Supermarket shopping guide robot based on ROS and artificial intelligence algorithm

Abstract

The present invention provides a supermarket shopping guide robot based on ROS and artificial intelligence algorithm, belonging to the field of intelligent robot technology. It includes a robot body and a robot control system; the robot body includes a shopping basket and a packing room; the robot control system includes a host computer with ROS, a lower computer with a central controller, a human-computer interaction module, a laser radar, an IMU module, a motion drive module, a wireless communication module, a code scanning checkout module, an automatic packing module and a power supply unit. The host computer includes a map creation module, a robot positioning module, a commodity positioning module and a path planning module. The present invention can not only plan shopping routes and guide, but also settle and pack in real time, improve shopping efficiency, save time for busy urban consumers, and increase shopping experience; it can also effectively avoid crowds in supermarkets, reduce contact between people and between people and objects, and is of great help to disease prevention and control and cutting off the route of infection.

Description

[Technical field]

[0001] The present invention relates to the technical field of robot development and application, and in particular to a supermarket shopping guide robot based on ROS and artificial intelligence algorithms. [Background technology]

[0002] With the development of my country's economy and commerce, there are more and more shopping malls and supermarkets, and their areas are getting larger and larger. While enriching people's shopping experience, it also brings some problems:

[0003] 1. Due to the large area, consumers may find it difficult to find the correct route accurately, thus wasting time, or having difficulty finding the items they need, or even getting lost in the supermarket.

[0004] 2. After shopping, it takes a certain amount of time to queue up to check out and pack the goods. Especially during holidays and supermarket promotions, the queuing phenomenon is particularly obvious, which reduces the shopping experience.

[0005] The above problems will increase the time people stay in supermarkets and shopping malls, and increase the possibility of infection during epidemics. At present, some shopping malls use fixed navigation robots for shopping navigation, but such fixed navigation robots can only give the location of the goods and cannot provide guidance. Due to the large area of ​​shopping malls or supermarkets, consumers often find it difficult to quickly find the location of the goods. Some supermarkets have added self-service checkout devices, but there are still queues, and it takes some time to take the goods out of the shopping cart and then manually bag them, which easily causes crowds to gather. [Summary of the invention]

[0006] The purpose of the invention is to provide a supermarket shopping guide robot based on ROS and artificial intelligence algorithm to solve the above-mentioned problems, so as to realize automatic navigation of commodity shelves, provide human-computer interaction services, and easily help supermarket consumers navigate to any place in the supermarket, so as to realize fast and accurate shopping for consumers. Especially for consumers who enter the supermarket for the first time, it can greatly solve the problem of long time to find commodities, improve the shopping experience of supermarket consumers, and enhance the overall supermarket service quality and level, thereby enhancing the competitiveness of supermarkets.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0008] A supermarket shopping guide robot based on ROS and artificial intelligence algorithms, including a robot body and a robot control system installed on the robot body;

[0009] The robot body comprises a shopping cart frame, a shopping basket and a packing chamber are arranged inside the shopping cart frame, and a moving mechanism is arranged below the shopping cart frame;

[0010] The robot control system includes an upper computer with ROS, a lower computer with a central controller, a human-computer interaction module, a laser radar, an IMU module, a motion drive module, a wireless communication module, a code scanning and checkout module, an automatic packaging module and a power supply unit; the upper computer with the ROS control module and the lower computer with the central controller are connected through the wireless communication module; the laser radar, the human-computer interaction module, the IMU module, the motion drive module, the code scanning and checkout module, and the automatic packaging module are all electrically connected to the lower computer with the central controller;

[0011] The upper computer with ROS is provided with a positioning and obstacle avoidance module, which includes a map creation module, a robot positioning module, a commodity positioning module and a path planning module; the map creation module is used to create a local electronic map of the environment and a global electronic map; the robot positioning module is used to locate the current position of the robot; the commodity positioning module is used to store or obtain the location information of the commodity; the path planning module is used to automatically plan the optimal path of the robot according to the current position of the robot, the location information of the commodity and the electronic map; the upper computer with ROS is also used to receive information sent by the lower computer with the central controller, and send the robot motion control instructions to the lower computer with the central controller through the wireless communication module according to the optimal path;

[0012] The laser radar is used to collect data and send it to a lower computer with a central controller;

[0013] The IMU module is used to collect the robot's three-axis attitude angle and acceleration data through a fusion algorithm and send it to the lower computer with a central controller;

[0014] The role of the lower computer with the central controller includes receiving the data collected by the IMU module, using the Kalman filter algorithm, and combining the encoder of the reduction motor to complete the calculation of the robot's posture and speed; communicating with the upper computer, mainly including collecting encoder feedback information at a certain frequency, sending it to the upper computer after calculating the posture and speed, and receiving the motion control instructions of the upper computer;

[0015] The human-computer interaction module includes a touch screen, a speaker and a voice input module, and the touch screen, the speaker and the voice input module are all connected to the lower computer circuit with the central controller;

[0016] The motion drive module includes a drive motor and a reduction motor, wherein the drive motor is connected to a lower computer circuit with a central controller, and the reduction motor is connected to the mobile mechanism, and is used to drive the mobile mechanism to work according to the motion control instruction issued by the lower computer;

[0017] The code scanning checkout module is used to scan, price and settle the goods, and feed back the settlement information to the lower computer with the central controller;

[0018] The automatic packing module is arranged in the shopping cart frame and is used for automatic packing after the settlement is completed.

