CN106272478A - A kind of full-automatic shopping robot and using method - Google Patents

Abstract

The invention discloses a fully automatic shopping robot, which includes a main control robot platform and a shopping basket, the shopping basket is fixedly arranged directly above the main control robot platform, and a display screen, A depth camera, the depth camera is arranged on the side of the display screen, an infrared code scanner is arranged on the rear of the shopping basket on the main control robot platform, and the top of the main control robot platform is located on the The front part of the shopping basket is provided with a mechanical arm, the mechanical arm is provided with several manipulator joints, the manipulator joints are provided with mechanical claws, and a miniature camera is provided on the upper side of the mechanical claws, so that the main control robot platform can Take a picture of the front of the gripper, confirm the target and grab it. The invention realizes the robot's autonomous shopping goal, and solves the technical problems of the robot's autonomous obstacle avoidance, autonomous identification of targets, and autonomous positioning.

Description

A fully automatic shopping robot and its usage method

technical field

The invention relates to a fully automatic shopping robot and a use method thereof, which belong to the field of automation and electromechanical technology.

Background technique

With the continuous development of technology, especially the rapid development of robot technology, robots have been applied to more and more fields, from various dangerous fields to people's daily life, which greatly facilitates people's life.

With the development of the economy, people's consumption demand is getting higher and higher, but online shopping cannot meet the needs of most consumers, especially supermarkets are still the main place for people to shop. The application can facilitate people's shopping and save a lot of time, especially for the elderly and people with disabilities.

Contents of the invention

The purpose of the present invention is to overcome the defects in the prior art, solve the above-mentioned technical problems, propose a fully automatic shopping robot and its use method, realize the goal of the robot's autonomous shopping, and solve the problems of the robot's autonomous obstacle avoidance, autonomous identification of targets, and autonomous positioning. technical problem.

The present invention adopts the following technical scheme: a fully automatic shopping robot, which is characterized in that it includes a main control robot platform and a shopping basket, the shopping basket is fixedly arranged directly above the main control robot platform, and the main control robot platform The top of the screen is provided with a display screen and a depth camera, and the depth camera is arranged on the side of the display screen, and an infrared scanner is arranged on the rear of the shopping basket on the main control robot platform. The upper part of the robot platform is located at the front of the shopping basket and is provided with a mechanical arm. The mechanical arm is provided with several manipulator joints. The manipulator joints are provided with mechanical claws. , so that the main control robot platform can take pictures of the front image of the mechanical claw, and confirm the target to be grasped; The device, the depth camera, the display screen, and the robotic arm are respectively electrically connected to the main control robot platform; the main control robot platform is also provided with an infrared sensor, a collision sensor, a cliff sensor, and a visual sensor.

Preferably, the main control robot platform adopts TurtleBot2 robot platform.

Preferably, the display screen adopts a touch screen display screen, which is used to display supermarket items and allow users to select desired purchase items; the inclination angle between the display screen and the horizontal plane is 60 degrees, which is convenient for users to check the selection.

Preferably, the infrared code scanner and the shopping basket are hinged to facilitate the infrared code scanner to scan and confirm objects at different heights.

Preferably, the mechanical arm adopts 6 degrees of freedom, and the mechanical arm is arranged at the other end of the infrared code scanner to ensure that the depth camera and the infrared code scanner will not be affected when the mechanical claw grabs the target.

The present invention also proposes a method for using a fully automatic shopping robot, which is characterized in that it comprises the following steps:

Step S1: The user browses the supermarket items through the display screen, selects the shopping list, and proceeds to step S2;

Step S2: According to the user's selection, the main control robot platform models the item selected in step S1, and proceeds to step S3;

Step S3: Carry out path planning through K-MEANS clustering algorithm and genetic algorithm, and extract target image features based on the two image processing algorithms of Hough transform and Cam-shift tracking algorithm. After the planning is completed, start shopping according to the path, and then go to step S4 ;

Step S4: The main control robot platform uses the infrared sensors, collision sensors, cliff sensors, and visual sensors set on it to avoid obstacles autonomously during the course of the route, including static items and dynamic other consumers or other robots, until the target is located place, go to step S5;

Step S5: After arriving at the target item, first scan the code to confirm the target through the infrared scanner. If the judgment is yes, the robotic arm starts to grab the target item, and confirms the position of the target item through the miniature camera on the robotic arm, and implements the grab Get task, and proceed to step S6; If judged as not, then proceed to step S4 and carry out repositioning;

Step S6: Repeat steps S4 and S5 to obtain all target items in turn, complete the task and return to the starting point, and put all target items into the user's shopping basket.

