Intelligent accompanying shopping cart for old people

Abstract

The invention provides an intelligent accompanying shopping cart for old people, and relates to the technical field of artificial intelligence robots. The system specifically comprises a shopping cart for old people, and a high-definition camera, an upper computer, a lower computer, a power supply and a motor which are arranged on the shopping cart. The intelligent shopping cart comprehensively adopts a computer vision technology, a Bluetooth positioning technology and an artificial intelligence algorithm, not only has the functions of loading, bearing and transporting of a traditional shopping cart, but also can automatically accompany old people to walk and automatically avoid obstacles, does not need to be pushed and pulled by the old people, has a guiding function, can guide the old people home without getting lost, and is convenient to use. The multifunctional shopping cart has the advantages that the multifunctional shopping cart is simple in structure and convenient to use, has the safety anti-theft function, prevents the shopping cart or articles in the cart from being stolen, further has the auxiliary functions of being chargeable, foldable, capable of being switched to be pushed and pulled manually, capable of serving as a rest seat and the like, provides convenient, safe and comfortable going-out and shopping experience for old people, is an innovative product for scientific old people aiding, and has high practical value and social significance.

Description

Technical Field

[0001] The present invention relates to the technical field of artificial intelligence robots, and in particular to an intelligent shopping cart for elderly people. Background Art

[0002] Population aging is an important challenge facing human society in the 21st century. In the early 21st century, my country has entered a society with an aging population. By 2023, the degree of aging of my country's population will continue to deepen.

[0003] Grocery shopping is a common thing. Due to the decline in physical function, most elderly people currently prefer shopping carts when they go shopping. Common shopping carts for the elderly mainly include pull-rod shopping carts with canvas shopping bags and forward-pushing box-shaped shopping carts. Both shopping carts can solve the problem of carrying heavy objects to varying degrees, but the existing shopping carts on the market only consider general needs such as load-bearing, easy to carry, and folding. They are not specifically targeted at the elderly group with declining physical fitness and intelligence, and cannot fully meet the needs of the elderly. Existing shopping carts require the elderly to push or pull, but the elderly are not strong enough and often cannot control them. Shopping carts cannot hold too heavy items. In order to control the shopping cart, the elderly need to hold the handlebars tightly and cannot free their hands to handle other things, which is not conducive to the use of the elderly. At the same time, getting lost is a serious problem for the elderly, which may lead to dangerous situations such as disappearance and injury. In addition, traditional shopping carts or items in the cart are easily stolen, resulting in property losses. In order to solve these problems, it is urgent to improve the existing shopping carts intelligently. With the increasing aging of the population, the design of intelligent companion shopping carts will bring good news to the elderly. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an intelligent shopping cart for the elderly in view of the deficiencies of the above-mentioned prior art, which has an intelligent accompanying function, a guide function, a safety and anti-theft function and ancillary supporting functions.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: an intelligent shopping cart for the elderly, including a shopping cart for the elderly and a high-definition camera, a host computer, a slave computer, a power supply and a motor installed on the shopping cart;

[0006] The shopping cart for the elderly is a box-type intelligent shopping cart with wheels that can be pushed and pulled; a number of high-definition cameras are arranged on the body of the shopping cart, which are connected to a host computer for identifying surrounding obstacles; the host computer, the lower computer, the power supply, and the motor are arranged on the body, and a power switch is arranged on the handle at the top of the pull rod; the upper computer is connected to the mobile phone of the shopping cart user via Bluetooth, and the lower computer is connected to the upper computer and the motor, and the position information is obtained from the upper computer to judge the movement of the shopping cart; the motor is located at the bottom of the body, connected to the lower computer and the wheels of the shopping cart, and the motor is controlled to start and stop by the lower computer, thereby controlling the movement and stop of the wheels; the power supply is connected to other structures to supply power to other structures.

[0007] Furthermore, the body of the box-type shopping cart is provided with a lid that can be flipped open, the lid is opened and closed manually, and the lid stands on the side after opening; a high-definition camera is arranged on the lid to collect the facial features of the user when opening the lid, and the facial recognition technology is used to authenticate the identity of the user.

[0008] Furthermore, the upper computer stores a computer program to control the lower computer so that the shopping cart can complete the functions of intelligent accompanying, guided walking and safety and anti-theft; a function switching key is also provided on the handle at the top of the pull rod for switching between three functions, namely, intelligent accompanying function, guided walking function and handheld function.

