阅读说明：本技术 一种智能移动自助购物车 (Intelligent mobile self-service shopping cart ) 是由 唐一鸣 臧利国 沈业辉 王德海 曹铭湘 王孜洲 王保升 于 2019-10-09 设计创作，主要内容包括：本发明公开了一种智能移动自助购物车,包括设置在购物车本体上的控制单元、自主移动单元和自动结算单元；所述的控制单元包括中央微控制器；所述的自助移动单元包括定位仪、定位跟踪传感器、电机,所述的电机驱动车轮移动,所述的定位仪采用的无线通信的方式与所述的定位跟踪传感器进行通信,所述的定位跟踪传感器的输出端与所述的中央微控制器的输入端相连,所述的中央微控制器的输出端与所述的电机的控制端相连,根据接收所述定位仪的定位信息驱动车轮的移动；所述的自动结算单元与控制单元连接。本发明所设计的购物车能够自动跟随目标并自主躲避障碍,提高了购物的舒适感,同时能在选完商品后自动地识别商品信息并完成结算工作,大大节约了排队时间。(The invention discloses an intelligent mobile self-service shopping cart, which comprises a control unit, an autonomous mobile unit and an automatic settlement unit, wherein the control unit, the autonomous mobile unit and the automatic settlement unit are arranged on a shopping cart body; the control unit comprises a central microcontroller; the self-service mobile unit comprises a positioning instrument, a positioning tracking sensor and a motor, wherein the motor drives wheels to move, the positioning instrument is communicated with the positioning tracking sensor in a wireless communication mode, the output end of the positioning tracking sensor is connected with the input end of the central microcontroller, the output end of the central microcontroller is connected with the control end of the motor, and the wheels are driven to move according to the received positioning information of the positioning instrument; the automatic settlement unit is connected with the control unit. The shopping cart designed by the invention can automatically follow the target and avoid obstacles independently, improves the comfort of shopping, can automatically identify commodity information and complete settlement after the commodity is selected, and greatly saves queuing time.)

1. The utility model provides an intelligent movement self-service shopping cart, includes the shopping cart body that support (7), shopping basket (4) and wheel (8) are constituteed, its characterized in that: the shopping cart also comprises a control unit, an autonomous moving unit and an automatic settlement unit which are arranged on the shopping cart body;

the control unit comprises a central microcontroller (5);

the self-service mobile unit comprises a positioning instrument (10), a positioning tracking sensor (6) and a motor (9), wherein the motor (9) drives wheels (8) to move, the positioning instrument (10) communicates with the positioning tracking sensor (6) in a wireless communication mode, the output end of the positioning tracking sensor (6) is connected with the input end of a central microcontroller (5), the output end of the central microcontroller (5) is connected with the control end of the motor (9), and the wheels (8) are driven to move according to the received positioning information of the positioning instrument (10);

the automatic settlement unit comprises an RFID reader-writer (2) and a visual query device (1), wherein the output end of the RFID reader-writer (2) is connected with the input end of the central microcontroller (5), and the output end of the central microcontroller (5) is connected with the input end of the visual query device (1).

2. The intelligent mobile self-service shopping cart according to claim 1, wherein: the self-service mobile unit further comprises an obstacle detection sensor (3), and the output end of the obstacle detection sensor (3) is connected with the input end of the central microcontroller (5).

3. The intelligent mobile self-service shopping cart according to claim 1, wherein: UWB signals adopted by the positioning instrument (10) are communicated with the positioning tracking sensor (6), a UWB positioning label is arranged in the positioning instrument (10), and a UWB positioning base station is arranged in the positioning tracking sensor (6).

4. The intelligent mobile self-service shopping cart according to claim 1, wherein: the automatic settlement unit also comprises a weighing module (11) and a warning module (12), wherein the output end of the weighing module (11) is connected with the input end of the central microcontroller (5); and the signal receiving end of the warning module (12) is connected with the output end of the central microcontroller (5).

5. The intelligent mobile self-service shopping cart according to claim 1, wherein: the number of the motors (9) is the same as that of the wheels (8).

6. The intelligent mobile self-service shopping cart according to claim 4, wherein: the wheels (8) are Mecanum wheels.

7. The intelligent mobile self-service shopping cart according to claim 1, wherein: the central microcontroller (5) is also communicated with external equipment through a wireless transmission end.

Technical Field

The invention belongs to the field of shopping carts, and particularly relates to an intelligent mobile self-service shopping cart.