The beneficial effects achieved by the present invention: (1) a fully automatic shopping robot of the present invention realizes the goal of autonomous shopping of the robot, and solves the technical problems of autonomous obstacle avoidance, autonomous identification of targets, and autonomous positioning of the robot; (2) the present invention The mechanical arm, the infrared code scanner, and the depth camera are arranged in a staggered space to prevent interference in the process of grabbing the target; (3) the inclination angle between the display screen of the present invention and the horizontal plane is 60 degrees, which is convenient for the user to view the selected target item; (4) The present invention judges the target item through the infrared code scanner, and the judgment is accurate and rapid.

Description of drawings

Fig. 1 is a structural schematic diagram of a fully automatic shopping robot of the present invention.

Fig. 2 is a flowchart of a method for using a fully automatic shopping robot of the present invention.

The meaning of the marks in the picture: 1-master robot platform, 2-display screen, 3-depth camera, 4-shopping basket, 5-infrared scanner, 6-miniature camera, 7-mechanical claw, 8-manipulator joint, 9 - Mechanical arm.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solution of the present invention more clearly, but not to limit the protection scope of the present invention.

Fig. 1 is a structural schematic diagram of a fully automatic shopping robot of the present invention. The present invention proposes a fully automatic shopping robot, comprising a main control robot platform 1 and a shopping basket 4, the shopping basket 4 is fixedly arranged directly above the main control robot platform 1, and the top of the main control robot platform 1 is provided with a display screen 2, a depth The camera 3 and the depth camera 3 are arranged on the side of the display screen 2, and the infrared scanner 5 is arranged on the main control robot platform 1 at the rear of the shopping basket 4, and the top of the main control robot platform 1 is located at the front of the shopping basket 4 A mechanical arm 9 is provided, and several manipulator joints 8 are arranged on the manipulator 9. A mechanical claw 7 is arranged on the mechanical hand joint 8, and a miniature camera 6 is arranged on the outer side of the mechanical claw 7, so that the main control robot platform 1 can photograph the mechanical The front image of the claw 7, confirm the target to grab; the micro camera 6 is electrically connected to the manipulator joint 8, the manipulator joint 8 is electrically connected to the manipulator 9, the infrared scanner 5, the depth camera 3, the display screen 2, and the manipulator 9 are respectively It is electrically connected with the main control robot platform 1; the main control robot platform 1 is also provided with an infrared sensor, a collision sensor, a cliff sensor, and a visual sensor, and the above sensors are connected with the main control robot platform 1 to form a mobile robot visual feedback system.

As a preferred embodiment, the main control robot platform 1 adopts the TurtleBot2 robot platform; it runs on the Ubuntu system, and the programming of the robot adopts the most representative open source robot operating system ROS (Robot Operating System).

As a preferred embodiment, the display screen 2 adopts a touch display screen, which is used to display supermarket items and allow users to select desired purchases; the inclination angle between the display screen 2 and the horizontal plane is 60 degrees, which is convenient for users to check the selection.

As a preferred embodiment, the infrared code scanner 5 and the shopping basket 4 are hinged to facilitate the infrared code scanner 5 to scan and confirm objects at different heights.

As a preferred embodiment, the mechanical arm 9 adopts 6 degrees of freedom, and the mechanical arm 9 is arranged at the other end of the infrared scanner 5 to ensure that the depth camera 3 and the infrared scanner will not be disturbed when the mechanical claw 7 grabs the target. Encoder 5 has an effect.

Fig. 2 is a flowchart of a method for using a fully automatic shopping robot of the present invention. The present invention also proposes a method for using a fully automatic shopping robot, which is characterized in that it comprises the following steps:

Step S1: The user browses the supermarket items through the display screen 2, selects the shopping list, and proceeds to step S2;

Step S2: According to the user's selection, the main control robot platform 1 models the item selected in step S1, and proceeds to step S3;

Step S3: Carry out path planning through K-MEANS clustering algorithm and genetic algorithm, and extract target image features based on the two image processing algorithms of Hough transform and Cam-shift tracking algorithm. After the planning is completed, start shopping according to the path, and then go to step S4 ;

Step S4: The main control robot platform 1 uses the infrared sensors, collision sensors, cliff sensors, and visual sensors set on it to autonomously avoid obstacles during the course of travel, including static items and dynamic other consumers or other robots, until it locates Go to the target location and go to step S5;

Step S5: After arriving at the positioning target item, first scan the code to confirm the target through the infrared code scanner 5, if the judgment is yes, then the mechanical arm 9 starts to grab the target item, and confirm the target item through the miniature camera 6 on the mechanical arm 9 position, implement the grabbing task, and proceed to step S6; if it is judged not, then proceed to step S4 for repositioning;

Step S6: Repeat steps S4 and S5 to obtain all target items in sequence, complete the task and return to the starting point, and put all target items into the shopping basket 4 of the user.