[0019] In the present invention, it is further preferred that the shopping cart frame is a three-dimensional structure with a closed bottom and an open top and fences on all sides. The interior of the shopping cart frame is divided into a shopping basket located at the top and a packing room located at the bottom 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 to the inner side wall of the shopping cart frame. The first movable bottom plate and the second movable bottom plate are both hinged to the inner side wall of the shopping cart frame to form a double-door structure. Electromagnetic locks are provided between the first movable bottom plate, the second movable bottom plate and the inner side wall of the shopping cart frame. The automatic packing module is arranged in the packing room, and the automatic packing module includes a first rotating shaft, a plastic film, a first rotating drum, a conveying plate and an electric heating plate. Both sides of the bottom in the packing room There are provided with first rotating shafts parallel to each other, and plastic films are wound on the two first rotating shafts; one end of two first connecting rods are respectively connected to the downward plate surfaces of the first movable bottom plate and the second movable bottom plate, and the other ends of the two first connecting rods are connected to the same second rotating shaft, the second rotating shaft is rotatably connected to the first connecting rod, and 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 ends of the first movable bottom plate and the second movable bottom plate away from each other, and a first mounting bracket is rotatably mounted on the mounting block, a third rotating shaft is rotatably mounted between the two first mounting brackets, a second mounting bracket is rotatably mounted on one end of the first mounting bracket away from the mounting plate, and the two second mounting brackets A fourth rotating shaft is rotatably installed between the two, and the third rotating shaft and the fourth rotating shaft are parallel to and in contact with each other; the bottom surfaces of the first movable bottom plate and the second movable bottom plate are connected to a conveying plate through four connecting columns, the conveying plate and the first rotating drum are in contact with each other, and the top tangent of the conveying plate and the third rotating shaft is located on the same horizontal plane; the interior of the conveying plate is a cavity structure, and the two end portions of the two conveying plates close to each other are open-shaped, and the first electric push rods are fixed in the internal cavities of the two conveying plates, and the movable end ends of the first electric push rods are fixedly connected to the sliding seat, and the sliding seat is slidably connected to the opening of the conveying plate; the interior of the sliding seat is a cavity, and the second electric push rod is fixedly arranged in the cavity of the sliding seat, and the movable end end of the second electric push rod extends The blade is fixedly connected after coming out of the sliding seat, and the blade is arranged horizontally, and the cutting edges of the two blades are facing each other; the extension and retraction directions of the two first electric push rods are opposite, and the extension and retraction directions of the two second electric push rods are opposite; the end of the sliding seat away from the conveying plate where it is located is connected to one end of the guide plate and one end of the heating plate, and the guide plate and the heating plate are parallel to the blade respectively, the guide plate is located above the blade, and the heating plate is located below the blade, the other end of the guide plate is an arc chamfer, and the other end of the heating plate is provided with an electric heating sheet; the side wall of the packaging chamber is also provided with an electric slide, a slider is provided on the electric slide, and an electric clamp is provided on the slider, the sliding direction of the slider is vertical, and the height of the electric clamp is smaller than the gap between the guide plate and the blade;The electric heater is divided into three sections and powered by power supply units respectively. The total length of the electric heater is equal to the width of the plastic film. The length of the two sections of the electric heater at both ends is 1-3 cm. The ends of the plastic films on the two first rotating shafts pass upward through the gap between the second rotating shaft and the third rotating shaft, and then pass between the two guide plates, between the two blades, and between the two electric heaters.

[0020] In the present invention, it is further preferred that the map creation module utilizes the open source function package in ROS to simultaneously perform robot posture estimation and environment modeling during the movement of the robot, and adopts the SLAM algorithm to create local electronic maps and global electronic maps in the supermarket; the robot positioning module combines differential GPS to complete positioning, tracking and traversal functions, and uses the Monte Carlo positioning algorithm for position correction; the path planning module uses the A* algorithm and the DWA algorithm to realize path planning.

[0021] In the present invention, it is further preferred that the lower computer with the central controller is also connected to the cloud server of the supermarket through a wireless communication module to obtain the location of the goods and update the inventory of the goods in real time.

