CN106483889B - Sort platform cleaning method and device - Google Patents
Sort platform cleaning method and device Download PDFInfo
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- CN106483889B CN106483889B CN201611114966.3A CN201611114966A CN106483889B CN 106483889 B CN106483889 B CN 106483889B CN 201611114966 A CN201611114966 A CN 201611114966A CN 106483889 B CN106483889 B CN 106483889B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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Abstract
A kind of sorting platform cleaning method and device provided by the invention, are related to goods sorting technical field, are applied to packages platform, packages platform includes server, transport device and clearing apparatus, which comprises server receives first and cleans instruction；The first position that the acquisition second position and transport device are presently in generates first movement path based on first position and the second position, and controls transport device and be moved to the second position based on first movement path, to clean to first position.It receives second and cleans instruction.The second position that acquisition first position and transport device are presently in is based on first position and the second position, generates the second movement routine, and controls transport device and be moved to first position based on the second movement routine, to clean to the second position.Being uniformly controlled from the whole process for being moved to cleaning is realized, operation sequence is simplified, improves sweeping efficiency.
Description
Technical field
The present invention relates to goods sorting technical fields, in particular to a kind of sorting platform cleaning method and device.
Background technique
Developing Logistics are very rapid, and people in daily life more to be needed to realize cargo transmitting-receiving by logistics.Courier exists
It collects after cargo returns to warehouse, needs to carry out the different package in destination classification transmission, sorting platform comes into being.Sorting is flat
Platform refers to, by multiple transport devices, the different package in destination is distributed to different exits, to realize to same purpose
The consolidated delivery of the package on ground.Packaging bag for holding package can generate certain rubbish and fall and divide when being transported
It picks on platform, it is therefore desirable to which sorting platform is cleaned.
When clearing up at present the rubbish of sorting platform, mobile conveyor is needed, transport device carries out according to the map
Work, every to have executed step instruction, the next step instruction for needing to receive server can just work on.In mobile conveyor
When, need to carry out transport device multi-pass operation, operation sequence is complicated, cumbersome.
Summary of the invention
In view of this, the embodiment of the present invention is designed to provide a kind of sorting platform cleaning method and device, to improve
The above problem.
In a first aspect, the present invention provides a kind of sorting platform cleaning method, it is applied to packages platform, the package point
Picking platform includes server, transport device.The described method includes: the server, which receives first, cleans instruction.Obtain second
It sets and first position that the transport device is presently in, first movement is generated based on the first position and the second position
Path, and control the transport device and the second position is moved to from the first position based on the first movement path,
To be cleaned to the first position.
It receives second and cleans instruction.The second position that acquisition first position and the transport device are presently in, is based on
The first position and the second position generate the second movement routine, and control the transport device and be based on second movement
Path is moved to the first position from the second position, to clean to the second position.
Second aspect, the present invention provide a kind of sorting platform cleaning method, are applied to packages platform, the package point
Picking platform includes server, transport device and clearing apparatus.The described method includes: the server, which receives first, cleans instruction,
Judge the position of the transport device Yu the clearing apparatus.If the clearing apparatus and the transport device are in first
It sets, controls the transport device or the clearing apparatus is moved to the preset second position, control clearing apparatus is to being presently in
Position cleaned；If the clearing apparatus is in the first position, the transport device is in the second position, then controls
The clearing apparatus cleans the first position, after receiving the second cleaning instruction, controls the transport device and moves
The first position is moved, the clearing apparatus is controlled and is moved to the second position, controls the clearing apparatus to described
Two positions are cleaned.
The third aspect, the present invention provide a kind of sorting platform clearing apparatus, are applied to packages platform, the package point
Picking platform includes transport device and clearing apparatus.The sorting platform clearing apparatus includes: the first cleaning instruction receiving unit, is used
It cleans and instructs in reception first.First generation unit, for obtaining the second position and the transport device is presently in
One position generates first movement path based on the first position and the second position, and controls the transport device and be based on institute
It states first movement path and is moved to the second position from the first position, to be cleaned to the first position.
Second cleans instruction receiving unit, cleans instruction for receiving second.Second generation unit, for obtaining first
It sets and the second position that the transport device is presently in, is based on the first position and the second position, generates second and move
Dynamic path, and control the transport device and be moved to described first from the second position based on second movement routine
It sets, to be cleaned to the second position.
Fourth aspect, the present invention provide a kind of sorting platform clearing apparatus, are applied to packages platform, the package point
Picking platform includes transport device and clearing apparatus.The sorting platform clearing apparatus includes: the first judging unit, for receiving the
One cleans instruction, judges the position of the transport device Yu the clearing apparatus.4th control unit, if the clearing apparatus with
The transport device is in first position, controls the transport device or the clearing apparatus is moved to preset second
It sets, control clearing apparatus cleans the position being presently in.5th control unit, if the clearing apparatus is in described the
One position, the transport device are in the second position, then control the clearing apparatus and clean to the first position, connecing
After receiving the second cleaning instruction, controls the transport device and be moved to the first position, control the clearing apparatus and be moved to
The second position controls the clearing apparatus and cleans to the second position.
