CN107943023A - A kind of intelligent shopping trolley and its application method - Google Patents

Abstract

The invention discloses an intelligent shopping cart and its use method, comprising: a shopping cart, a load sensing module installed on the shopping cart, a positioning module, a distance sensing module, an alarm module, a movement control module, a communication module, and a position recognition coordinate system , intelligent management control system and path planning system. The shopping cart of the present invention can automatically return to the shopping cart pick-and-place area defined by the shopping place after it is determined to be empty and no one is using it. Adjust the distance between the cart and the obstacle, adjust the traveling route and moving mode of the shopping cart until the shopping cart returns to the pick-and-place area of the shopping place. The invention solves the problem of random and uneven distribution of shopping carts in shopping places, can realize unmanned management of shopping cart return, save labor costs, improve shopping efficiency, and provide a technical basis for building unmanned shopping places.

Description

A kind of intelligent shopping cart and using method thereof

technical field

The invention relates to an intelligent shopping cart and a using method thereof.

Background technique

Due to the advantages of large scale, many commodities, good reputation and good service, shopping places have become the first choice for people to shop for leisure. However, with the continuous development of shopping places and the continuous increase of customers, more and more problems have emerged, among which the problem of uneven distribution of shopping carts is more prominent. After the customer finishes shopping and leaves, the shopping cart is stranded in a randomly distributed location, which often requires a lot of manpower to collect and transport it to the shopping cart centralized pick-and-place area; at the same time, there are no shopping carts in the shopping cart centralized pick-and-place area when shopping carts are needed Case. This greatly increases labor costs and shopping time.

Contents of the invention

The technical problem to be solved by the present invention is to realize the automatic return of the shopping cart to the centralized pick-and-place area of the shopping cart after shopping is completed.

Aiming at the problem of shopping carts in shopping places in the prior art, an intelligent shopping cart is provided, which is characterized in that it includes: a shopping cart, a position recognition coordinate system, an intelligent management control system and a path planning system, and a load mounted on the shopping cart Sensing module, positioning module, distance sensing module, alarm module, mobile control module, communication module, among them;

The load sensing module: detect whether the shopping cart is empty;

The positioning module: using the location recognition coordinate system to analyze and determine the location of the shopping cart;

The position recognition coordinate system: the coordinate system established by the position recognition marks covering the entire shopping place with the shopping cart pick-and-place area defined by the shopping place as the origin;

The distance perception module: detect obstacles around the location of the shopping cart;

The intelligent management and control system: according to the received shopping cart weight and location information, determine whether the shopping cart needs to be returned to the shopping cart pick-and-place area designated by the shopping place, and then collect the received information on obstacles around the shopping cart passed to the path planning system;

The path planning system: according to the information transmitted by the intelligent management control system, the return route of the shopping cart is planned, and the return route is sent back to the intelligent management control system;

The movement control module: according to the return route sent by the intelligent management control system, the shopping cart is controlled to move to the shopping cart pick-and-place area defined by the shopping place;

The alarm module: issue a warning to obstacles moving around the shopping cart, reminding it to leave the shopping cart's travel route;

The communication module: realizing the information transmission between the load sensing module, the positioning module and the distance sensing module, as well as the path planning system and the intelligent management control system;

Optionally, the load sensing module includes a pressure sensor;

Optionally, the positioning module is installed under the shopping cart, including: an image sensor, a GPS positioning chip, and a positioning algorithm module. According to the position identification marks of the position identification coordinates around the shopping cart collected by the image sensor and GPS positioning, analyze and determine the location of the shopping cart;

Preferably, the position identification mark is an identifiable mark placed at intervals on the ground of the shopping place;

Preferably, the position identification mark is a two-dimensional code pattern;

Optionally, the distance sensing module is installed around the shopping cart, including: an image sensor, a radar sensor and a recognition algorithm module to detect surrounding obstacles;

Preferably, the distance sensing module is used to detect obstacle information around the location of the shopping cart, including judging the dynamic and static state of the obstacle, identifying the type of obstacle, and calculating the distance from the shopping cart to the obstacle;

Preferably, the obstacle is an immovable stationary object, or a movable person or a combination of a person and an object;

Preferably, what the distance sensing module detects is an immovable obstacle and the distance is equal to or less than the preset safety distance from the shopping cart to the obstacle, the mobile control module stops the shopping cart, and the movable obstacle alarm module issues a warning. Equal to or less than the preset safe distance from the shopping cart to the obstacle, the mobile control module stops the shopping cart, and after it leaves the traveling route of the shopping cart, the mobile control module controls the shopping cart to continue moving;

Preferably, the obstacle is an immovable stationary object, or a movable person or object, and a combination of a person and an object;

Optionally, the communication module uses one of WIFI, 4G or Gigabit network to realize information communication between the load sensing module, the positioning module, the distance sensing module, the mobile control module, the path planning system and the intelligent management control system. send;

Optionally, the mobile control module controls the shopping cart to stop, advance and retreat, and turn left and right;

Optionally, the alarm module also includes a warning light, and the warning light flashes during the return process of the shopping cart.