[0009] The intelligent accompanying function includes three modes: leading the way from the front, walking side by side, and following behind. The walking side by side mode is divided into walking side by side on the left and walking side by side on the right according to the position. The difference between the three modes lies in the different distances and angles.

[0010] In the front guidance mode, the distance refers to the distance between the shopping cart user and the shopping cart, which is set to 1m. The angle refers to the angle between the position relationship between the shopping cart user and the shopping cart projected onto the OXY rectangular coordinate system and the OX axis, where the shopping cart user is the zero point O, and the forward direction of the shopping cart user is the positive half axis of the Y axis. The absolute value of the angle ranges from 60 degrees to 120 degrees, and a counterclockwise rotation is a positive value, and a clockwise rotation is a negative value;

[0011] In the side-by-side walking mode, the distance refers to the distance between the shopping cart user and the shopping cart, which is set to 0.3m. The angle refers to the angle between the position relationship between the shopping cart user and the shopping cart projected onto the OXY rectangular coordinate system and the OX axis. When the shopping cart is walking side by side on the right side of the shopping cart user, the angle is 180 degrees with an error of ±10 degrees. When the shopping cart is walking side by side on the left side of the shopping cart user, the angle is 0 degrees with an error of ±10 degrees.

[0012] In the follow-behind mode, the distance refers to the distance between the shopping cart user and the shopping cart, which is set to 1m. The angle refers to the angle between the position relationship between the elderly and the smart shopping cart projected onto the OXY rectangular coordinate system and the OX axis, which ranges from -30 degrees to -150 degrees.

[0013] The guide function is: the shopping cart drives in front of its user, leading the shopping cart user to the destination along the best path. The specific implementation method is: when the shopping cart user needs to be guided, press the function switch key to switch to the guide function; and open the mobile phone navigation software, enter the destination, and the mobile phone navigation automatically plans the best path, and sends the planned path information to the upper computer through the mobile phone Bluetooth; the upper computer controls the lower computer and the wheels, adopts the front guidance mode, and moves forward all the way, and the shopping cart user only needs to follow behind to smoothly reach the destination along the planned path;

[0014] The security and anti-theft function is used in the process of intelligent accompanying shopping cart. When the distance between the shopping cart user and the shopping cart exceeds a first set value, the upper computer identifies the shopping cart through Bluetooth positioning technology and issues a command to make the passive buzzer built into the lower computer issue a sound alarm to prompt the shopping cart user; the Bluetooth positioning technology is based on the mobile phone carried by the shopping cart user; it is also used in the process of intelligent accompanying shopping cart. When the distance between the shopping cart user and the shopping cart exceeds a safety range set value, the shopping cart upper computer identifies the shopping cart through Bluetooth positioning technology, issues a command, and uses the voice module built into the lower computer to alarm, and the voice module is equipped with a small speaker; wherein the first set value is less than the safety range set value; it is also used to realize that when the shopping cart is forcibly opened by others, the shopping cart upper computer issues a command through facial recognition and uses the voice module built into the lower computer to alarm.

[0015] Furthermore, the specific implementation methods of the three modes of intelligent companionship are: using the Bluetooth function of the shopping cart user's mobile phone to connect to the upper computer, the upper computer uses Bluetooth RSSI positioning technology to locate the shopping cart user's position, including distance and angle; according to the pictures taken by the high-definition camera, the upper computer uses an artificial intelligence algorithm based on YOLOv5, and performs target detection through YOLOv5 calling, training and prediction, identifies surrounding obstacles, and locates the obstacle position; the upper computer uses the ROS2 robot operating system to summarize the location information of the shopping cart user and obstacles, and uses the serial peripheral interface to pass the location information to the lower computer; after obtaining the information, the lower computer performs motion judgment to realize the function of intelligent companionship.

[0016] Furthermore, in the following mode, when the shopping cart tracks its user, if the lower computer determines that the shopping cart user is located directly in front of the shopping cart, the shopping cart keeps going straight in the current direction, otherwise, the shopping cart turns left or right to closely follow its user; on the basis of controlling the direction, the PID control algorithm is used to adjust the moving speed of the shopping cart according to the distance information, so that it always maintains a fixed distance and angle with the user; when the shopping cart recognizes an obstacle in front, if the distance between the shopping cart and the obstacle is greater than 0.5m, the shopping cart turns left or right to automatically avoid the obstacle, otherwise, the shopping cart takes braking measures, specifically, the lower computer turns off the PWM output to the motor, so that the motor stops rotating quickly and then brakes; finally, the tracking user and automatic obstacle avoidance information are summarized, and the PWM control technology is used. The lower computer calculates the PWM value and issues instructions to the motor, thereby controlling the running state of the shopping cart.

