up the goods.
  • the planning path may use the following scheme: obtaining the second coordinates in the commodity information in the order of the selected commodities, and planning the path of the mobile device 200 in the order in which the second coordinates are obtained.
  • the order in which the consumer selects the three product names A1, A2, and A3 are A1, A2, A3, and the second coordinates corresponding to A1, A2, and A3 are: (a1, b1), (a2, b2), (a3, c3), and the start point coordinates of the mobile device 200 are the third coordinates, which are (a0, b0), where the start point coordinates are the same as the end point coordinates of the mobile device 200.
  • the mobile device 200 plans the path of the mobile device 200 according to the order in which these second coordinates are acquired, sequentially passing through (a0, b0), (a1, b1), (a2, b2), (a3, c3), (a0, b0) .
  • the planning path can choose the following scheme: starting from the starting point (a0, b0), all the second coordinates that the task needs to pass through are established as an unpassed coordinate data set, and each arrival is located at an unpassed coordinate data set.
  • the second coordinate (c1, d1) in the data set is used, the second coordinate (c1, d1) is removed from the unpassed coordinate data set, and the removed second coordinate (c1, d1) is used with the unpassed coordinate data set.
  • the second coordinate (c2, d2) in the coordinate data set calculates the straight line distance in the global map, and the second coordinate (c2, d2) with the shortest distance from the second coordinate (c1, d1) is taken as the next second coordinate (c2, d2) that needs to be passed.
  • the time cost of a pickup can be considered to be composed of the time taken by the mobile device 200 to move on the path and the time taken by the pickup device 400 to take out the goods from the container.
  • the time consumed by the picking device 400 to pick up the goods from the container should include the time for the lifting device 300 to lift to the corresponding height and the time for the picking device 400 to take out the goods and put them into the containing space 500.
  • the lifting device 300 by controlling the lifting device 300 to lift to the height value corresponding to the commodity associated with the next second coordinate during the movement of the mobile device 200 to the next second coordinate, the movement of the lifting device 300 is saved. Lifting costs.
  • TSP Traffic Salesman Problem
  • a merchandise salesman wants to go to several cities to sell merchandise. The salesman starts from one city and needs to go through all the cities before returning to the place of departure. How should the travel route be chosen to make the total travel the shortest.
  • the movement of the mobile device 200 on the path can be divided into multiple segments, and each segment is regarded as moving from the current second coordinate (e1, f1) to the next second coordinate (e2, f2) on the path Positioning scheme.
  • FIG. 4 it is a schematic diagram of the principle of the positioning solution of the mobile device 200 provided in the automatic shopping method for shopping malls in one of the embodiments of the present invention.
  • the positioning of moving from the current second coordinate H(e1, f1) to the next second coordinate I(e2, f2) on the path adopts the following scheme:
  • Assemble a speed sensor on the mobile device 200 and calculate the forward distance proportionally based on the route planned on the global map.
  • the starting point H(e1, f1) to the turning point J1 is 30 meters in the map according to the scale
  • the shopping cart is Travel in a straight line from H(e1,f1) to the inflection point J1, calculate according to the speed displacement formula, and turn left after reaching 30 meters. Then go straight for 30 meters between turning point J1 and turning point J2 to reach turning point J2.
  • Using the speed sensor data to calculate the movement displacement on a straight line has a better effect, especially the calculation structure of a straight line with a constant speed has a higher accuracy.
  • the following scheme is adopted for positioning moving from the current second coordinate B0 (e3, f3) to the next second coordinate B3 (e4, f4) on the path:
  • the optical signal generator is set in the corresponding position of the shopping mall to send different coordinate signals to the mobile device 200, and the mobile device 200 receives and determines the current location.
  • an optical signal generator can be set at the inflection point, and a light detector for receiving optical signals is installed on the mobile device 200.
  • the signal generated by the optical signal generator at each inflection point is unique, so that the processor can be based on
  • the light signal received by the light detector provided on the mobile device 200 determines which inflection point is currently located.
  • FIG. 5 it is a schematic diagram of the principle of a positioning solution for a mobile device 200 provided in a method for automatic shopping in a mall according to another embodiment of the present invention. Assuming that the solid line in the figure is the planned path, the path needs to pass through sensors B1 and B2 to reach the target position B3. The coordinates of B3 are (e4, f4), and the mobile device 200 travels from the starting point B0 (e3, f3) to position B1 When the signal is received at B1, it is deemed that it has reached point B1. Then, the coordinate position of the sensor on the global map and the position relationship between the sensors are used to adjust the direction of travel and move to B2 until the final target (e4, f4) is reached.
  • the processor can obtain the position information of the mobile device 200 in real time according to the calculation of the speed of the movement process and the interaction of the sensor signal at the inflection point.
  • the lifting device 300 uses the lifting motor Drive, in order to obtain the height information of the lifting device 300 in real time, a servo driver is used to drive the lifting motor, and the servo driver will feed back the status of the lifting motor in real time, so that the processor can obtain the height information of the lifting device 300 in real time.
  • the encoder of the lifting motor feeds back the signal to the servo drive.
  • the servo drive compares the feedback value with the target value. When the feedback value is equal to the target value, the height information of the lifting device 300 is considered to reach the corresponding height value. .
  • the processor After acquiring the position information of the mobile device 200 and the height information of the lifting device 300, the processor determines whether the position information corresponds to a designated position on the path and whether the height information corresponds to the corresponding height value, if so , The processor sends to the pick-up device 400 an automatic pick-up instruction for controlling the pick-up device 400 to pick up the goods from the container.
  • step S106 judging whether the location information corresponds to a designated location on the path, If yes, perform the following steps:
  • Step S1061 Obtain posture data of the mobile device 200
  • Step S1062 Based on the acquired posture data of the mobile device 200, send a posture adjustment instruction for controlling the mobile device 200 to adjust the posture.