The present invention also provides a method for using an intelligent shopping cart, the steps of which are:

S01: When the intelligent management control system receives the information of the shopping cart: the load sensing module determines that it is empty, and the positioning module determines that it is not in the shopping cart pick-and-place area designated by the shopping place and stays in this position for more than the preset time, Then it is determined that the shopping cart needs to be returned to the shopping cart pick-and-place area;

S02: The positioning module detects the location identification mark through the image sensor under the shopping cart, and determines the location information of the starting point of the return route. At the same time, the distance perception module detects obstacles around the shopping cart through the image sensor around the shopping cart, including measurement and obstacles. The distance of the object, the identification of the static state of the obstacle and the judgment of the obstacle type, and the above information is sent to the intelligent management and control system through the communication module;

S03: The intelligent management control system transmits the above information to the path planning system, which plans the return route for the first time based on the starting position information of the shopping cart and the surrounding obstacle information, and sends the route back to the intelligent management control system ;

S04: The intelligent management control system sends the return route to the mobile control module through the communication module, which controls the movement of the shopping cart according to the route planned for the first time;

S05: During the moving process, the load sensing module and the positioning module continuously feed back the instant information of the shopping cart's weight and position to the intelligent management control system, and the distance sensing module continuously reports the measurement results of the distance to the surrounding obstacles, the dynamic and static status of the obstacles, and the obstacle category The real-time information is fed back to the intelligent management control system. The intelligent management control system decides whether to adjust the return route according to the state of the obstacle. If adjustment is required, the above information is transmitted to the route planning system for re-planning, and then the intelligent management control system will adjust the route. The route is sent to the mobile control module, which controls the shopping cart to move according to the adjusted route until the shopping cart reaches the shopping cart pick-and-place area designated by the shopping place; optionally, in the S06, the distance sensing module detects If there is a stationary obstacle around, it is determined that it is an item, and the mobile control module controls the shopping cart to continue moving. When the distance sensing module detects that the distance between the shopping cart and the obstacle is less than the set safety distance, the mobile control module controls the shopping cart to stop moving. And send the obstacle information to the intelligent management control system, the intelligent management control system transmits it to the route planning system to adjust the route, and then feeds the adjusted route back to the mobile control module to control the shopping cart to detour according to the adjusted route; distance perception The module judges that it is a person, and the alarm module sends a warning to ask it to leave the shopping cart. The mobile control module controls the shopping cart to continue to move. The module controls the shopping cart to stop moving, and at the same time sends the obstacle information to the intelligent management control system. After it leaves, the intelligent management control system notifies the mobile control module to control the shopping cart to continue moving along the original route;

Optionally, in S06, when the distance perception module detects that there is a moving obstacle around, which is a moving person or a combination of people and objects, the alarm module sends out a warning, and the movement control module controls the shopping cart to continue moving. When the module detects that the distance between the shopping cart and the obstacle is less than the set safety distance, the mobile control module controls the shopping cart to stop moving and requires it to leave the path of the shopping cart. At the same time, the distance sensing module sends the obstacle information to the intelligent management control system. When the obstacle leaves, the distance between the shopping cart and the obstacle is greater than the safe distance, the alarm module stops warning, and the intelligent management control system notifies the mobile control module to control the shopping cart to continue moving along the original route;

Optionally, during the process of returning the shopping cart, the warning light on the cart flashes, indicating that the shopping cart cannot provide loading services, and the warning light goes out after the return is completed, indicating that the shopping cart can provide loading services;

Optionally, when multiple shopping carts return to their positions, the intelligent management control system coordinates the path planning system to plan their own return routes for each shopping cart. Time passes through the coincident point.

The entire return process is coordinated and summarized by the intelligent management and control system, and the information collected by the load module, positioning module, and distance perception module is sent to the path planning module through the communication module, and then the path planning of the path planning module is fed back to the mobile control module .