[0017] Furthermore, the specific implementation method of the security and anti-theft function is as follows:

[0018] Before using the shopping cart for the first time, the user's facial image information is collected through a high-definition camera to obtain a facial feature template and store it in the host computer;

[0019] When the shopping cart is started and before the lid is opened, the current user's face is recognized through a high-definition camera; if the detected facial image features are inconsistent with the facial feature template in the system, it is determined that the identity authentication fails, and the shopping cart motor and lid are locked, and the built-in voice module of the lower computer is started to alarm.

[0020] Furthermore, the power source adopts a lithium battery; each time the shopping cart is turned on, the host computer automatically calculates the remaining mileage according to the distance traveled after this charging and the remaining power, and reminds the user in a voice form to charge in time.

[0021] Furthermore, when the shopping cart user needs to go up an escalator or stairs or the shopping cart runs out of power, the function switch key is pressed to switch to the handheld function, and the lower computer controls the motor to stop working, and the shopping cart user pulls the shopping cart forward by hand instead.

[0022] Furthermore, the body is made of galvanized steel brackets and polymer engineering plastics; the cover of the body adopts a reinforced rib or rotationally molded one-piece structure, and can be used as a rest seat after being covered.

[0023] Furthermore, the body of the box-type shopping cart is foldable and the pull rod is retractable.

[0024] The beneficial effects of adopting the above technical solution are: the smart shopping cart for the elderly provided by the present invention improves the existing shopping cart (pull rod type or push type) into a smart shopping cart for the elderly, which can automatically accompany the elderly to walk and automatically avoid obstacles without the need for the elderly to push or pull. At the same time, it has a guide function to lead the lost elderly home, and has a safety and anti-theft function to prevent the theft of the shopping cart or the items in the car. It also has auxiliary functions such as rechargeable, handheld, restable, foldable, etc., which provides a convenient, safe and comfortable shopping experience for the elderly, and is very suitable for the elderly. The present invention is an innovative product that helps the elderly with science and technology, and has high practical value and social significance. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A three-dimensional diagram of an intelligent shopping cart for the elderly provided by an embodiment of the present invention;

[0026] Figure 2 A three-dimensional diagram of the folded smart shopping cart for the elderly provided by an embodiment of the present invention;

[0027] Figure 3 A front view of an intelligent shopping cart for the elderly provided by an embodiment of the present invention;

[0028] Figure 4 A side view of a smart shopping cart for the elderly provided by an embodiment of the present invention;

[0029] Figure 5 A top view of a smart shopping cart for the elderly provided in an embodiment of the present invention;

[0030] Figure 6 A flow chart of the follow-behind function of the smart shopping cart for the elderly provided in an embodiment of the present invention.

[0031] In the picture: 1. High-definition camera; 2. Upper computer; 3. Lower computer; 4. Power supply and motor; 5. Cover; 6. Power switch; 7. Function switch key. DETAILED DESCRIPTION

[0032] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0033] like Figure 1 As shown, the smart shopping cart for the elderly in this embodiment includes a shopping cart for the elderly and a high-definition camera 1, a host computer 2, a slave computer 3, a power supply and a motor 4 installed on the shopping cart. The body of the shopping cart in this embodiment is foldable and the pull rod is retractable, which is convenient for carrying and storage. Figure 2 shown.