[0022] In the present invention, it is further preferred that the upward surfaces of the first movable bottom plate and the second movable bottom plate are both provided with handles.

[0023] In the present invention, further preferably, bases parallel to each other are provided on both sides of the bottom of the packaging chamber, and the first rotating shaft is rotatably mounted on the bases.

[0024] In the present invention, it is further preferred that the electromagnetic lock, the first electric push rod, the second electric push rod, the electric slide, the electric clamp, and the electric heater are all connected to the lower computer circuit with the central controller.

[0025] In the present invention, further preferably, the power supply unit is arranged in the equipment room below the packing room.

[0026] In the present invention, it is further preferred that the moving mechanism is four wheels, two diagonal wheels are driven by a driving motor, and the other two diagonal wheels are driven wheels.

[0027] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0028] 1. The shopping guide robot uses the ROS software system to realize the motion control of the supermarket shopping guide robot, uses the SLAM algorithm to establish an electronic map, combines differential GPS to complete positioning, tracking and traversal functions, and uses the A* algorithm and DWA algorithm to realize path planning, and the Monte Carlo positioning algorithm is used for position correction. In the positioning and navigation process, the robot's running posture evaluation is also a key content. The present invention also uses the data collected by laser and IMU, adopts the Kalman filter algorithm, and combines the encoder of the reduction motor to complete the calculation of the robot's posture and speed, so that the robot positioning is more accurate, thereby realizing precise navigation.

[0029] 2. When the shopping guide robot is in use, consumers choose to buy goods on the human-computer interaction interface. The ROS software system uses the global path planning and local planning algorithms in the path planning to give the most time-saving shopping path, and then navigates after the consumer confirms, thus saving time in finding goods. After the consumer has selected the goods, he or she can directly put them into the shopping guide cart. There is a scan code checkout module behind the interactive screen that can identify the electronic tags of the goods. After identification, the goods are displayed on the interactive interface and charged. After shopping, the goods can be checked out immediately, saving time in queuing.

[0030] 3. When the shopping guide robot is in use, after the consumer scans the code to settle the bill on the interactive interface, the automatic packing module starts to operate. The goods to be packed fall directly from the shopping basket into the shopping bag in the packing room and are sealed and packed immediately. There is no need to sort them one by one, thus saving packing time.

[0031] Therefore, the shopping guide robot of the present invention can not only plan shopping routes and provide guidance, but also settle accounts and pack items instantly, thereby improving shopping efficiency, saving time for busy urban consumers, and increasing shopping experience. It can also effectively avoid crowds in supermarkets, reduce contact between people and between people and objects, and is of great help to disease prevention and control and cutting off the route of infection.

Brief Description of the Drawings

[0032] Figure 1 This is the control schematic diagram of a supermarket shopping guide robot based on ROS and artificial intelligence algorithms

[0033] Figure 2 This is a schematic diagram of the planar structure of a supermarket shopping guide robot based on ROS and artificial intelligence algorithms.

[0034] Figure 3 It is a schematic diagram of the structure of the shopping basket;

[0035] Figure 4 It is a schematic diagram of a partial top view of the structure of the automatic packaging module;

[0036] Figure 5 for Figure 2 A partial enlarged view of

[0037] Figure 6 It is the relationship diagram of the heating plate, the blade and the guide plate;

[0038] Figure 7 It is a schematic diagram of the robot of the present invention in the packaging state.

[0039] Among them, 1-shopping basket 1, 101-first movable bottom plate, 102-electromagnetic lock, 103-handle, 104-second movable bottom plate, 105-fixed bottom plate, 2-human-computer interaction device, 3-equipment room; 4-first rotating shaft, 5-plastic film, 6-packaging room, 7-fourth rotating shaft, 8-second mounting bracket, 9-third rotating shaft, 10-first mounting bracket; 11-first connecting rod; 12-first rotating drum; 13-connecting column, 14-conveyor plate, 15-first electric push rod, 16-electric slide, 1601-sliding block, 1602-slide rail, 1603-electric clamp, 17-first fixed seat, 18-second fixed seat, 19-second electric push rod, 20-heating plate, 21-blade, 22-material guide plate, 23-knife seat. [Specific implementation method]

[0040] In order to express the present invention more clearly, the present invention is further described below through specific examples.

[0041] See also Figure 1-7 , the present invention provides a supermarket shopping guide robot based on ROS and artificial intelligence algorithm, the shopping guide robot comprises a robot body and a robot control system installed on the robot body;

[0042] The robot body includes a shopping cart frame, in which a shopping basket 1 and a packing chamber 6 are arranged. The shopping basket 1 is used to place the goods selected by consumers, and the packing chamber 6 is used to bag and pack the goods. An equipment chamber 3 is arranged below the packing chamber 6 for placing auxiliary components such as power supply equipment. A moving mechanism is arranged below the shopping cart frame. Specifically, the moving mechanism is 4 wheels, two of which are diagonally opposite wheels are driven by a driving motor, and the other two diagonally opposite wheels are driven wheels. By controlling the driving motor, forward, backward, turning and other actions can be realized.