In order to move safely in the shopping place and avoid collisions with the goods and pedestrians piled up in the place, the shopping cart of the present invention uses the distance sensing module to detect obstacles around the shopping cart, judge the dynamic and static state and type of obstacles, and measure the obstacles in real time The distance from the shopping cart, once the distance is less than or equal to the preset safe distance, stop the shopping cart immediately. If the obstacle is a stationary object, the shopping cart re-plans the route and continues to move after detour; if the obstacle is a combination of movable people and people and objects, the present invention uses the alarm module People and the combination of people and objects, as well as the combination of moving people and people and objects approaching the shopping cart from all around, remind them to leave, and stop the shopping cart immediately when the distance is less than or equal to the preset safety distance until they leave , the shopping cart continues to move along the original route.

When multiple shopping carts return to their positions at the same time, the intelligent management control system coordinates the path planning system to plan their own return routes for each shopping cart. The return routes of different shopping carts will not overlap, and there is only an overlap point at the intersection of the routes, and the planned shopping carts will pass through the overlap point at different times.

Compared with the existing technology, the intelligent shopping place shopping cart of the present invention realizes the unmanned management of the shopping cart return, saves labor costs, improves shopping efficiency, and provides a technical basis for building an unmanned shopping place.

Description of drawings

Fig. 1 is the ideal scheme flowchart of the intelligent shopping place shopping cart that the present invention proposes.

Detailed ways

In order to make the content of the present invention clearer and easier to understand, the content of the present invention will be further described below in conjunction with the accompanying drawings. Of course, the present invention is not limited to this specific embodiment, and general replacements known to those skilled in the art are also covered within the protection scope of the present invention.

Now in conjunction with accompanying drawing 1, analyze the ideal solution process of the intelligent shopping place shopping cart proposed by the present invention.

An intelligent shopping place shopping cart proposed by the present invention is characterized in that it includes: a shopping cart, a position recognition coordinate system, an intelligent management control system and a path planning system, and a load sensing module installed on the shopping cart, a positioning module, and a distance Perception module, alarm module, mobile control module, communication module. Position identification mark coordinate system: take the shopping cart pick-and-place area defined by the shopping place as the origin, and establish a coordinate system covered by the position identification mark covering the entire shopping place; positioning module: including image sensor, GPS positioning chip and positioning algorithm module, Installed under the shopping cart, use the location recognition mark of the location recognition coordinates around the shopping cart collected by the image sensor and GPS positioning information analysis to determine the location of the shopping cart; distance perception module: including image sensor, radar sensor and recognition algorithm module , detect the static and dynamic state and category of surrounding obstacles, can identify whether the obstacle is a person or an object, and calculate the distance from the shopping cart to the obstacle. When the distance between the obstacle and the shopping cart is less than or equal to the safe distance, the alarm module will issue a warning; Path planning module: Plan the path of the shopping cart according to the location information and surrounding obstacle information; the intelligent management and control system is responsible for the overall planning of the above information, including judging that the shopping cart is empty according to the load sensing module, and the positioning module determines that it is not shopping The shopping cart pick-and-place area defined by the site stays there for longer than the preset time, and it is determined that the shopping cart needs to be returned to the shopping cart pick-and-place area. The path planning system plans the return route, and then passes it on to the mobile control module to move the shopping cart. cart; during the return process, it receives instant information from the load sensing module, positioning module and distance sensing module, adjusts the return route, and coordinates the simultaneous return of multiple shopping carts. When there is a stationary obstacle around, if it is a person, the alarm module sends out a warning to remind pedestrians to avoid, and at the same time, the mobile control module controls the shopping cart to continue to move forward. When the distance sensing module detects that the distance between the shopping cart and the person is less than the set safety distance, Then the mobile control module controls the shopping cart to stop moving, and sends the obstacle information to the intelligent management control system at the same time. After the person leaves, the intelligent management control system notifies the mobile control module to control the shopping cart to continue moving according to the original route; Control the shopping cart to continue to move. When the distance perception module detects that the distance between the shopping cart and the items is less than the set safety distance, the movement control module controls the shopping cart to stop moving. The path planning module will re-plan the route, and then control the shopping cart transformation through the movement control module Direction, moving according to the adjusted route; when there are moving obstacles around, including a combination of people or people and objects, the movement control module controls the shopping cart to continue moving, when the distance perception module detects that the distance between the shopping cart and the obstacle is less than the set If there is a safe distance, the mobile control module controls the shopping cart to stop moving, and the alarm module sends out a warning. After waiting for the moving obstacle to leave its travel route, the shopping cart continues to move according to the original route.