[0034] The shopping cart for the elderly is a box-type shopping cart with wheels that can be pushed and pulled. A high-definition camera 1 is installed at a total of 5 different positions on the shopping cart body (one camera is installed on the front / rear / left / right side of the body and the lid, and the specific installation positions of the cameras are as follows: Figure 1-Figure 5 The high-definition camera 1 is connected to the upper computer 2 to identify surrounding obstacles. The upper computer 2, the lower computer 3, the power supply and the motor 4 are arranged on the vehicle body, and the power switch key 6 and the function switch key 7 are arranged on the handle at the top of the pull rod. Figure 3 , Figure 4 and Figure 5 As shown. The upper computer 2 is connected to the mobile phone of the shopping cart user via Bluetooth, and the lower computer 3 is connected to the upper computer 2 and the motor, and obtains the position information from the upper computer 2 to judge the movement of the shopping cart. The motor is located at the bottom of the car body, connected to the lower computer 3 and the shopping cart wheel, and the motor is controlled by the lower computer 3 to start and stop, thereby controlling the movement and stop of the wheel. The power supply is connected to the high-definition camera 1, the upper computer 2, the lower computer 3 and the motor to supply power to these structures. The body of the box-type shopping cart is provided with a lid 5 that can be flipped open.

[0035] The host computer stores a computer program that enables the shopping cart to complete the functions of intelligent accompanying, guiding and anti-theft. The intelligent accompanying function uses computer vision technology, Bluetooth positioning technology and artificial intelligence algorithm. It can adopt three modes: leading the way in front, walking side by side, and following behind. The side by side walking mode is divided into left side walking and right side by side walking according to the position. The difference between the three modes lies in the distance and angle.

[0036] In the front guidance mode, the distance between the elderly person using the shopping cart and the smart accompanying shopping cart is 1m; the angle is the angle between the position relationship between the elderly person and the smart accompanying shopping cart projected into the OXY rectangular coordinate system and the OX axis (the elderly person is the zero point O, and the forward direction of the elderly person is the positive half axis of the Y axis). The absolute value range of the angle is between 60 degrees and 120 degrees, where counterclockwise rotation is a positive value and clockwise rotation is a negative value.

[0037] In the side by side walking mode, the distance between the elderly person using the shopping cart and the smart accompanying shopping cart is 0.3m; the angle is the angle between the position relationship between the elderly person and the smart accompanying shopping cart and the OX axis in the OXY rectangular coordinate system. When the smart accompanying shopping cart walks side by side on the right side of the elderly person, the angle is 180 degrees, with an error of ±10 degrees; when the smart accompanying shopping cart walks side by side on the left side of the elderly person, the angle is 0 degrees, with an error of ±10 degrees.

[0038] In the following mode, the distance refers to the distance between the elderly person using the shopping cart and the smart accompanying shopping cart, which is 1m; the angle refers to the angle between the position relationship between the elderly person and the smart accompanying shopping cart projected into the OXY rectangular coordinate system and the OX axis, and the angle ranges from -30 degrees to -150 degrees.

[0039] The working principles of the three modes of leading the way in front, walking side by side, and following behind are similar. Take the following behind mode as an example. Figure 6 As shown, the specific implementation method is as follows:

[0040] Step 1: Using the Bluetooth function on the mobile phone carried by the elderly, the host computer 2 uses Bluetooth RSSI positioning technology to locate the elderly's position (distance and angle).

[0041] Step 2: Based on the image captured by the high-definition camera 1, the host computer 2 uses the artificial intelligence algorithm based on YOLOv5 to identify the surrounding obstacles and locate the obstacle position (distance and angle).

[0042] Step 3: Host computer 2 uses the ROS2 robot operating system to summarize the location information of the elderly and obstacles.

[0043] Step 4: The host computer 2 uses SPI (serial peripheral interface) to transmit the information of the host computer to the slave computer 3.

[0044] Step 5: After obtaining the information, the lower computer 3 performs motion judgment to realize the functions of tracking the elderly and automatically avoiding obstacles.

[0045] When tracking the elderly, if the elderly is in front, keep going straight in the current direction; otherwise, turn left or right to keep up with the elderly. On the basis of controlling the direction, according to the distance information, the PID control algorithm is used to adjust the moving speed of the intelligent accompanying shopping cart so that it always maintains a fixed distance and angle with the elderly. When an obstacle is identified in front, if the distance between the shopping cart and the obstacle is greater than 0.5m, turn left or right to automatically avoid the obstacle, otherwise, the shopping cart takes braking measures. Finally, the information of tracking the elderly and automatic obstacle avoidance is summarized, and the PWM control technology is used to calculate the PWM value, and a command is issued to the motor 4 under the vehicle to control the intelligent accompanying shopping cart.

[0046] The smart shopping cart moves automatically and accompanies the elderly as they walk, eliminating the need for them to push or pull. This greatly frees up their hands and makes shopping easier. At the same time, the smart shopping cart can automatically avoid obstacles, achieving a smooth and stable accompanying function.