Background

With the improvement of living standard of people, supermarkets become an indispensable part of life of people. In the mode, when the flow of people is large and the number of commodities purchased by a customer is large, the customer can generate poor shopping experience due to slow queuing and purchase order, difficulty in finding for operators, difficulty in pushing shopping carts and the like.

Under the background, some markets and supermarkets are provided with self-service cash registers, and in fact, in order to prevent commodity theft, each self-service cash register is configured with a specially-assigned person to take care of, so that the labor cost is not reduced, and the shopping experience of customers when purchasing a lot of commodities is not improved. Besides, intelligent shopping carts are released from a small part of shopping malls, but the shopping carts can only be moved simply, the cash-collecting condition is not changed although the shopping experience is improved, the cash-collecting pressure is increased when a large number of customers are available, the intelligent shopping cart does not have great practical value, and cannot be popularized on a large scale.

Disclosure of Invention

Aiming at the problems, the invention provides an intelligent mobile self-service shopping cart.

The technical purpose is achieved, the technical effect is achieved, and the invention is realized through the following technical scheme:

an intelligent mobile self-service shopping cart comprises a shopping cart body consisting of a support, a shopping basket and wheels, and further comprises a control unit, an autonomous mobile unit and an automatic settlement unit which are arranged on the shopping cart body; the control unit comprises a central microcontroller; the self-service mobile unit comprises a positioning instrument, a positioning tracking sensor and a motor, wherein the motor drives wheels to move, the positioning instrument is communicated with the positioning tracking sensor in a wireless communication mode, the output end of the positioning tracking sensor is connected with the input end of the central microcontroller, the output end of the central microcontroller is connected with the control end of the motor, and the wheels are driven to move according to the received positioning information of the positioning instrument; the automatic settlement unit comprises an RFID reader-writer and visual query equipment, wherein the output end of the RFID reader-writer is connected with the input end of the central microcontroller, and the output end of the central microcontroller is connected with the input end of the visual query equipment.

As a further improvement of the present invention, the self-service mobile unit further comprises an obstacle detection sensor, and an output end of the obstacle detection sensor is connected with an input end of the central microcontroller.

As a further improvement of the invention, the UWB signal adopted by the locator is communicated with the positioning tracking sensor, so that the positioning accuracy is greatly improved compared with the traditional technology, a UWB positioning tag is embedded in the locator, and a UWB positioning base station is embedded in the positioning tracking sensor.

As a further improvement of the invention, the automatic settlement unit further comprises a weighing module and a warning module, wherein the output end of the weighing module is connected with the input end of the central microcontroller; and the signal receiving end of the warning module is connected with the output end of the central microcontroller.

As a further improvement of the invention, the number of the motors is the same as the number of the wheels.

As a further improvement of the invention, the wheels are mecanum wheels.

As a further improvement of the invention, the central microcontroller also communicates with the external end equipment through a wireless transmission end.

The invention has the beneficial effects that: the shopping cart designed by the invention can automatically follow the target and avoid obstacles independently, improves the comfort of shopping, can automatically identify commodity information and complete settlement work after the commodity is selected, greatly saves queuing time, and provides a foundation for unmanned supermarkets.

Drawings

FIG. 1 is a schematic view of the operating principle of the shopping cart of the present invention;

FIG. 2 is a schematic view of a shopping cart configuration;

FIG. 3 is a schematic rear view of the shopping cart;

FIG. 4 is a schematic view of a shopping basket of the shopping cart in a bottom view;

FIG. 5 is an enlarged view of the wheel structure of the shopping cart

Wherein: 1-visual inquiry equipment, 2-RFID reader-writer, 3-obstacle detection sensor, 4-shopping basket, 5-central microcontroller, 6-positioning tracking sensor, 7-bracket, 8-wheel, 9-motor, 10-locator, 11-weighing module and 12-warning module.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The following detailed description of the principles of the invention is provided in connection with the accompanying drawings.

The utility model provides an intelligent movement self-service shopping cart, includes the shopping cart body that support 7, shopping basket 4 and wheel 8 are constituteed, still includes the control unit, independently mobile unit and the automatic settlement unit of setting on the shopping cart body.

Wherein, the control unit is a control center and comprises a central microcontroller 5. In this embodiment, the STM32 chip and the raspberry microcomputer are used as the central microcontroller.