During the return process, the warning light of the mobile control module flashes to remind shoppers that the shopping cart cannot provide loading service. After the cart reaches the cart pick-up area, the warning light turns off.

All the real-time information transmission between the loading module, positioning module, distance perception module, mobile control module, intelligent management control system and path planning system is completed by the communication module.

Embodiment 1, return a single shopping cart:

In this embodiment, the shopping place uses recognizable two-dimensional code images placed at intervals on the ground as location identification marks. The load module of the shopping cart contains pressure sensors, which can sense whether there are items placed on the shopping cart. An image sensor is installed directly under the shopping cart to recognize position identification marks on the floor of the shopping place. The positioning module can obtain the definite position information of the shopping cart through identification of the mark and GPS positioning. The distance perception module is installed around the shopping cart. There are image sensors and radar sensors in the module to detect surrounding obstacles, and then the obstacle information is identified through the recognition algorithm in the module: the dynamic and static state of the obstacle, category: human Or items. The mobile control module contains warning lights that are prominently mounted on the cart.

After the customer completes the shopping, he takes away the purchased goods and places the shopping cart at hand.

After a period of time, the load sensing module confirms that the shopping cart is empty, and the positioning module determines that it is not in the shopping cart pick-and-place area of the shopping place according to the ground identification mark and GPS positioning information and keeps the same position for a preset time. The preferred solution is 5 minutes , it is determined that the shopping cart needs to be returned to the shopping cart pick-and-place area of the shopping place, the above information is fed back to the intelligent management control system, and the system starts the automatic return of the shopping cart. The location information fed back by the shopping cart positioning module is the initial location of the shopping cart. The distance perception module detects surrounding obstacles through the image sensors around the shopping cart, and feeds back the information to the intelligent management control system, which is then transmitted to the path planning system. The path planning module plans the return route for the first time based on this information, and then the intelligent management control system feeds back the moving route to the shopping cart, the warning light of the mobile control module starts to flash, and the mobile control module controls the shopping cart to start moving. At this time, the shopping cart cannot provide loading services.

During the moving process, the positioning module and the distance perception module feed back the identification mark information and the surrounding obstacle detection information in real time. When the distance perception module detects that there is a stationary obstacle on the path of the shopping cart, if the obstacle is a person, the alarm module will send out a warning to remind pedestrians to avoid, and at the same time, the mobile control module will control the shopping cart to continue moving. When the distance perception module detects that the shopping cart If the distance between the person and the person is less than the set safety distance, the mobile control module controls the shopping cart to stop moving, and at the same time sends the obstacle information to the intelligent management control system. After the person leaves, the intelligent management control system notifies the mobile control module to control the shopping cart to continue pressing The original route moves; if it is an item, the movement control module controls the shopping cart to continue moving. When the distance perception module detects that the distance between the shopping cart and the item is less than the set safety distance, the movement control module controls the shopping cart to stop moving, and the path planning module will re-plan route, and then control the shopping cart to change direction through the mobile control module, and move according to the adjusted route. When it is detected that there is a moving obstacle on the path of the shopping cart, the mobile control module controls the shopping cart to continue moving; when the distance sensing module detects that the distance between the shopping cart and the obstacle is less than the set safety distance, the mobile control module controls the shopping cart When the car stops moving, the alarm module sends out a warning, asking it to leave the shopping cart’s route. At the same time, the distance sensing module sends the obstacle information to the intelligent management control system. When the obstacle is far away, the distance between the shopping cart and the obstacle is greater than the safe distance, and the alarm module stops. Warning, the intelligent management control system notifies the mobile control module to control the shopping cart to continue moving by the original route.

The distance sensing module also detects moving obstacles approaching the shopping cart in the left and right directions of the shopping cart: when the obstacle’s approaching speed exceeds the limit value, the shopping cart stops and a warning is issued; when the obstacle’s approaching speed is lower than the limit value, The shopping cart continues to move according to the return route. When the obstacle is close to the safety distance limited by the left and right sides of the shopping cart and has not stopped, the shopping cart will stop moving forward and issue a warning.

As a preferred solution, the preset safety distance between the shopping cart and the obstacle in the distance sensing module is 0.5-1 meter. The limited value of the moving speed of the obstacle in this embodiment is 2-5 m/s.