  • two ranging sensors 850600 are provided on the side of the mobile device 200 facing the container.
  • the two ranging sensors 850600 measure the distance between the mobile device 200 and the container at the same time.
  • the side of the container facing the trolley is required to be a plane.
  • the two distance measuring sensors 850600 of the mobile device 200 are also installed on the plane of the side of the mobile device 200 facing the container. By comparing the data of the two distance measuring sensors 850600, you can The posture of the mobile device 200 is obtained.
  • the required standard posture is that the plane of the side of the mobile device 200 facing the container and the side of the container facing the trolley are parallel, and a corresponding command is issued to the mobile driving motor of the mobile device 200 to control the mobile device 200 to adjust the direction and posture.
  • the number of ranging sensors 850600 includes but is not limited to three or four.
  • the container where the commodity corresponding to the next second coordinate on the path that the mobile device 200 needs to reach is defined as the target container.
  • the target container is defined
  • the container or the wall facing the mobile device 200 is the reference surface.
  • the target container and the reference surface are respectively located on both sides of the mobile device 200.
  • Two sets of distance measuring units are respectively provided on both sides of the mobile device 200 facing the target container and the reference surface.
  • Each group of ranging unit includes more than two ranging sensors 850600.
  • the two distance measuring sensors 850600 of the distance measuring unit facing the target container simultaneously measure the distance to the target container.
  • the side of the target container facing the trolley is required to be a flat surface.
  • the two distance measuring sensors 850600 of the mobile device 200 are also installed. On the plane of the side of the mobile device 200 facing the target container, the posture of the mobile device 200 can be obtained by comparing the data of the two ranging sensors 850600. At the same time, the two distance measuring sensors 850600 of the distance measuring unit facing the reference surface also measure the distance to the reference surface at the same time. By calculating the data of the two distance measuring units, the accuracy of posture adjustment is further improved, thereby improving the accuracy of positioning.
  • the processor After the posture of the mobile device 200 is adjusted to the standard posture, the processor sends to the pick-up device 400 an automatic pick-up instruction for controlling the pick-up device 400 to pick up the goods from the container. Since the moving device 200 drives the lifting device 300 and the picking device 400 to move to a standard posture at this time, the precision of the picking device 400 when picking up the goods can be improved.
  • the method before executing the step of planning a path based on the first coordinates carried in the commodity information of a number of the selected commodities, the method further includes: obtaining a number of the selected commodities based on the The unit price of the product carried in the product information is calculated, the total price of the selected product is calculated; a payment request matching the total price of the product is sent, and whether the payment is successful, and if so, all the selected products based on the selected product are executed.
  • the first coordinate planning path carried in the commodity information In this embodiment, a step of paying first and then shopping is set, which reduces the cost of shopping mall management.
  • there may be a method of shopping before paying that is, consumers use the automatic shopping equipment in the mall provided by the embodiment of the present invention to remove all selected commodities from the container in the mall through a movable robot or shopping Pick up the car, and then pay the corresponding price.
  • a computer-readable storage medium has a computer program stored thereon, and when the computer program is executed by a processor, the computer program implements what is described in the embodiment of the first aspect of the present invention Automatic shopping method in the mall. Therefore, the embodiment of the second aspect of the present invention has all the beneficial effects of the embodiment of the first aspect of the present invention.
  • An electronic device 910 includes: one or more processors; a storage device, configured to store one or more programs, and when one or more of the programs are used by one or more When the processor is executed, one or more of the processors are caused to implement the automatic shopping method in a mall as described in the embodiment of the first aspect of the present invention. Therefore, the embodiment of the third aspect of the present invention has all the beneficial effects of the embodiment of the first aspect of the present invention.
  • FIG. 7 it is a system block diagram of an automatic shopping equipment in a mall according to one of the embodiments of the present invention.
  • the electronic device 910 is set on a circuit board 700 on a movable robot or a shopping cart, and the circuit board 700 is provided with a first wireless communication module 720 for the second wireless communication between the electronic device and the input device 920.
  • the communication 921 module communicates.
  • FIG. 8 it is a system block diagram of an automatic shopping equipment in a mall according to another embodiment of the present invention.
  • the electronic device 910 and the movable robot or the shopping cart are separately installed, at this time, the circuit board 700 is provided with a third wireless communication module 710, and the electronic device 910 is provided with a fourth wireless communication module.
  • the electronic device 910 communicates with the third wireless communication module 710 through the fourth wireless communication module 911, thereby controlling the movement, lifting, and picking operations of the movable robot or shopping cart.