[0047] In the guide function, the shopping cart can act as a guide, driving in front of the elderly and leading them to the destination smoothly along the best path. The specific implementation method is as follows:

[0048] When the elderly need someone to lead the way, they can turn on the guide function of the smart shopping cart; open the mobile navigation software, enter the destination, and the mobile navigation will automatically plan the best route, and then send the planned route information to the smart shopping cart via the mobile phone Bluetooth; the upper computer controls the lower computer and wheels, adopts the front guidance mode, and moves forward all the way, and the elderly follow behind, so that the elderly can reach the destination smoothly along the best route.

[0049] In the security and anti-theft function, when the smart shopping cart is accompanying the elderly, once the distance between the smart shopping cart and the elderly increases (such as reaching 2m), the smart shopping cart will emit a buzzer to warn. When the smart shopping cart and the elderly are out of the safe range (such as 3m), the smart shopping cart will issue a voice call "Master, save me". When there is a forced opening of the cover, a voice alarm can be used to prevent the smart shopping cart from being lost or the items in the car from being lost. The specific implementation method is as follows:

[0050] Before the first use, the facial image information of the elderly is recorded through a high-definition camera. When the smart shopping cart is started and before the lid is opened, the current user's face is recognized; if the detected facial image features are inconsistent with the facial feature template in the system, it is judged as identity authentication failure, and the shopping cart motor and lid are locked, and the voice module is activated to alarm.

[0051] The shopping cart of this embodiment also has some auxiliary supporting functions, which saves users effort and worry. First, the power supply of the smart companion shopping cart adopts lithium batteries, which can be recharged and used repeatedly. Each time it is turned on, the system automatically calculates the remaining mileage based on the distance traveled after this charge and the remaining power, and reminds the elderly to charge in time in the form of voice. Secondly, when the elderly need to go up escalators, stairs or the smart companion shopping cart is out of power, it can be switched to the handheld function and changed to a hand-pulled cart. Thirdly, the lid 5 of the shopping cart can be used as a rest seat after it is closed. When the elderly are tired of walking, they can cover the lid and sit down to rest at any time. In addition, the body material adopts steel galvanized brackets and polymer engineering plastics, which brings a sense of lightness while ensuring rigidity.

[0052] The following describes in detail the use of the smart shopping cart for the elderly in this embodiment through several scenarios.

[0053] Scene 1: Shopping in a supermarket.

[0054] Arriving at the supermarket entrance, the elderly turns on the power switch of the smart shopping cart 6 and verifies his identity through facial recognition, and the smart shopping cart is ready to work. Then the elderly starts shopping, and the smart shopping cart follows closely. As the elderly walks, the smart shopping cart follows all the way, or goes straight, turns or stops. At the same time, according to the changes in the elderly's walking speed, the smart shopping cart accelerates or decelerates to ensure that the distance with the elderly is about 1m, and the angle range is between -30 degrees and -150 degrees. The elderly walks and stops, and puts the selected goods into the smart shopping cart. When the elderly arrives at the checkout, he takes out the items in the smart shopping cart, scans the code to pay, and completes the supermarket shopping process.

[0055] Scene 2: On the way home after shopping.

[0056] The old man was about to go home, and behind him there was a smart shopping cart full of items, following closely. As the old man walked, the smart shopping cart followed him all the way, either going straight, turning, or stopping. At the same time, according to the changes in the old man's walking speed, it accelerated or decelerated to ensure that the distance with the old man was about 1m, and the angle range was between -30 degrees and -150 degrees. At this time, a thief noticed the goods in the smart shopping cart and wanted to take them for himself, but just as he approached the smart shopping cart and was about to open the lid, the smart shopping cart immediately issued an alarm "Please stay away, please stay away", and the thief quickly slipped away. Later, the old man was tired of walking, so he stopped and sat on the lid of the smart shopping cart to rest for a while. After resting, the old man continued to walk home, and the smart shopping cart continued to follow the old man, and they went home smoothly together.

[0057] Scenario 3: Lost.