[0043] The robot control system includes a host computer with ROS, a slave computer with a central controller, a human-computer interaction module, a laser radar, an IMU module, a motion drive module, a wireless communication module, a code scanning and checkout module, an automatic packaging module and a power supply unit; the host computer with the ROS control module and the slave computer with the central controller are connected through the wireless communication module; the laser radar, the human-computer interaction module, the IMU module, the motion drive module, the code scanning and checkout module, and the automatic packaging module are all electrically connected to the slave computer with the central controller.

[0044] The upper computer with ROS is equipped with a positioning and obstacle avoidance module, which includes a map creation module, a robot positioning module, a product positioning module and a path planning module; the map creation module is used to create a local electronic map of the environment and a global electronic map; the robot positioning module is used to locate the current position of the robot; the product positioning module is used to store or obtain the location information of the product; the path planning module is used to automatically plan the optimal path of the robot based on the current position of the robot, the location information of the product and the electronic map. Specifically, the map creation module uses the open source function package in ROS to perform robot posture estimation and environmental modeling simultaneously during the robot's movement, and uses the SLAM algorithm to create a local electronic map and a global electronic map in the supermarket; the robot positioning module combines differential GPS to complete positioning, tracking and traversal functions, and uses the Monte Carlo positioning algorithm for position correction; the path planning module uses the A* algorithm and the DWA algorithm to achieve path planning. The commodity positioning module obtains the commodity location information through the interaction between the lower computer with the central controller and the supermarket's cloud server; the upper computer with ROS is also used to receive information sent by the lower computer with the central controller, and send the robot motion control instructions to the lower computer with the central controller through the wireless communication module according to the optimal path;

[0045] LiDARs are installed at multiple locations on the front, back, left, and right sides of the shopping cart to collect data and send it to a lower computer with a central controller;

[0046] The IMU module is used to collect the robot's three-axis attitude angle and acceleration data through a fusion algorithm and send it to the lower computer with a central controller;

[0047] The functions of the lower computer with a central controller include receiving the data collected by the IMU module, adopting the Kalman filter algorithm, and combining with the encoder of the reduction motor to complete the calculation of the robot's posture and speed; communicating with the upper computer, mainly including collecting encoder feedback information at a certain frequency, sending it to the upper computer after calculating the posture and speed, and receiving motion control instructions from the upper computer; the present invention uses the data collected by the laser and IMU, adopts the Kalman filter algorithm, and combines with the encoder of the reduction motor to complete the calculation of the robot's posture and speed, so that the robot positioning is more accurate, thereby realizing precise navigation.

[0048] The lower computer with central controller uses STM32 microcontroller based on ARM Cortex-M3 architecture, which includes power supply voltage regulator circuit, reset circuit external crystal oscillator circuit, USB to TTL circuit, motor drive circuit and IMU interface circuit, etc. The lower computer with central controller is also connected to the supermarket's cloud server through wireless communication module to obtain the location of goods and update the inventory of goods in real time.

[0049] The human-computer interaction module includes a touch screen, a speaker and a voice input module, and the touch screen, the speaker and the voice input module are all connected to the lower computer circuit with the central controller; the touch screen can display interactive information, the speaker can make various voice reminders, and the voice input module can allow consumers to enter voice commands.

[0050] The motion drive module includes a drive motor and a reduction motor. The drive motor is connected to a lower computer circuit with a central controller, and the reduction motor is connected to the mobile mechanism to drive the mobile mechanism to work according to the motion control instructions issued by the lower computer.

[0051] The scan code checkout module is used to scan, price and settle goods, and feed back the settlement information to the lower computer with the central controller. The lower computer with the central controller also displays the results of scanning, pricing and settlement through the touch screen.

[0052] The automatic packing module is arranged in the shopping cart frame and is used for automatic packing after the checkout is completed.

[0053] See also Figure 2 The shopping cart frame is a three-dimensional structure with a closed bottom and an open top and surrounded by fences. The fences can be mesh-shaped or plate-shaped. The human-computer interaction module is specifically embodied in a human-computer interaction device 2, on the surface of which a touch screen and a control switch are arranged. The upper computer with ROS, the lower computer with a central controller, and the code scanning checkout module can be integrated with the human-computer interaction device 2 into a whole, making the whole simple and beautiful.