Abstract

一种商场自动购物方法、存储介质、电子设备（910）及设备，在消费者从输入装置（920）上选定商品后，根据商品信息中携带的第一坐标在全局地图上对移动装置（200）从货柜上取货时的路径进行规划，然后控制移动装置（200）按照规划好的路径自动在商场中行走，并且根据相应商品在货柜上的高度值调整升降装置（300）的高度，在移动装置（200）到达路径上的指定位置时，由位于升降装置（300）上的取货装置（400）将货柜上被消费者选定的商品取下。通过控制移动装置（200）按照以上的过程把路径走完后，具有该移动装置（200）的购物车或者购物机器人就可以在消费者选定商品后无需人工干预帮助消费者完成在商场内的购物过程。上述方法避免了消费者与购物车共同在商场中行走时对购物车或者购物机器人定位产生干扰。

Description

商场自动购物方法、存储介质、电子设备及设备 技术领域
本发明涉及智能购物技术领域，特别涉及一种商场自动购物方法、存储介质、电子设备及设备。
背景技术
相关技术中，智能购物系统利用导购机器人或者智能导购购物车为用户在商场中购物提供导购服务，通过用户输入的商品信息，由导购机器人或者智能导购购物车引导客户到达选定商品所在的货架，减少用户在大型商场中寻找商品的成本。
购物的过程中，由导购机器人或者智能导购购物车带领消费者共同在超市中行走，而导购机器人或者智能导购购物车带领消费者使用传感器对周围环境进行观测以及通过对自身的当前位姿估计进行定位，最终带领消费者到达选定商品所在的货架前。
但是，在行走的过程中，导购机器人或者智能导购购物车的观测以及位姿估计的结果容易受到消费者的遮挡或者碰撞产生较大误差，导致定位效果不好，消费者仍然需要花费过多的精力找寻商品。
发明内容
本发明旨在至少解决现有技术中存在的技术问题之一。为此，本发明提出一种商场自动购物方法、存储介质、电子设备，能够提高自动购物车的定位精度并且降低消费者在商场购物时寻找商品位置的成本。
本发明还提出一种商场自动购物设备，能够帮助消费者在商场中自动找到选定商品并从货柜上取出，不需要人工达到货柜取货，减小了消费者对导购机器人或者智能导购购物车的干扰，提高自动购物车的定位精度并且降低了消费者在商场购物时寻找商品位置的成本。
根据本发明的第一方面实施例的一种商场自动购物方法，所述方法包括：
获取若干选定商品的商品信息；
基于若干所述选定商品的所述商品信息中携带的第一坐标规划路径；
基于所述路径，发送用于控制移动装置进行移动的移动指令；
基于若干所述选定商品的所述商品信息中携带的所述选定商品位于货柜上的高度值，发送用于控制升降装置进行升降的升降指令；
获取所述移动装置的位置信息以及所述升降装置的高度信息，判断所述位置信息是否对应于所述路径上的指定位置且所述高度信息是否对应于相应的所述高度值，若是，则发送用于控制取货装置从货柜上取货的自动取货指令。
根据本发明实施例的一种商场自动购物方法，至少具有如下有益效果：在消费者选定商品后，根据商品信息中携带的第一坐标对移动装置从货柜上取货时的路径进行规划，然后控制移动装置按照规划好的路径自动在商场中行走，并且根据相应商品在货柜上的高度值调整升降装置的高度，在移动装置到达路径上的指定位置时，由位于升降装置上的取货装置将货柜上被消费者选定的商品取下。通过控制移动装置按照以上的过程把路径走完后，具有该移动装置的购物车或者购物机器人就可以在消费者选定商品后无需人工干预帮助消费者完成在商场内的购物过程。该方法既避免了消费者与购物车或者购物机器人共同在商场中行走时对购物车或者购物机器人定位产生干扰，从而提升了购物车或者购物机器人的定位精度；并且进一步省去了消费者在购物者的人工取货操作，节省了消费者的时间成本。
根据本发明的第二方面实施例的一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时，实现如本发明的第一发方面实施例中所述的商场自动购物方法。因此，本发明的第二方面实施例具有本发明第一方面实施例所具有的所有有益效果。
根据本发明的第三方面实施例的一种电子设备，包括：一个或多个处理器；存储装置，用于存储一个或多个程序，当一个或多个所述程序被一个或多个所述处理器执行时，使得一个或多个所述处理器实现如本发明的第一发方面实施例中所述的商场自动购物方法。因此，本发明的第三方面实施例具有本发明第一方面实施例所具有的所有有益效果。
根据本发明的第四方面实施例的一种商场自动购物设备，包括：
机械本体，包括移动装置、升降装置和取货装置，
其中，所述移动装置设置有用于驱动所述移动装置行走的移动驱动装置，
所述升降装置设置有用于驱动所述升降装置升降的升降驱动装置，
所述取货装置设置有用于驱动所述取货装置动作的取货驱动装置；
输入装置，用于接收消费者对商品的选定；
存储器，存储有一个或多个计算机程序以及全局地图；以及
一个或多个处理器，用于执行所述计算机程序，以用于：
获取所述输入装置发送的若干选定商品的商品信息；
基于若干所述选定商品的所述商品信息中携带的第一坐标在全局地图中规划路径；
基于所述路径，所述处理器控制所述移动驱动装置驱动所述移动装置按照所述路径进行移动；
基于若干所述选定商品的所述商品信息中携带的所述选定商品位于货柜上的高度值，所述处理器控制所述升降驱动该装置驱动所述升降装置按照所述高度值进行升降；
所述处理器根据获取的所述移动装置的位置信息以及所述升降装置的高度信息，判断所述位置信息是否对应于所述路径上的指定位置且所述高度信息是否对应于相应的所述高度值，若是，则控制所述取货驱动装置驱动所述取货装置进行动作以从所述货柜上取货。