[0058] One morning, the second old man went out for a walk in a nearby park as usual. On the way, he somehow ended up in an unfamiliar neighborhood. He looked around and found that there was no one around. He didn't know where to go. He turned on the guide function of the smart shopping cart, then opened the navigation software on his mobile phone, entered the destination "home", and after planning the route, the mobile phone sent the command to the smart shopping cart via Bluetooth; the smart shopping cart moved forward all the way, and the second old man followed behind, and finally the lost second old man returned home smoothly.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope defined by the claims of the present invention.

Claims

1. An intelligent shopping cart for the elderly, characterized by: It comprises a shopping cart for the elderly, a high-definition camera (1) installed on the shopping cart, a host computer (2), a slave computer (3), a power supply and a motor (4); The shopping cart for the elderly is a box-type intelligent shopping cart with wheels that can be pushed or pulled; a plurality of high-definition cameras (1) are arranged on the body of the shopping cart, connected to a host computer (2) for identifying obstacles in the surroundings; the host computer (2), the lower computer (3), a power supply, and a motor are arranged on the body, and a power switch (6) is arranged on the handle at the top of the pull rod; the host computer (2) is connected to the mobile phone of the shopping cart user via Bluetooth, and the lower computer (3) is connected to the host computer (2) and the motor, and position information is obtained from the host computer (2) to judge the movement of the shopping cart; the motor is located at the bottom of the body, connected to the lower computer (3) and the wheels of the shopping cart, and the motor is controlled to start and stop by the lower computer (3), thereby controlling the movement and stop of the wheels; the power supply is connected to other structures to supply power to other structures; The upper computer (2) stores a computer program to control the lower computer (3) so that the shopping cart can complete the functions of intelligent accompanying, guide leading and safety and anti-theft; the handle at the top of the pull rod is also provided with a function switching key (7) for switching three functions, namely, intelligent accompanying function, guide leading function and hand-held function.

2. The smart shopping cart for the elderly according to claim 1 is characterized by: The body of the box-type shopping cart is provided with a lid (5) that can be flipped open. The lid (5) is opened and closed manually. After opening, the lid (5) stands on the side. A high-definition camera (1) is provided on the lid (5) for collecting facial features of the user when opening the lid (5) and performing identity verification of the user using facial recognition technology.

3. The smart shopping cart for the elderly according to claim 2 is characterized by: The intelligent accompanying function includes three modes: leading the way from the front, walking side by side, and following behind. The walking side by side mode is divided into walking side by side on the left and walking side by side on the right according to the position. The difference between the three modes lies in the different distances and angles. In the front guidance mode, the distance refers to the distance between the shopping cart user and the shopping cart, which is set to 1m. The angle refers to the angle between the position relationship between the shopping cart user and the shopping cart projected onto the OXY rectangular coordinate system and the OX axis, where the shopping cart user is the zero point O, and the forward direction of the shopping cart user is the positive half axis of the Y axis. The absolute value of the angle ranges from 60 degrees to 120 degrees, and a counterclockwise rotation is a positive value, and a clockwise rotation is a negative value; In the side-by-side walking mode, the distance refers to the distance between the shopping cart user and the shopping cart, which is set to 0.3m. The angle refers to the angle between the position relationship between the shopping cart user and the shopping cart projected onto the OXY rectangular coordinate system and the OX axis. When the shopping cart is walking side by side on the right side of the shopping cart user, the angle is 180 degrees with an error of ±10 degrees. When the shopping cart is walking side by side on the left side of the shopping cart user, the angle is 0 degrees with an error of ±10 degrees. In the follow-behind mode, the distance refers to the distance between the shopping cart user and the shopping cart, which is set to 1m. The angle refers to the angle between the position relationship between the elderly and the smart shopping cart projected onto the OXY rectangular coordinate system and the OX axis, which ranges from -30 degrees to -150 degrees. The guide function is as follows: the shopping cart moves in front of its user and guides the shopping cart user to the destination along the best path. The specific implementation method is as follows: when the shopping cart user needs to be guided, the function switch key (7) is pressed to switch to the guide function; the mobile phone navigation software is opened and the destination is input. After the mobile phone navigation automatically plans the best path, the planned path information is sent to the upper computer (2) via the mobile phone Bluetooth; the upper computer (2) controls the lower computer (3) and the wheels, adopts the front guidance mode, and moves forward all the way, and the shopping cart user only needs to follow behind to smoothly reach the destination along the planned path; The security and anti-theft function is used in the process of intelligent accompanying shopping cart. When the distance between the shopping cart user and the shopping cart exceeds a first set value, the upper computer (2) identifies the shopping cart through the Bluetooth positioning technology and issues a command to make the passive buzzer built into the lower computer (3) sound an alarm to remind the shopping cart user. The Bluetooth positioning technology is based on the mobile phone carried by the shopping cart user. It is also used in the process of intelligent accompanying shopping cart. When the distance between the shopping cart user and the shopping cart exceeds a safety range set value, the shopping cart upper computer (2) identifies the shopping cart through the Bluetooth positioning technology and issues a command to use the voice module built into the lower computer (3) to alarm. The voice module is equipped with a small speaker. The first set value is less than the safety range set value. It is also used to realize that when the shopping cart is forcibly opened by others, the shopping cart upper computer (2) issues a command through facial recognition to use the voice module built into the lower computer (3) to alarm.