[0054] The interior of the shopping cart frame is divided into a shopping basket 1 located at the top and a packing chamber 6 located at the bottom by a bottom plate. The bottom plate is composed 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 to the inner side wall of the shopping cart frame. The purpose of its setting is to place some items that are not convenient to pack, such as large boxes of milk or a large roll of paper. The fixed bottom plate 105 has a side that is not connected to the inner side wall of the shopping cart frame. The first movable bottom plate 101 and the second movable bottom plate 104 are set on the side of the side. The first movable bottom plate 101 and the second movable bottom plate 104 are hinged to the inner side wall of the shopping cart frame to form a double-door structure. Electromagnetic locks 102 are provided between the first movable bottom plate 101, the second movable bottom plate 104 and the inner side wall of the shopping cart frame. When the power is on, the first movable bottom plate 101 and the second movable bottom plate 104 are sucked to a horizontal closed state. When the power is off, the electromagnetic locks 102 have no suction force on 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 turned downward under the action of gravity. The present invention also preferably provides handles 103 on the upward surface of the first movable bottom plate 101 and the second movable bottom plate 104 to assist in resetting the first movable bottom plate 101 and the second movable bottom plate 104 when the packaging is completed.

[0055] The automatic packaging module is arranged in the packaging chamber 6, and the automatic packaging module includes components such as a first rotating shaft 4, a plastic film 5, a first rotating drum 12, a conveying plate 14 and an electric heating plate; first rotating shafts 4 parallel to each other are arranged on both sides of the bottom of the packaging chamber 6, and plastic films 5 are wound on the two first rotating shafts 4. Specifically, bases parallel to each other can be arranged on both sides of the bottom of the packaging chamber 6, and the first rotating shafts 4 are rotatably installed on the bases; one end of two first connecting rods 11 are respectively connected to the downward plate surfaces of the first movable bottom plate 101 and the second movable bottom plate 104, and the other ends of the two first connecting rods 11 are connected to the same second rotating shaft, and the second rotating shaft is rotatably connected to the first connecting rod 11, and the first rotating drum 12 is fixedly arranged on the outer side of the second rotating shaft. The central axis of 12 is parallel to the central axis of the first rotating shaft 4; two mounting blocks are arranged on the lower sides of the ends of the first movable bottom plate 101 and the second movable bottom plate 104 which are away from each other, and the first mounting brackets 10 are rotatably mounted on the two mounting blocks, and the third rotating shaft 9 is rotatably mounted between the two first mounting brackets 10 on the same movable bottom plate, and the second mounting bracket 8 is rotatably mounted on the end of the first mounting bracket 10 away from the mounting plate, and the fourth rotating shaft 7 is rotatably mounted between the two second mounting brackets 8, the central axes of the third rotating shaft 9 and the fourth rotating shaft 7 are parallel to the central axis of the first rotating shaft 4, and the surfaces of the third rotating shaft 9 and the fourth rotating shaft 7 are in contact with each other, which are used to guide and flatten the plastic film 5.

[0056] The bottom surfaces of the first movable bottom plate 101 and the second movable bottom plate 104 are connected to a conveying plate 14 through four connecting columns 13. The conveying plate 14 is in contact with the first rotating drum 12, and the top tangent line of the conveying plate 14 and the third rotating shaft 9 are located on the same horizontal plane. One of the functions of the conveying plate 14 is to support the plastic film 5 and cooperate with the first rotating drum 12 to convey the plastic film 5. The second function of the conveying plate 14 is to serve as a mounting seat for the electric heating plate and the blade 21. Therefore, the interior of the conveying plate 14 is a cavity structure, and the two ends of the two conveying plates 14 close to each other are open. The first electric push rods 15 are fixed in the internal cavities of the two conveying plates 14 through the first fixed seat 17. The movable end of the first electric push rod 15 is fixedly connected to the sliding seat. The sliding seat is slidably connected to 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 away from each other; the interior of the sliding seat is a cavity, and the second electric push rod 19 is fixedly arranged in the cavity of the sliding seat through the first fixed seat 18. The movable end of the second electric push rod 19 extends out of the sliding seat and is fixedly connected to the blade 21 through the knife seat 23. The blade 21 is horizontally arranged, and the blades of the two blades 21 are facing each other; the telescopic directions of the two first electric push rods 15 are opposite, and the telescopic directions of the two second electric push rods 19 are opposite; the two second electric push rods 19 can make the blades 21 on both sides close to or away from each other, thereby achieving the purpose of cutting.

[0057] One end of the sliding seat away from the conveying plate 14 where it is located is connected to one end of the guide plate 22 and one end of the heating plate 20, the guide plate 22 and the heating plate 20 are respectively parallel to the blade 21, the guide plate 22 is located above the blade 21, and the heating plate 20 is located below the blade 21, the other end of the guide plate 22 is chamfered with an arc, the other end of the heating plate 20 is provided with an electric heating plate, and the other end of the guide plate 22 and the other end of the heating plate 20 are located on the same vertical plane.