根据本发明实施例的一种商场自动购物设备，至少具有如下有益效果：在消费者从输入装置上选定商品后，根据商品信息中携带的第一坐标在全局地图上对移动装置从货柜上取货时的路径进行规划，然后控制移动装置按照规划好的路径自动在商场中行走，并且根据相应商品在货柜上的高度值调整升降装置的高度，在移动装置到达路径上的指定位置时，由位于升降装置上的取货装置将货柜上被消费者选定的商品取下。通过控制移动装置按照以上的过程把路径走完后，具有该移动装置的购物车或者购物机器人就可以在消费者选定商品后无需人工干预帮助消费者完成在商场内的购物过程。该方法既避免了消费者与购物车或者购物机器人共同在商场中行走时对购物车或者购物机器人定位产生干扰，从而提升了购物车或者购物机器人的定位精度；并且进一步省去了消费者在购物者的人工取货操作，节省了消费者的时间成本。
本发明的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实践了解到。
附图说明
本发明的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1为本发明实施例的商场自动购物方法的流程图；
图2为本发明实施例的商场自动购物方法中规划路径的方法流程图；
图3为本发明实施例的商场自动购物方法中移动装置调整姿态的方法流程图；
图4为本发明其中一种实施例的商场自动购物方法中提供的移动装置定位方案的原理示意图；
图5为本发明另一中实施例的商场自动购物方法中提供的移动装置定位方案的原理示意图；
图6为本发明实施例的商场自动购物设备的结构示意图；
图7为本发明其中一种实施例的商场自动购物设备的系统框图；
图8为本发明另外一种实施例的商场自动购物设备的系统框图；
附图标记：
移动装置200、底盘210、轮子220、升降装置300、取货装置400、容纳空间500、测距传感器600、电路板700、第三无线通信模块710、第一无线通信模块720、机械本体800、移动驱动装置820、升降驱动装置830、取货驱动装置840、测距传感器850、电子设备910、第四无线通信模块911、输入装置920、第二无线通信模块921。
具体实施方式
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本实用新型，而不能理解为对本实用新型的限制。
在本发明的描述中，需要理解的是，涉及到方位描述，例如上、左、前等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
在本发明的描述中，若干的含义是一个或者多个，多个的含义是两个以上，大于、小于、超过等理解为不包括本数，以上、以下、以内等理解为包括本数。如果有描述到第一、第二、第三、第四只是用于区分技术特征为目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量或者隐含指明所指示的技术特征的先后关系。
本发明的描述中，除非另有明确的限定，设置、安装、连接等词语应做广义理解，所属技术领域技术人员可以结合技术方案的具体内容合理确定上述词语在本发明中的具体含义。
如图6所示，为本发明实施例的商场自动购物设备的结构示意图。
本发明第四方面的实施例提供的一种商场自动购物设备，包括：
机械本体800，包括移动装置200、升降装置300和取货装置400，
其中，所述移动装置200设置有用于驱动所述移动装置200行走的移动驱动装置820，
所述升降装置300设置有用于驱动所述升降装置300升降的升降驱动装置830，
所述取货装置400设置有用于驱动所述取货装置400动作的取货驱动装置840；
输入装置920，用于接收消费者对商品的选定；
存储器，存储有一个或多个计算机程序以及全局地图；以及
一个或多个处理器，用于执行所述计算机程序，以用于：
获取所述输入装置920发送的若干选定商品的商品信息；
基于若干所述选定商品的所述商品信息中携带的第一坐标在全局地图中规划路径；
基于所述路径，所述处理器控制所述移动驱动装置820驱动所述移动装置200按照所述路径进行移动；
基于若干所述选定商品的所述商品信息中携带的所述选定商品位于货柜上的高度值，所述处理器控制所述升降驱动该装置驱动所述升降装置300按照所述高度值进行升降；
所述处理器根据获取的所述移动装置200的位置信息以及所述升降装置300的高度信息，判断所述位置信息是否对应于所述路径上的指定位置且所述高度信息是否对应于相应的所述高度值，若是，则控制所述取货驱动装置840驱动所述取货装置400进行动作以从所述货柜上取货。
在一些实施例中，输入装置920可以是设置商场内设置具有触摸屏的操作终端，该操作终端与处理器连接，用户在该操作终端选择产品并确定最终需要购买的商品，被选定的商品会被集中在“购物车”菜单页面中，“购物车”菜单页面中的商品被认为是选定商品，这些选定商品当消费者在该操作终端上进行确认操作时向处理器发送。具体地该操作终端的触摸屏上显示本商场内的商品，触摸屏上对应于每个商品可以显示该商品的部分商品信息，这些信息可以包括商品的名称、照片、商品单价等信息；该商品信息的另外一部分内容包括该商品位于商场的全局地图中的第一坐标以及位于货柜上的高度值，这些信息是不需要在触摸屏上显示的。
在另外的一些实施例中，为了缩短消费者在商场耗费的时间成本，实现网上下单，到达商场即可拿到商品。可以通过接入互联网的移动终端设备来实现对超市商品的选定。可以把智能手机、平板电脑作为用于接收消费者对商品的选定的输入装置920，通过在这些移动终端设备上运行相应的APP(应用程序)，超市内的商品信息可以通过手机APP提供给消费者，消费者可以在手机APP上实现对超市内商品的选定。被选定的商品也被集中在“购物车”菜单页面中，当消费者在APP内进行确认购物的操作时，这些选定商品通过互联网向处理器发送，因此，商场自动购物设备应该设置有与互联网连接的通信模块。