As a preferred solution, the warning sound of the alarm module can be a voice or a buzzer that is clearly different from the environmental background of the shopping place, and the frequency and volume of the warning sound can be significantly increased by the distance between the obstacle and the shopping cart.

During the entire moving process of returning to the position, according to the position identification mark and the obstacles detected around, it is necessary to continuously control the moving state of the shopping cart and adjust the moving route of the shopping cart until it finally moves to the specified pick-and-place area of the shopping place. The shopping cart returns automatically. The light turns off and the cart resumes loading service.

Embodiment 2, returning multiple shopping carts:

In this example, there are two shopping carts A and B in the return state at the same time. In order to avoid collisions of shopping carts, the intelligent management control system coordinates the path planning system to plan their own return routes for each shopping cart. The return routes of shopping carts A and B do not overlap, but there is an overlapping point P.

Therefore, the path planning system plans that car A passes through the coincidence point P at time t1, and car B passes through the coincidence point P at time t2. The moving speed of both cars is v, and the time difference between the two cars passing through point P is:

|t1-t2|>m*n;

m is the safety multiple, n is the safety time, and is the safety distance/v.

As a preferred solution, the safety factor is 2 to 5 times. The above description is only a description of the embodiments of the present invention, and does not limit the scope of the present invention. Any changes and modifications made by those of ordinary skill in the field of the present invention based on the above disclosures shall fall within the protection scope of the claims.

Claims (17)