[0058] The side wall of the packaging chamber 6 is also provided with an electric slide 16, on which a slide rail 1601 and a sliding block 1602 are provided, and on which an electric clamp 1603 is provided. The sliding direction of the sliding block 1602 is a vertical direction, that is, it can slide up and down. The height of the electric clamp 1603 is less than the gap between the guide plate 22 and the blade 21, so that it can extend into the gap between the guide plate 22 and the blade 21 to clamp the plastic film 5; the electric heating plate is divided into three sections and is powered by a power supply unit respectively. The total length of the electric heating plate is equal to the width of the plastic film 5, and the length of the two sections of the electric heating plate at the two ends is 1-3 cm; the end of the plastic film 5 on the two first rotating shafts 4 passes upward through the gap between the fourth rotating shaft 7 and the third rotating shaft 9, and then passes 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 slide 16, the electric clamp 1603, and the electric heater are all connected to the lower computer circuit with the central controller for coordination and control by the lower computer.

[0059] When the present invention is used, the robot of the present invention is put into a supermarket to be used, and the driving motor is started by a control switch to drive the robot to walk in the supermarket. The laser module and the IMU module collect data and send them to the lower computer with the central controller; the lower computer with the central controller adopts the Kalman filter algorithm and combines the encoder of the reduction motor to complete the calculation of the robot's posture and speed; the lower computer with the central controller communicates with the upper computer, and the map creation module of the upper computer uses the open source function package in ROS according to the received information to simultaneously perform robot posture estimation and environment modeling during the robot's movement, and adopts the SLAM algorithm to create a local electronic map and a global electronic map in the supermarket.

[0060] When the robot is used by consumers, its shopping guide method can refer to the following steps:

[0061] (1) The consumer first selects the goods to be purchased through the human-computer interaction device 2, and then sends a purchase instruction to the lower computer after confirmation;

[0062] (2) After receiving the purchase instruction, the lower computer sends the product information to the upper computer through the wireless communication module. The upper computer first locates the current position of the robot in the electronic map through the positioning module; then obtains the location information of the product to be purchased through the product positioning module;

[0063] (3) The upper computer automatically plans the optimal path for the robot through the path planning module based on the current location of the robot, the location information of the product and the electronic map. After the consumer confirms the path, the upper computer sends the robot motion control instructions to the lower computer with the central controller through the wireless communication module. The lower computer controls the drive motor to work, and the mobile mechanism drives the robot to walk under the action of the drive motor. During the walking process, the laser module and the IMU module collect data in real time and feed it back to the lower computer. After calculation, the lower computer communicates with the upper computer for real-time positioning of the robot.

[0064] (4) When the real-time position of the robot is consistent with the position of the product, the lower computer controls the drive motor to stop working, and the speaker prompts that the product has arrived at the shelf; after the consumer takes the product, the robot scans the product electronic tag through the code scanning checkout module. After the consumer completes the purchase and confirms through the human-computer interaction module, the robot moves to the next product shelf and gives a voice reminder. After the consumer takes the product, the robot scans the product electronic tag through the code scanning checkout module. After the consumer completes the purchase and confirms through the human-computer interaction module, the robot moves to the next product shelf until all products are purchased;

[0065] (5) The consumer confirms that the purchase is complete and is ready to check out. The scan code checkout module performs pricing and settlement, and feeds the settlement information back to the lower computer with the central controller. The lower computer with the central controller simultaneously displays the results of scanning, pricing, and settlement on the touch screen.

[0066] (6) After the settlement is completed, if the customer continues to choose to pack the goods, the lower computer will collect a certain packing fee through the QR code scanning checkout module and then send a packing instruction to the automatic packing module, and the packing module will automatically pack the goods. After the packing is completed, the consumer takes the goods and the robot returns to its set parking point.

[0067] The automatic packaging module of the present invention may include the following steps:

[0068] 6.1 In the initial state, the plastic film 5 roll is mounted on the first rotating shaft 4, and the second electric push rod 19 corresponding to the two blades 21 is retracted so that the two blades 21 do not touch each other. The free end of the plastic film 5 is pulled to be just between the two blades 21, and the electric clamp 1603 of the electric slide 16 is located in the gap between the guide plate 22 and the blade 21 to clamp the plastic film 5. When the consumer starts to use the robot for navigation shopping, the entire electric heater starts to preheat. After the set delay time, the lower computer controls the first electric push rod 15 to retract a certain distance so that the two blades 21 and the two electric heaters are separated by a certain distance so that the electric clamp 1603 can pass through. The lower computer controls the electric slide 16 to drive the sliding block 1602 to move downward so that the electric clamp 1603 is just below the electric heater. The lower computer controls the second electric push rod 19 to extend a certain distance so that the two electric heaters are close to each other, thereby making the plastic film 5 The edge sealing forms the bottom of the plastic bag, and the middle section of the electric heating plate is immediately powered off and cooled. After a certain delay, the electric clamp 1603 pulls the plastic film 5 downward. While the plastic film 5 is downward, under the action of the electric heating plate, the side edges of the two plastic films 5 form edge sealing; after the electric clamp 1603 reaches the bottom, the electric heating plate is powered off and stops heating; the first electric push rod 15 retracts to separate the two electric heating plates by a certain distance, and the electric clamp 1603 returns to the gap between the guide plate 22 and the blade 21, and the automatic packaging module is ready.