存储器中存储有商场的全局地图数据，这些全局地图应该在消费者进行购物操作前就构建完成，然后为商场内的商品都赋予一个位于该全局地图中坐标位置，即第一坐标。构建室内全局地图的方法可以采用SLAM方法，SLAM方法就是采用已知运动模型，从未知位置开始在有大量路标特征的环境中 移动，这里的运动模型为两轮驱动机器人，机器人根据自身携带传感器测量任意单个路标与机器人之间的相对距离，路标的绝对位置是无法获取的，同时增量式的创建地图，然后利用已知的运动模型和传感器获得的外部环境特征信息对机器人进行自身定位。可知，由于不同的商场货柜排放方式差异很大，每个商场均具有自己独特的环境，采用SLAM方法可以对未知环境自动构建地图，通用性较高。
每件商品都对应关联有自身相应的商品信息，例如商品的名称、照片、商品单价、该商品位于商场的全局地图中的第一坐标以及位于货柜上的高度值等信息。但是考虑到利用可移动的机器人或者购物车在地图上寻找相应的商品时，可移动的机器人或者购物车应该移动到该商品所在货柜的前方，然后通过升降装置300和取货装置400把位于该商品对应的第一坐标的货柜的对应高度值的位置将商品取出。显然，可移动的机器人或者购物车不可能占据该商品的第一坐标，因此，可移动的机器人或者购物车停下来的位置坐标应该与该商品的第一坐标不同，定义可移动的机器人或者购物车停下来取货的坐标为位于全局地图中的第二坐标，所以商品信息中也关联有用于可移动的机器人或者购物车停车取货的第二坐标。
可知，基于第一坐标规划的路径应该是把可移动的机器人或者购物车经过所有选定商品的商品信息关联的第二坐标以及起点、终点连线起来形成的路径。该商品的第二坐标表示移动装置200与该商品的第一坐标之间的方向和几何距离，因此同一商品的第二坐标与第一坐标的关系应该取决于可移动的机器人或者购物车的形状结构，可移动的机器人或者购物车应该包括四个部分：电路板700、移动装置200、升降装置300和取货装置400。
其中，商场中的货柜一般是多层货柜，同一货柜上不同层的商品拥有相同的第一坐标，但是用于不同的高度值，需要说明的是，该高度值不是限定商品的水平高度，而是用于约定升降装置300升降的高度。升降装置300上安装有取货装置400，因此，这个高度值的实际含义是升降装置300按照该高度值将取货装置400升降到对应于相应商品的位置。
可以知道，要把商品从对应的货柜上的对应层上取下，必须满足两个条件：移动装置200到达路径上的指定位置，也就是移动装置200到达相应的第二坐标；并且，升降装置300带动取货装置400升降至对应于该商品高度值的高度位置。在这两个条件均满足下，取货装置400才开始工作将商品取下。如果移动装置200未到达指定位置，则继续向指定位置移动，如果升降装置300为到达对应于该商品高度值的高度位置，则继续作升降动作。
其中一个实施例中，在移动装置200到达相应的第二坐标时，即移动装置200停止移动了，升降装置300才开始升降，当升降装置300带动取货装置400到达对应于相应高度值的高度位置，取货装 置400才开始取货。
另外一个实施例中，为了节省升降装置300升降的时间，加快取货速度，在移动装置200到达相应的第二坐标之前，即移动装置200还在移动的过程中，升降装置300就开始升降动作，当移动装置200到达相应的第二坐标之后，升降装置300已经升降至对应于该第二坐标高度值的高度位置，取货装置400可以立即开始取货。
在一些实施例中，移动装置200采用由电机驱动轮子220的结构实现，具体地，移动装置200包括底盘210以及设置在底盘210上的四个麦克纳姆轮，采用移动驱动电机作为移动驱动装置820，四个麦克纳姆轮由移动驱动电机配合驱动移动装置200行进。通过四个麦克纳姆轮的配合，移动装置200具有在多个方向上的灵活调节能力，有利于调整姿态，使移动装置200按照设定姿态到达第二坐标，提高定位的精度。当然是用普通的轮子220代替麦克纳姆轮也可以实现该移动装置200。在别的实施例中，也可以采用履带式结构的移动装置200，移动装置200的实现结构属于现有技术，这里不赘述。
本实施例中，升降装置300包括升降台以及用于驱动升降台升降的升降气缸，或者升降装置300采用升降电机驱动链式结构驱动升降台升降，取货装置400安装在升降台上。升降装置300的实现结构属于现有技术，这里不赘述。
具体地，货柜按照水平高度分为多层，每层沿水平方向设置有多个储物槽，储物槽的前端设置有出货口，储物槽的前端朝向停下来出货时的取货装置400，储物槽内设置有用于带动位于储物槽内的商品向出货口移动的出货机构。出货机构可以选用输送带，位于该储货槽内的商品位于输送带上，由输送带把商品运输到出货口，并且在出货口相对的两侧设置有红外传感器，用于测量出货口是否有商品，当取货装置400取走位于出货口的商品时，红外传感器检测到此时出货口商品为空，则向处理器发送信号，处理器控制输送带将商品向前输送到出货口，保证出货口一直存在商品，便于取货装置400能够从设定的位置上取货。当然，除了传送带，出货机构还可以采用由气缸驱动的推杆，由该推杆把商品推动到出货口。
在本实施例中，取货装置400安装升降装置300的升降台上，取货装置400包括可朝向所述出货口方向伸缩运动的支撑板或支撑杆。对于排放在出货口的底部平坦的商品，例如盒装饮料，取货装置400采用取货气缸带动支撑板，支撑板在取货气缸的驱动下伸入到出货口并把盒装饮料取出，然后通过升降装置300带动该支撑板升降到机器人或者购物车的容纳空间500上，支撑板受倾斜电机控制发生倾斜，将盒装饮料送入到容纳空间500中。对于利用塑料袋包装好的商品，取货装置400采用取货 气缸带动支撑杆，支撑杆在取货气缸的驱动下伸入到出货口并穿入塑料袋的提手位置将塑料袋取出，该支撑杆具有一定的弧度可以更好的将塑料袋从储货槽中取出，然后通过升降装置300带动该支撑杆升降到机器人或者购物车的容纳空间500上，支撑杆受倾斜电机控制发生倾斜，将塑料袋送入到容纳空间500中。在别的实施中，也可以采用气爪伸入到出货口抓取相应的商品，应该明确取货装置400的结构应该根据商品的形状特点设计。
