Intelligent shopping trolley based on vision and laser radar and control method

Abstract

The invention relates to an intelligent shopping trolley based on vision and laser radar and a control method, the intelligent shopping trolley comprises a shopping trolley body, a control module, a detection module, a navigation module and a motion module, the detection module, the navigation module and the motion module are in communication connection with the control module, and a power supply module provides a working power supply for the intelligent shopping trolley; and the detection module comprises a depth camera and a monocular camera, the navigation module comprises a laser radar sensor, a gyroscope and an accelerometer, and the motion module comprises two driving wheels and a universal wheel. Compared with the prior art, the method has the advantages that the CNN is adopted for pedestrian detection, the feature data of the shopper are extracted through semantic segmentation, automatic following is realized in combination with the feature data of the shopper, the precision is higher, and the robustness is good; and the global grid map is constructed based on the depth camera and the laser radar sensor, the requirements of the intelligent shopping trolley for light weight and precision can be met, and a basis is provided for automatic following and autonomous navigation.

Description

technical field [0001] The invention relates to the field of smart cars, in particular to a vision-based and laser radar-based smart shopping car and a control method. Background technique [0002] With the improvement of people's material living standards and the quickening pace of life, shopping in supermarkets has become more and more common. Most of the existing supermarket shopping carts are hand-push. Customers need to spend energy to push the shopping cart. Moreover, after shopping, they need to manually return the shopping cart to the designated location, which reduces the user experience. In order to solve the above problems, smart shopping carts emerged as the times require. Smart shopping carts are mainly used in public places such as large supermarkets, shopping malls and shopping centers, which can greatly improve people's shopping experience and have a huge market prospect. [0003] The Chinese invention patent with the patent number CN201811365223.2 discloses...

AI Technical Summary

Problems solved by technology

[0003] The Chinese invention patent with the patent number CN201811365223.2 discloses a smart shopping cart shopping guide system. The shopper realizes the positioning of the desired product through the data interaction between the application terminal, the cloud data processing system and the smart shopping cart. Navigation and settlement reduce the shopping burden of shoppers and reduce the difficulty of management of shopping places. However, using RFID as an anti-theft tag is expensive, not easy to install, and cannot be widely used in the market, and the shopping cart does not have Ability to move freely in a mall environment

[0004] The Chinese invention patent with the patent number CN201810742833.3 discloses a smart shopping cart, a smart shopping cart management system and its use method, which can automatically follow the user, and can complete interactive functions according to the user's gesture information, especially for the user. It is a great convenience for some elderly and infirm shopping, but it is not disclosed that if the movement is based on the target tracking feature information and gesture feature information, the robustness in complex environments is poor

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