The above is only a preferred embodiment of the present invention, and it should be pointed out that for those of ordinary skill in the art, without departing from the technical principle of the present invention, some improvements and modifications can also be made. It should also be regarded as the protection scope of the present invention.

Claims (6)

1. a full-automatic shopping robot, it is characterised in that include host machine people's platform (1), shopping basket (4), described in purchase Thing basket (4) is fixedly installed on the surface of described host machine people's platform (1), and the top of described host machine people's platform (1) sets Be equipped with display screen (2), depth camera (3), described depth camera (3) be arranged at described display screen (2) sidepiece, described master The rear portion being positioned at described shopping basket (4) on man-controlled mobile robot platform (1) is provided with infrared code reader (5), and described host machine people puts down The top of platform (1) is positioned at the front portion of described shopping basket (4) and is provided with mechanical arm (9), and described mechanical arm is provided with several on (9) Manipulator joint (8), described manipulator joint (8) is provided with gripper (7), and the outside of described gripper (7) is provided above There is minisize pick-up head (6), it is simple to host machine people's platform (1) can photograph the forward image of gripper (7), confirm that target is entered Row captures；Described minisize pick-up head (6) electrically connects with described manipulator joint (8), described manipulator joint (8) and described machinery Arm (9) electrically connects, described infrared code reader (5), described depth camera (3), described display screen (2), described mechanical arm (9) point Do not electrically connect with described host machine people's platform (1)；It is additionally provided with infrared sensor on described host machine people's platform (1), touches Hit sensor, steep cliff sensor, vision sensor.

One the most according to claim 1 is automatically done shopping robot, it is characterised in that described host machine people's platform (1) TurtleBot2 robot platform is used.

3. automatically do shopping robot according to the arbitrary described one of claim 1 or 2, it is characterised in that described display screen (2) Use touching display screen, be used for showing supermarket article and allowing user select required purchase commodity；Described display screen (2) and horizontal plane Inclination angle be 60 degree, it is simple to user checks selection.

4. automatically do shopping robot according to the arbitrary described one of claims 1 to 3, it is characterised in that described infrared barcode scanning Device (5) uses chain connection with described shopping basket (4), it is simple to differing heights target is scanned confirming by infrared code reader (5).

5. automatically do shopping robot according to the arbitrary described one of Claims 1-4, it is characterised in that described mechanical arm (9) Using 6 degree of freedom, described mechanical arm (9) is arranged at the other end of described infrared code reader (5), it is ensured that grab at gripper (7) Depth camera (3) and infrared code reader (5) will not be produced impact when taking target.

6. a using method based on the full-automatic robot that does shopping described in claim 1, it is characterised in that include walking as follows Rapid:

Step S1: user browses supermarket article by display screen (2), selects shopping list, proceeds to step S2；

Step S2: selecting according to user, article selected by step S1 are modeled by host machine people's platform (1), proceed to step S3；

Step S3: carry out path planning by K-MEANS clustering algorithm and genetic algorithm, based on Hough transformation and Cam-shift Track algorithm both image processing algorithms extract target image characteristics, start shopping according to path after having planned, proceed to step Rapid S4；

Step S4: host machine people's platform (1) passes through infrared sensor, crash sensor, the steep cliff sensor of setting on it, regards Sense sensor is expert at automatic obstacle avoiding in route line process, including static article and other consumers dynamic or other machines People, until navigating to objective, proceeds to step S5；

Step S5: after arriving location target item, first passes through infrared code reader (5) and carries out barcode scanning confirmation target, if being judged as It is that then mechanical arm (9) starts to capture target item, is confirmed the position of target item by the minisize pick-up head (6) on mechanical arm (9) Put, implement crawl task, and proceed to step S6；If being judged as not, then proceed to step S4 and reorientate；

Step S6: repeating step S4, step S5 and obtain all target items successively, the task of completing returns to starting point, by all targets Article are put in the shopping basket (4) of user.