如图1所示，为本发明实施例的商场自动购物方法的流程图。
本发明第一方面的实施例提供的一种商场自动购物方法包括以下步骤：
步骤S100：获取若干选定商品的商品信息；
步骤S101：基于若干所述选定商品的所述商品信息中携带的第一坐标规划路径；
步骤S102：基于所述路径，发送用于控制移动装置200进行移动的移动指令；
步骤S103：基于若干所述选定商品的所述商品信息中携带的所述选定商品位于货柜上的高度值，发送用于控制升降装置300进行升降的升降指令；
步骤S104：获取所述移动装置200的位置信息以及所述升降装置300的高度信息；
步骤S105：判断所述高度信息是否对应于相应的所述高度值；
步骤S106：判断所述位置信息是否对应于所述路径上的指定位置；
若步骤S105和步骤S106的结果均为是，
则执行步骤S107：发送用于控制取货装置400从货柜上取货的自动取货指令。
若步骤S105的结果为否时，回到步骤S103；步骤S106的结果为否时，回到步骤S102。
具体地，如图2所示，为本发明实施例的商场自动购物方法中规划路径的方法流程图。
步骤S101，包括以下步骤：
步骤S1011:获取若干所述选定商品的所述商品信息中携带的第一坐标；
步骤S1012:基于获取的若干所述选定商品的所述商品信息中携带的所述第一坐标生成与相应的所述第一坐标一一对应的第二坐标；
步骤S1013:获取移动装置200位于起点的第三坐标；
步骤S1014:基于所述第三坐标和所述第二坐标生成所述路径，所述路径以所述第三坐标为起点并经过所有的所述第二坐标。
显然，可移动的机器人或者购物车不可能占据该商品的第一坐标，因此，可移动的机器人或者购物车停下来的位置坐标应该与该商品的第一坐标不同，定义可移动的机器人或者购物车停下来取货的 坐标为位于全局地图中的第二坐标，所以商品信息中也关联有用于可移动的机器人或者购物车停车取货的第二坐标。通过设置第二坐标作为移动装置200取货时停止移动的坐标点，便于根据移动装置200的占据的空间位置大小，合理调整第二坐标与第一坐标之间的距离，增强本方法的通用性。
在一些可选实施例中，规划路径可以选用如下的方案：按照选定商品的顺序获取这些商品信息中的第二坐标，按照获取这些第二坐标的顺序规划移动装置200的路径。例如消费者选定三件商品名称分别为A1、A2、A3商品的顺序依次为A1、A2、A3，对应于A1、A2、A3的第二坐标分别是：(a1,b1)、(a2,b2)、(a3,c3)，而移动装置200的起点坐标为第三坐标，为(a0,b0)，其中起点坐标与移动装置200的终点坐标相同。则移动装置200按照获取这些第二坐标的顺序规划移动装置200的路径为依次经过(a0,b0)、(a1,b1)、(a2,b2)、(a3,c3)、(a0,b0)。
在另外的实施例中，规划路径可以选用如下的方案：从起点(a0,b0)出发，将本次任务需要经过的所有第二坐标建立为未经过坐标数据集，每到达一个位于未经过坐标数据集中的第二坐标(c1,d1)时，将该第二坐标(c1,d1)从未经过坐标数据集中移除，并利用该被移除的第二坐标(c1,d1)与未经过坐标数据集中的第二坐标(c2,d2)计算位于全局地图中的直线距离，取与该第二坐标(c1,d1)距离最短的第二坐标(c2,d2)为下一个需要经过的第二坐标(c2,d2)。在未经过坐标数据集为空集的时候，设定下一个经过点为终点(a0,b0)。
可知的是，一次取货的时间成本可以认为由移动装置200在路径上移动的时间与取货装置400从货柜上取出商品的时间两部分构成。而取货装置400从货柜上取货消耗的时间应该包括升降装置300升降的到相应高度的时间以及取货装置400取出商品放入到容纳空间500中的时间。在上述的实施例中通过控制升降装置300在移动装置200移动到下一第二坐标的过程中升降至与下一第二坐标关联的商品对应的高度值，节约了升降装置300动作带来的升降成本。
进一步，为了缩短移动装置200在路径上移动的时间，可以采用相关的模型研究路径规划的问题，可以将拿取商品可以看作一个经典的TSP问题(Traveling Salesman Problem)又译为旅行推销员问题，TSP可以描述为：一个商品推销员要去若干个城市推销商品，该推销员从一个城市出发，需要经过所有城市后，回到出发地。应如何选择行进路线，以使总的行程最短。
针对TSP问题存在蚁群算法、近似算法、遗传算法、模拟退火算法、神经网络等规划路径的方案。通过这些规划路径的方案，使得移动装置200通过的路径比较优化，是本领域技术人员通过现有的算法可以实现的，由于篇幅较长，这里不作赘述。
在规划好路径之后，移动装置200在路径上的移动可以划分为多段，每段看成是从当前的第二坐 标(e1,f1)向路径上的下一个第二坐标(e2,f2)移动的定位方案。
在其中一种可选的实施例中，如图4所示，为本发明其中一种实施例的商场自动购物方法中提供的移动装置200定位方案的原理示意图。从当前的第二坐标H(e1,f1)向路径上的下一个第二坐标I(e2,f2)移动的定位采用如下方案：
在移动装置200上装配速度传感器，根据全局地图上规划出来的路径，按比例进行前进距离的计算，如出发点H(e1,f1)到拐点J1，根据比例在地图中为30米，购物车就在H(e1,f1)到拐点J1之间直线行进，根据速度位移公式计算，到达30米后进行左转。然后在拐点J1到拐点J2之间直行30米到达拐点J2。同理，最终从J2沿直线到达I(e2,f2)。利用速度传感器数据计算直线上的运动位移效果较好，特别是直线匀速运动计算结构精度较高。