4. The smart shopping cart for the elderly according to claim 3 is characterized by: The specific implementation methods of the three modes of intelligent accompanying are as follows: using the Bluetooth function of the mobile phone of the shopping cart user to connect to the upper computer (2), the upper computer (2) uses the Bluetooth RSSI positioning technology to locate the position of the shopping cart user, including the distance and angle; according to the picture taken by the high-definition camera (1), the upper computer (2) uses the artificial intelligence algorithm based on YOLOv5 to perform target detection through the call, training and prediction of YOLOv5, identify the surrounding obstacles, and locate the position of the obstacles; the upper computer (2) uses the ROS2 robot operating system to summarize the location information of the shopping cart user and the obstacles, and uses the serial peripheral interface to transmit the location information to the lower computer (3); after obtaining the information, the lower computer (3) performs motion judgment to realize the function of intelligent accompanying.

5. The smart shopping cart for the elderly according to claim 3 is characterized by: In the following mode, when the shopping cart tracks its user, if the lower computer (3) determines that the shopping cart user is located directly in front of the shopping cart, the shopping cart keeps going straight in the current direction; otherwise, the shopping cart turns left or right to closely follow its user; On the basis of controlling the direction, the PID control algorithm is used to adjust the moving speed of the shopping cart according to the distance information, so that the shopping cart always maintains a fixed distance and angle with the user; when the shopping cart recognizes an obstacle in front, if the distance between the shopping cart and the obstacle is greater than 0.5m, the shopping cart turns left or right to automatically avoid the obstacle, otherwise, the shopping cart takes braking measures, specifically, the lower computer (3) turns off the PWM output to the motor, so that the motor stops rotating quickly and then brakes; finally, the user tracking and automatic obstacle avoidance information are summarized and tracked, and the PWM control technology is used. The lower computer (3) calculates the PWM value and issues instructions to the motor, thereby controlling the running state of the shopping cart.

6. The smart shopping cart for the elderly according to claim 3 is characterized by: The specific implementation method of the security and anti-theft function is as follows: Before the shopping cart is used for the first time, the user's facial image information is collected through a high-definition camera (1), a facial feature template is obtained, and stored in a host computer (2); When the shopping cart is started and before the lid (5) is opened, the face of the current user is recognized through a high-definition camera (1); if the detected facial image features are inconsistent with the facial feature template in the system, it is determined that the identity verification fails, and the shopping cart motor and the lid (5) are locked at the same time, and the built-in voice module of the lower computer (3) is started to alarm.

7. The smart shopping cart for the elderly according to claim 1 is characterized by: The power source is a lithium battery; each time the shopping cart is turned on, the upper computer (2) automatically calculates the remaining mileage based on the distance traveled after this charge and the remaining power, and reminds the user to charge in time in the form of voice.

8. The smart shopping cart for the elderly according to claim 1 is characterized by: When the shopping cart user needs to go up an escalator or stairs, or the shopping cart runs out of power, the user presses the function switch key (7) to switch to the handheld function, and the lower computer (3) controls the motor to stop working, and the shopping cart user pulls the shopping cart forward by hand instead.

9. The smart shopping cart for the elderly according to claim 1 is characterized by: The vehicle body is made of galvanized steel brackets and polymer engineering plastics; the vehicle body cover (5) adopts a reinforcing rib or rotationally molded integral structure, and can be used as a rest seat after being covered.

10. The smart shopping cart for the elderly according to claim 1 is characterized by: The body of the box-type shopping cart is foldable and the pull rod is retractable.

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