[0069] 6.2 After receiving the packing instruction, the electromagnetic lock 102 is powered off, and the first movable bottom plate 101 and the second movable bottom plate 104 sink and open under their own gravity and the pressure of the goods, and the goods fall into the plastic bag. The human-computer interaction screen device reminds the consumer to check the shopping cart column. When all the goods fall into the packing bag, the consumer clicks the human-computer interaction screen to confirm the packing, and then the lower computer controls the electromagnetic lock 102 to power on, and the first movable bottom plate 101 and the second movable bottom plate 104 are sucked and closed; while the electromagnetic lock 102 is powered off, the lower computer controls the entire electric heating plate to power on and preheat. After the consumer clicks the human-computer interaction screen to confirm the packing, the electric clamp 1603 clamps the plastic film 5, the first electric push rod 15 extends until the two electric heating plates are close to each other, and the bag mouth is sealed, the second electric push rod 19 extends until the two blades 21 are close to each other to cut the plastic bag, and then immediately retract and separate, and the human-computer interaction screen reminds the customer to take the packing bag;

[0070] 6.3 The automatic packing module returns to the initial state. When the consumer starts to use the robot for navigation shopping, the above steps are repeated for automatic packing.

[0071] The above description is a detailed description of the preferred feasible embodiments of the present invention, but the embodiments are not intended to limit the scope of the patent application of the present invention. All equivalent changes or modified changes completed under the technical spirit suggested by the present invention should fall within the patent scope covered by the present invention.

Claims

1. A supermarket shopping guide robot based on ROS and artificial intelligence algorithms, characterized by: It includes a robot body and a robot control system installed on the robot body; The robot body comprises a shopping cart frame, a shopping basket and a packing chamber are arranged inside the shopping cart frame, and a moving mechanism is arranged below the shopping cart frame; The robot control system includes an upper computer with ROS, a lower computer with a central controller, a human-computer interaction module, a laser radar, an IMU module, a motion drive module, a wireless communication module, a code scanning and checkout module, an automatic packaging module and a power supply unit; the upper computer with the ROS control module and the lower computer with the central controller are connected through the wireless communication module; the laser radar, the human-computer interaction module, the IMU module, the motion drive module, the code scanning and checkout module, and the automatic packaging module are all electrically connected to the lower computer with the central controller; The upper computer with ROS is provided with a positioning and obstacle avoidance module, which includes a map creation module, a robot positioning module, a commodity positioning module and a path planning module; the map creation module is used to create a local electronic map of the environment and a global electronic map; the robot positioning module is used to locate the current position of the robot; the commodity positioning module is used to store or obtain the location information of the commodity; the path planning module is used to automatically plan the optimal path of the robot according to the current position of the robot, the location information of the commodity and the electronic map; the upper computer with ROS is also used to receive information sent by the lower computer with the central controller, and send the robot motion control instructions to the lower computer with the central controller through the wireless communication module according to the optimal path; The laser radar is used to collect data and send it to a lower computer with a central controller; The IMU module is used to collect the robot's three-axis attitude angle and acceleration data through a fusion algorithm and send it to the lower computer with a central controller; The role of the lower computer with the central controller includes receiving the data collected by the IMU module, using the Kalman filter algorithm, and combining the encoder of the reduction motor to complete the calculation of the robot's posture and speed; communicating with the upper computer, mainly including collecting encoder feedback information at a certain frequency, sending it to the upper computer after calculating the posture and speed, and receiving the motion control instructions of the upper computer; The human-computer interaction module includes a touch screen, a speaker and a voice input module, and the touch screen, the speaker and the voice input module are all connected to the lower computer circuit with the central controller; The motion drive module includes a drive motor and a reduction motor, wherein the drive motor is connected to a lower computer circuit with a central controller, and the reduction motor is connected to the mobile mechanism, and is used to drive the mobile mechanism to work according to the motion control instruction issued by the lower computer; The code scanning checkout module is used to scan, price and settle the goods, and feed back the settlement information to the lower computer with the central controller; The automatic packing module is arranged in the shopping cart frame and is used for automatic packing after the settlement is completed; The shopping cart frame is a three-dimensional structure with a closed bottom and an open top and fences on all sides. The interior of the shopping cart frame is divided into a shopping basket located at the top and a packing room located at the bottom 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 to the inner side wall of the shopping cart frame. The first movable bottom plate and the second movable bottom plate are both hinged to the inner side wall of the shopping cart frame to form a double-door structure. Electromagnetic locks are provided between the first movable bottom plate, the second movable bottom plate and the inner side wall of the shopping cart frame. The automatic packing module is arranged in the packing room, and the automatic packing module includes A first rotating shaft, a plastic film, a first rotating drum, a conveying plate and an electric heating plate; first rotating shafts parallel to each other are arranged on both sides of the bottom of the packaging chamber, and plastic films are wound on the two first rotating shafts; one end of two first connecting rods are respectively connected to the downward plate surface of the first movable bottom plate and the second movable bottom plate, and the other ends of the two first connecting rods are connected to the same second rotating shaft, and the second rotating shaft is rotatably connected to the first connecting rod, and a first rotating drum is fixedly arranged outside 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 ends of the first movable bottom plate and the second movable bottom plate away from each other, and the first mounting bracket is rotatably mounted on the mounting block, and a third rotating shaft is rotatably mounted between the two first mounting brackets, and a second mounting bracket is rotatably mounted on one end of the first mounting bracket away from the mounting plate, and 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 and in contact with each other; the bottom surfaces of the first movable bottom plate and the second movable bottom plate are connected to the conveying plate through four connecting columns, and the conveying plate and the first rotating drum are in contact with each other, and the top tangent of the conveying plate and the third rotating shaft are located on the same horizontal plane; the conveying plate The interior is a cavity structure, and the two ends of the two conveying plates close to each other are open. The first electric push rods are fixed in the internal cavities of the two conveying plates, and the movable end of the first electric push rod is fixedly connected to the sliding seat, and the sliding seat is slidably connected to the opening of the conveying plate; the interior of the sliding seat is a cavity, and the second electric push rod is fixedly arranged in the cavity of the sliding seat, and the movable end of the second electric push rod extends out of the sliding seat and is fixedly connected to the blade, and the blade is arranged horizontally, and the blades of the two blades are facing each other; 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; The end of the sliding seat away from the conveying plate where it is located is connected to one end of the guide plate and one end of the heating plate, the guide plate and the heating plate are parallel to the blade respectively, the guide plate is located above the blade, and the heating plate is located below the blade, the other end of the guide plate is chamfered with an arc, and the other end of the heating plate is provided with an electric heating plate; the side wall of the packaging chamber is also provided with an electric slide, a slider is provided on the electric slide, and an electric clamp is provided on the slider, the sliding direction of the slider is vertical, and the height of the electric clamp is less than the gap between the guide plate and the blade; the electric heating plate is divided into three sections and is powered by a power supply unit respectively, the total length of the electric heating plate is equal to the width of the plastic film, and the length of the two sections of the electric heating plate located at the two ends is 1-3cm; the ends of the plastic film on the two first rotating shafts pass upward through the gap between the second rotating shaft and the third rotating shaft, and then pass through between the two guide plates, between the two blades, and between the two electric heating plates.