在另外一种可选的实施例中，从当前的第二坐标B0(e3,f3)向路径上的下一个第二坐标B3(e4,f4)移动的定位采用如下方案：
在上述通过在移动装置200上装配速度传感器配合地图比例计算位移方案的基础上，为了减小速度传感器在拐点处由于速度变动较大产生测量误差对定位精度造成的影响，根据全局地图上的拐点处在商场对应位置设置光信号发生器向移动装置200发送不同的坐标信号，由移动装置200接收并判断当前所在位置。具体地，可以在拐点处设置光信号发生器，在移动装置200上安装有用于接收光信号的光检测器，每处拐点的光信号发生器产生的信号都是唯一的，从而处理器可以根据设置在移动装置200上的光检测器接收到的光信号，判断当前位于哪个拐点。如图5所示，为本发明另一中实施例的商场自动购物方法中提供的移动装置200定位方案的原理示意图。假设图中实线为已经规划出的路径，路径中需要依次经过传感器B1,B2达到目标位置B3,B3坐标为(e4,f4)，移动装置200从出发点B0(e3,f3)向B1位置行进，到B1处接收到信号认为到达B1点，接着由传感器位于全局地图上的坐标位置以及传感器之间的位置关系，调整行进方向，向B2进行移动直至最后到达最终目标(e4,f4)。
在上述提供的移动装置200定位方案的基础上，可以知道处理器根据对移动过程速度的计算和拐点处传感器信号的交互，可以实时获取移动装置200的位置信息，同时，升降装置300通过升降电机驱动，为了实时获取升降装置300的高度信息，采用伺服驱动器驱动升降电机，伺服驱动器会实时反馈升降电机的状态，从而处理器可以实时获取升降装置300的高度信息。通过伺服驱动器的监控，升降电机自带的编码器反馈信号给伺服驱动器，伺服驱动器根据反馈值与目标值进行比较，当反馈值和目标值相等时，认为升降装置300的高度信息达到相应高度值。
在获取移动装置200的位置信息以及升降装置300的高度信息之后，处理器判断所述位置信息是否对应于所述路径上的指定位置且所述高度信息是否对应于相应的所述高度值，若是，则处理器向取货装置400发送用于控制取货装置400从货柜上取货的自动取货指令。
如图3所示，为本发明实施例的商场自动购物方法中移动装置200调整姿态的方法流程图。在一些可选的实施例中，为了提高移动装置200的定位精度，在获取移动装置200的位置信息之后，处理器执行步骤S106：判断所述位置信息是否对应于所述路径上的指定位置，若是，则执行以下步骤：
步骤S1061：获取移动装置200的姿态数据；
步骤S1062：基于获取的所述移动装置200的所述姿态数据，发送用于控制所述移动装置200调整姿态的姿态调整指令。
在其中一个实施例中，在移动装置200朝向货柜的一侧设置两个测距传感器850600，当移动装置200到达路径上的第二坐标时，两个测距传感器850600同时测量与货柜之间的距离，要求货柜朝向小车的一面是一个平面，移动装置200的这两个测距传感器850600也安装在移动装置200朝向货柜的一侧的平面上，通过对比两个测距传感器850600的数据，可以获得移动装置200的姿态。例如要求的标准姿态为移动装置200朝向货柜的一侧平面与货柜朝向小车的一面是平行的，则向移动装置200的移动驱动电机发出相应的指令，控制移动装置200调整方向姿态。当然，测距传感器850600的数量包括但不限于三个、四个。
另一种实施例中，定义移动装置200需要到达的路径上的下一个第二坐标所对应的商品所在的货柜为目标货柜，移动装置200到达该商品对应的第二坐标后，定义该目标货柜朝向移动装置200的货柜或墙面为参照面，目标货柜和参照面分别位于该移动装置200的两侧，在该移动装置200分别朝向目标货柜和参照面的两侧分别设置两组测距单元，每组测距单元包括两个以上的测距传感器850600。朝向目标货柜一侧的测距单元的两个测距传感器850600同时测量与目标货柜之间的距离，要求目标货柜朝向小车的一面是一个平面，移动装置200的这两个测距传感器850600也安装在移动装置200朝向目标货柜的一侧的平面上，通过对比两个测距传感器850600的数据，可以获得移动装置200的姿态。同时朝向参照面的测距单元的两个测距传感器850600，也同时测量与参照面的距离，通过计算两种测距单元的数据进一步提升调整姿态时的精度，从而提升定位的精度。
在移动装置200的姿态被调整为标准姿态后，处理器向取货装置400发送用于控制取货装置400从货柜上取货的自动取货指令。由于此时移动装置200带动升降装置300和取货装置400移动到了标准的姿态，所以可以提升取货装置400取货时的精确度。
在一些可选的实施例中，执行所述基于若干所述选定商品的所述商品信息中携带的第一坐标规划路径步骤前，还包括：基于获取若干的所述选定商品的所述商品信息中携带的商品单价，计算所述选定商品的商品总价；发送与所述商品总价匹配的支付请求，并检测是否支付成功，若是，则执行基于若干所述选定商品的所述商品信息中携带的第一坐标规划路径。本实施例中，设置了先支付后购物的步骤，减少了商场管理的成本。
在其中一些实施例中，可以存着先购物在支付的方法，即消费者利用本发明实施例提供的商场自动购物设备，将选定商品全部都从商场的货柜中通过可移动的机器人或者购物车取好了，然后在支付相应的价钱。
根据本发明的第二方面实施例的一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时，实现如本发明的第一发方面实施例中所述的商场自动购物方法。因此，本发明的第二方面实施例具有本发明第一方面实施例所具有的所有有益效果。
根据本发明的第三方面实施例的一种电子设备910，包括：一个或多个处理器；存储装置，用于存储一个或多个程序，当一个或多个所述程序被一个或多个所述处理器执行时，使得一个或多个所述处理器实现如本发明的第一发方面实施例中所述的商场自动购物方法。因此，本发明的第三方面实施例具有本发明第一方面实施例所具有的所有有益效果。