The self-service mobile unit comprises a positioning instrument 10, a positioning tracking sensor 6 and a motor 9, wherein the motor 9 drives a wheel 8 to move, the positioning instrument 10 is communicated with the positioning tracking sensor 6 in a wireless communication mode, the output end of the positioning tracking sensor 6 is connected with the input end of the central microcontroller 5, the output end of the central microcontroller 5 is connected with the control end of the motor 9, and the wheel 8 is driven to move according to the received positioning information of the positioning instrument 10; the automatic settlement unit comprises an RFID reader-writer 2 and a visual query device 1, wherein the output end of the RFID reader-writer 2 is connected with the input end of the central microcontroller 5, and the output end of the central microcontroller 5 is connected with the input end of the visual query device 1.

In a specific implementation process, the positioning instrument 10 communicates with the positioning and tracking sensor 6 through a UWB signal, a UWB positioning tag is embedded in the positioning instrument 10, and a UWB positioning base station is embedded in the positioning and tracking sensor 6. When the shopping cart is not used, the positioning instrument 10 is placed in a mounting box on the shopping cart, a customer takes the positioning instrument 10 off the shopping cart and carries the positioning instrument on the shopping cart during shopping, and the shopping cart drives the wheels 8 to move according to the position of the positioning instrument 10 detected by the positioning tracking sensor 6.

In the implementation process, the implementation path is calculated by adopting the following mode, firstly, the threshold range of the distance between the positioning tracking sensor 6 and the positioning instrument 10 is set, the threshold range comprises a non-moving distance and a moving distance, generally, the threshold range of the non-moving distance is 0.5-1m, and the threshold range of the moving distance is 1-10 m. When the distance between the shopping cart and the customer is within 1-3m, the shopping cart drives the wheels 8 to move within 1m according to the positioning of the positioning instrument 10 on the customer.

In the moving process, in order to avoid various obstacles such as shelves, walls and the like of a supermarket, the self-service moving unit is also provided with an obstacle detection sensor 3 for avoiding obstacles, and the output end of the obstacle detection sensor 3 is connected with the input end of the central microcontroller 5. In the embodiment of the invention, the obstacle detecting sensor 3 and the positioning and tracking sensor 6 are both installed at the bottom end of the shopping basket 4. The obstacle detection sensor 3 is an infrared sensor.

In the embodiment of the invention, the number of the motors 9 is the same as that of the wheels 8, and a one-to-one corresponding connection mode is adopted. The wheels 8 are mecanum wheels that can move linearly and laterally.

The RFID reader-writer 2 and the visual inquiry equipment 1 are arranged above the shopping basket 4. The RFID reader-writer 2 can identify the electronic tags on the commodities, a customer can automatically identify commodity information after putting the commodities into a shopping cart without any operation of the customer, and then the receipt amount and the receipt two-dimensional code are displayed on the visual inquiry equipment 1, so that self-service settlement service is completed, queuing waiting time is reduced, and convenience is improved. The customer can select the commodity and complete the settlement at the same time, and the settlement can be directly carried out after the commodity selection is finished.

The visual query device 1 may be an embodiment as shown in fig. 2, and employs a display screen directly mounted on the shopping cart, and the display screen is connected to the central microcontroller 5 by means of a wired connection. Or a mobile phone of a user, is connected with the central microcontroller 5 in a wireless communication mode, and inquires the price by scanning the two-dimensional code arranged on the shopping cart.

In the shopping process, the settlement is also carried out on the commodity which is selected by the customer in the early stage and is replaced or replaced in the later stage. The automatic settlement unit also comprises a weighing module 11 and a warning module 12, wherein the output end of the weighing module 11 is connected with the input end of the central microcontroller 5; the weighing module 11 is arranged at the bottom of the shopping basket 4, a signal receiving end of the weighing module 11 is connected with an output end of the central microcontroller 5, and when the central microcontroller 5 only receives a signal of the RFID reader-writer 2 or the weighing module 11, the warning module 12 is driven to send out an alarm signal. That is, each time a customer puts a certain desired commodity into the shopping basket 4 or takes out a commodity determined not to be purchased, the RFID reader-writer needs to recognize increase or decrease of the electronic tag, otherwise, the weighing module detects that the weight of the commodity in the shopping basket 4 changes, and if the RFID reader-writer does not detect the signal change, the warning module 12 gives an alarm, and finally settlement cannot be completed. And the total price is calculated by adding or subtracting according to the weight weighed by the weighing module 11.

The central microcontroller 5 is also in communication with an external device through a wireless transmission terminal, such as a main PC of a supermarket, and can be used for receiving price and activity preferential information of commodities stored in the main PC to complete self-service settlement service. Or when the customer has finished using the cart, the central microcontroller 5 in the cart automatically returns to the centralized location point by controlling the cart via the autonomous mobile unit by interacting with a monitoring device or a positioning device installed in the supermarket.

The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.