1. An intelligent shopping cart, characterized in that it comprises: a shopping cart, a position recognition coordinate system, an intelligent management control system and a path planning system, and a load sensing module installed on the shopping cart, a positioning module, a distance sensing module, and an alarm module, mobile control module, communication module, where: The load sensing module: detect whether the shopping cart is empty; The positioning module: using the location recognition coordinate system to analyze and determine the location of the shopping cart; The position recognition coordinate system: the coordinate system established by the position recognition marks covering the entire shopping place with the shopping cart pick-and-place area defined by the shopping place as the origin; The distance perception module: detect obstacles around the location of the shopping cart; The intelligent management and control system: according to the received shopping cart weight and location information, determine whether the shopping cart needs to be returned to the shopping cart pick-and-place area designated by the shopping place, and then collect the received information on obstacles around the shopping cart passed to the path planning system; The path planning system: according to the information transmitted by the intelligent management control system, the return route of the shopping cart is planned, and the return route is sent back to the intelligent management control system; The movement control module: according to the return route sent by the intelligent management control system, the shopping cart is controlled to move to the shopping cart pick-and-place area defined by the shopping place; The alarm module: issue a warning to obstacles moving around the shopping cart, reminding it to leave the shopping cart's travel route; The communication module: realizes the load perception module, the positioning module, the distance perception module, and the information transmission between the path planning system and the intelligent management control system. 2. The intelligent shopping cart according to claim 1, wherein the load sensing module includes a pressure sensor. 3. The intelligent shopping cart according to claim 1, wherein the positioning module is installed under the shopping cart, comprising: an image sensor, a GPS positioning chip and a positioning algorithm module, according to the surrounding positions of the shopping cart collected by the image sensor Identify the location identification mark of the coordinates and GPS positioning, analyze and determine the location of the shopping cart. 4. The intelligent shopping cart according to claim 1 or 3, characterized in that: the position identification mark is an identifiable mark placed at intervals on the ground of the shopping place. 5. The intelligent shopping cart according to claim 4, characterized in that: the location identification mark is a two-dimensional code pattern. 6. The smart shopping cart according to claim 1, wherein the distance sensing module is installed around the shopping cart, including: an image sensor, a radar sensor and a recognition algorithm module to detect surrounding obstacles. 7. The smart shopping cart according to claim 6, wherein the distance perception module is used to detect obstacle information around the location of the shopping cart, including judging the state of movement of the obstacle, identifying the category of the obstacle, and calculating the shopping cart. The distance from the car to the obstacle. 8. The smart shopping cart according to claim 7, wherein the distance sensing module detects an immovable obstacle and the distance from the shopping cart to the obstacle is equal to or less than the preset distance from the shopping cart to the obstacle. If it is a safe distance, the mobile control module stops the shopping cart. If it is a movable obstacle, the alarm module sends a warning. When the distance from the shopping cart to the obstacle is equal to or less than the preset safe distance from the shopping cart to the obstacle, the mobile control module stops For the shopping cart, after the obstacle leaves the traveling route of the shopping cart, the mobile control module controls the shopping cart to continue moving. 9. The intelligent shopping cart according to claim 1, 6 or 7, characterized in that: said obstacle is an immovable stationary object, or a movable person or object, and a combination of a person and an object. 10. The smart shopping cart according to claim 1, characterized in that: the communication module uses one of WIFI, 4G or Gigabit network to realize load sensing module, positioning module, distance sensing module and mobile control module , Information transmission between path planning system and intelligent management control system. 11. The intelligent shopping cart according to claim 1, characterized in that: the movement control module controls the shopping cart to stop, advance and retreat, and turn left and right. 12. The intelligent shopping cart according to claim 1, wherein the alarm module further includes a warning light, and the warning light flashes when the shopping cart returns to its position. 13. The using method of intelligent shopping cart as claimed in claim 1, its steps are: S01: When the intelligent management control system receives the information of the shopping cart: the load sensing module determines that it is empty, and the positioning module determines that it is not in the shopping cart pick-and-place area designated by the shopping place and stays in this position for more than the preset time, Then it is determined that the shopping cart needs to be returned to the shopping cart pick-and-place area; S02: The positioning module detects the location identification mark through the image sensor under the shopping cart, and determines the location information of the starting point of the return route. At the same time, the distance perception module detects obstacles around the shopping cart through the image sensor around the shopping cart, including measurement and obstacles. The distance of the object, the identification of the static state of the obstacle and the judgment of the obstacle type, and the above information is sent to the intelligent management and control system through the communication module; S03: The intelligent management control system transmits the above information to the path planning system, which plans the return route for the first time based on the starting position information of the shopping cart and the surrounding obstacle information, and sends the route back to the intelligent management control system ; S04: The intelligent management control system sends the return route to the mobile control module through the communication module, which controls the movement of the shopping cart according to the route planned for the first time; S05: During the moving process, the load sensing module and positioning module will continuously feed back the real-time information on the weight and position of the shopping cart to the intelligent management and control system. The obstacle information including the obstacle category is fed back to the intelligent management and control system in real time, and the intelligent management and control system decides whether to adjust the return route according to the obstacle information. If adjustment is required, the above information is transmitted to the route planning system for re-planning. The adjusted route is then sent to the mobile control module by the intelligent management control system, which controls the shopping cart to move according to the adjusted route until the shopping cart arrives at the shopping cart pick-and-place area designated by the shopping place. 14. The method for using a smart shopping cart as claimed in claim 13, wherein in said S05, the distance sensing module detects that there is a stationary obstacle around, and judges that it is an item, when the distance sensing module detects that the shopping cart If the distance between the obstacle and the obstacle is less than or equal to the set safety distance, the mobile control module controls the shopping cart to stop moving, and sends the obstacle information to the intelligent management control system, and the intelligent management control system transmits it to the path planning system to adjust the route. The adjusted route is fed back to the mobile control module, and the shopping cart is controlled to detour according to the adjusted route; the distance perception module judges that it is a person, and the alarm module sends a warning to ask it to leave the shopping cart. When the distance perception module detects the shopping cart If the distance from the obstacle is less than the set safety distance, the mobile control module controls the shopping cart to stop moving. When the obstacle leaves, the distance between the shopping cart and the obstacle is greater than the safety distance, the alarm module stops warning, and the intelligent management control system notifies the mobile control module to control The shopping cart continues to move on its original route. 15. The method for using a smart shopping cart according to claim 13, wherein in said S05, when the distance perception module detects a moving obstacle around, it is judged to be a moving person or a combination of a person and an object , the alarm module issues a warning. When the distance sensing module detects that the distance between the shopping cart and the obstacle is less than or equal to the set safety distance, the movement control module controls the shopping cart to stop moving and requires it to leave the path of the shopping cart. When the obstacle leaves, When the distance between the shopping cart and the obstacle is greater than the safe distance, the alarm module stops warning, and the intelligent management control system notifies the mobile control module to control the shopping cart to continue moving along the original route. 16. The method of using the smart shopping cart as claimed in claim 13, characterized in that, during the process of returning the shopping cart, the warning light on the cart flickers, indicating that the shopping cart cannot provide loading services, and the warning light will be issued after the return is completed. The light goes off to show that the cart is ready for loading. 17. The method for using an intelligent shopping cart as claimed in claim 13, wherein when multiple shopping carts return to their positions, the intelligent management control system coordinates the path planning system to plan a respective return route for each shopping cart, such as different If the return route of the shopping cart has overlapping points, it is planned that the shopping carts will pass through the overlapping points at different times.