如图7所示，为本发明其中一种实施例的商场自动购物设备的系统框图。在一些实施例中该电子设备910设置在可移动的机器人或者购物车上的电路板700上，电路板700上设置有第一无线通信模块720用于该电子装置与输入装置920的第二无线通信921模块进行通信。
如图8所示，为本发明另外一种实施例的商场自动购物设备的系统框图。在另外一些实施例中，该电子设备910与可移动的机器人或者购物车分体设置，此时电路板700上设置有第三无线通信模块710，该电子设备910上设置有第四无线通信模块911，该电子设备910通过第四无线通信模块911与第三无线通信模块710进行通信，从而控制可移动的机器人或者购物车的移动、升降和取货操作。
上面结合附图对本发明实施例作了详细说明，但是本发明不限于上述实施例，在所述技术领域普通技术人员所具备的知识范围内，还可以在不脱离本发明宗旨的前提下作出各种变化。

Claims (10)

  1. 一种商场自动购物方法，其特征在于，所述方法包括：
    获取若干选定商品的商品信息；
    基于若干所述选定商品的所述商品信息中携带的第一坐标规划路径；
    基于所述路径，发送用于控制移动装置进行移动的移动指令；
    基于若干所述选定商品的所述商品信息中携带的所述选定商品位于货柜上的高度值，发送用于控制升降装置进行升降的升降指令；
    获取所述移动装置的位置信息以及所述升降装置的高度信息，判断所述位置信息是否对应于所述路径上的指定位置且所述高度信息是否对应于相应的所述高度值，若是，则发送用于控制取货装置从货柜上取货的自动取货指令。
  2. 根据权利要求1所述的一种商场自动购物方法，其特征在于，在“判断所述位置信息是否对应于所述路径上的指定位置”的结果为是之后，还包括以下步骤：
    获取所述移动装置的姿态数据；
    基于获取的所述移动装置的所述姿态数据，发送用于控制所述移动装置调整姿态的姿态调整指令。
  3. 根据权利要求1所述的一种商场自动购物方法，其特征在于，所述基于若干所述选定商品的所述商品信息中携带的第一坐标规划路径，包括：
    获取若干所述选定商品的所述商品信息中携带的第一坐标；
    基于获取的若干所述选定商品的所述商品信息中携带的所述第一坐标生成与相应的所述第一坐标一一对应的第二坐标；
    获取移动装置位于起点的第三坐标；
    基于所述第三坐标和所述第二坐标生成所述路径，所述路径以所述第三坐标为起点并经过所有的所述第二坐标。
  4. 根据权利要求1所述的一种商场自动购物方法，其特征在于，执行所述基于若干所述选定商品的所述商品信息中携带的第一坐标规划路径步骤前，还包括：
    基于获取若干的所述选定商品的所述商品信息中携带的商品单价，计算所述选定商品的商品总价；
    发送与所述商品总价匹配的支付请求，并检测是否支付成功，若是，则执行基于若干所述选定商 品的所述商品信息中携带的第一坐标规划路径。
  5. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于：所述计算机程序被处理器执行时，实现如权利要求1至4中任一项所述的商场自动购物方法。
  6. 一种电子设备，其特征在于，包括：
    一个或多个处理器；存储装置，用于存储一个或多个程序，当一个或多个所述程序被一个或多个所述处理器执行时，使得一个或多个所述处理器实现如权利要求1至4任一项所述的商场自动购物方法。
  7. 一种商场自动购物设备，其特征在于，包括：
    机械本体，包括移动装置、升降装置和取货装置，
    其中，所述移动装置设置有用于驱动所述移动装置行走的移动驱动装置，
    所述升降装置设置有用于驱动所述升降装置升降的升降驱动装置，
    所述取货装置设置有用于驱动所述取货装置动作的取货驱动装置；
    输入装置，用于接收消费者对商品的选定；
    存储器，存储有一个或多个计算机程序以及全局地图；以及
    一个或多个处理器，用于执行所述计算机程序，以用于：
    获取所述输入装置发送的若干选定商品的商品信息；
    基于若干所述选定商品的所述商品信息中携带的第一坐标在全局地图中规划路径；
    基于所述路径，所述处理器控制所述移动驱动装置驱动所述移动装置按照所述路径进行移动；
    基于若干所述选定商品的所述商品信息中携带的所述选定商品位于货柜上的高度值，所述处理器控制所述升降驱动该装置驱动所述升降装置按照所述高度值进行升降；
    所述处理器根据获取的所述移动装置的位置信息以及所述升降装置的高度信息，判断所述位置信息是否对应于所述路径上的指定位置且所述高度信息是否对应于相应的所述高度值，若是，则控制所述取货驱动装置驱动所述取货装置进行动作以从所述货柜上取货。
  8. 根据权利要求7所述的一种商场自动购物设备，其特征在于：所述移动装置朝向所述货柜的一面设置有两个以上的测距传感器。
  9. 根据权利要求7所述的一种商场自动购物设备，其特征在于：所述货柜上设置有多个储物槽，所述储物槽的前端设置有出货口，所述储物槽内设置有用于带动位于所述储物槽内的商品向所述出货口移动的出货机构。
  10. 根据权利要求7所述的一种商场自动购物设备，其特征在于：所述移动装置包括底盘以及设置在所述底盘上的四个麦克纳姆轮。
PCT/CN2020/078278 2019-09-18 2020-03-06 商场自动购物方法、存储介质、电子设备及设备 WO2021051755A1 (zh)

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