2. The supermarket shopping guide robot based on ROS and artificial intelligence algorithm according to claim 1, characterized in that: The map creation module uses the open source function package in ROS to simultaneously perform robot posture estimation and environment modeling during the robot's movement, and uses the SLAM algorithm to create local and global electronic maps in the supermarket; the robot positioning module combines differential GPS to complete positioning, tracking and traversal functions, and uses the Monte Carlo positioning algorithm for position correction; the path planning module uses the A* algorithm and the DWA algorithm to achieve path planning.

3. The supermarket shopping guide robot based on ROS and artificial intelligence algorithm according to claim 1, characterized in that: The lower computer with the central controller is also connected to the supermarket's cloud server through a wireless communication module to obtain the location of the goods and update the inventory of the goods in real time.

4. The supermarket shopping guide robot based on ROS and artificial intelligence algorithm according to claim 1, characterized in that: The upward surfaces of the first movable bottom plate and the second movable bottom plate are both provided with handles.

5. The supermarket shopping guide robot based on ROS and artificial intelligence algorithm according to claim 1, characterized in that: Bases parallel to each other are arranged on both sides of the bottom of the packaging chamber, and the first rotating shaft is rotatably mounted on the bases.

6. The supermarket shopping guide robot based on ROS and artificial intelligence algorithm according to claim 1, characterized in that: The electromagnetic lock, the first electric push rod, the second electric push rod, the electric slide, the electric clamp, and the electric heater are all connected to the lower computer circuit with the central controller.

7. The supermarket shopping guide robot based on ROS and artificial intelligence algorithm according to claim 1, characterized in that: The power supply unit is arranged in the equipment room below the packing room.

8. The supermarket shopping guide robot based on ROS and artificial intelligence algorithm according to claim 1, characterized in that: The moving mechanism is composed of four wheels, two diagonally opposite wheels are driven by a driving motor, and the other two diagonally opposite wheels are driven wheels.

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