The beneficial effects of the present invention are: sorting platform cleaning method provided by the invention and device, server receive clearly
After sweeping instruction, control transport device performs a complete mobile process, simplifies operation sequence, improves sweeping efficiency.
Other features and advantages of the present invention will be illustrated in subsequent specification, also, partly be become from specification
It is clear that by implementing understanding of the embodiment of the present invention.The objectives and other advantages of the invention can be by written theory
Specifically noted structure is achieved and obtained in bright book, claims and attached drawing.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the interaction schematic diagram of the server that present pre-ferred embodiments provide and user terminal and transport device；
Fig. 2 is the step flow chart for the sorting platform cleaning method that first embodiment of the invention provides；
Fig. 3 is the step flow chart for the sorting platform cleaning method that second embodiment of the invention provides；
Fig. 4 is the structural schematic diagram of sorting land regions provided in an embodiment of the present invention；
Fig. 5 is the structural block diagram for the sorting platform clearing apparatus that third embodiment of the invention provides；
Fig. 6 is the structural block diagram for the sorting platform clearing apparatus that fourth embodiment of the invention provides.
Specific embodiment
Those skilled in the art are seeking always a kind of tool for improving the problem or method for a long time.
In view of this, designer of the invention is by long-term exploration and trial and multiple experiment and effort, constantly
Ground reform and innovation, obtain and preferably sort platform cleaning method and device shown in this programme.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
Middle attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is a part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is real
The component for applying example can be arranged and be designed with a variety of different configurations.Therefore, of the invention to what is provided in the accompanying drawings below
The detailed description of embodiment is not intended to limit the range of claimed invention, but is merely representative of selected reality of the invention
Apply example.Based on the embodiment of the present invention, those skilled in the art institute obtained without making creative work
There are other embodiments, shall fall within the protection scope of the present invention.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.Meanwhile of the invention
In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
Fig. 1 is please referred to, the server 101 passes through network 102 and one or more user terminals 103, transport device 104
And clearing apparatus 105 is communicatively coupled, to carry out data communication or interaction.
Packages refer to through transport device, and the different package in destination is distributed to different outlets, with realization pair
The consolidated delivery of the package of same destination.Packages are carried out on packages platform, and packages platform includes
Packages platform body, multiple packages are provided on packages platform body and examine entrances, examine entrance corresponding with package
Position be provided with package storage device, for placing the package of same destination.
Transport device can be but be not limited to the mobile robot with navigation feature, and package is distributed to different packets
Wrap up in inspection entrance.Transport device has these three states of operating status, halted state and dormant state.Operating status refers to fortune
Defeated device, in the instruction of execute server, is moved according to the instruction of server；Halted state refers to that transport device etc. is waiting
The instruction of server is received, is suspended motionless；Dormant state refers to that transport device does not receive any instruction, and waiting is waken up.
Clearing apparatus can be but be not limited to sweeping robot, can be communicatively coupled with server, to packages
Platform is cleaned.
Embodiment one
Fig. 2 is referred to, a kind of sorting platform cleaning method that first embodiment of the invention provides is flat applied to packages
Platform, the packages platform include the server, transport device and the clearing apparatus.The described method includes:
Step S310, the server receive first and clean instruction.
The present embodiment will be elaborated by taking the transport device for being in operating status as an example.It is wrapped in and is transported
When, the parcel bag for holding package can carry some rubbish, during transport, fall on packages platform.When user needs
When being cleaned to packages platform, first is sent to server by user terminal and cleans instruction, so that server control
Transport device and clearing apparatus processed clean packages platform.
The first position that step S320, the acquisition second position and the transport device are presently in, is based on described first
Position and the second position generate first movement path, and control the transport device and be based on the first movement path from described
First position is moved to the second position, to clean to the first position.
Server sends state acquisition instruction after receiving the first cleaning instruction, to transport device, and receives transport
Device responds the status information that the state acquisition instruction returns and detects to the operating status of transport device, in transport device
After completing current task, control transport device is based on first movement path and is moved to the second position from first position.
As an implementation, in order to which the location information of transport device is accurately positioned, Fig. 4 is referred to, can wrapped up
It sorts platform to establish using the center of packages platform as the coordinate system of origin, each point corresponding one on packages platform
A coordinate.Multiple two dimensional codes are provided on packages platform, each two dimensional code is set to predeterminated position, and server storage is each
The location coordinate information of two dimensional code.Camera is provided on transport device, by scanning the two-dimensional code picture, and by the two dimension of scanning
For code picture transfer to console, console identifies the position coordinates of two dimensional code, and is positioned according to the shooting angle of transport device
The position coordinates of transport device out.
As an implementation, Fig. 4, first position and the second position are referred to and is drawn in advance according to user demand
Divide simultaneously storage location coordinate.For example, first position to be preset as to the middle position of packages platform, i.e., with packet in the present embodiment
Wrap up in sorting platform center centered on point, using preset value as the rectangular area of side length.For example, 10 meters are set by side length, then
Middle position is the rectangle that side length is 10 meters using the central point of packages platform as middle position, i.e. region A in Fig. 4.
The second position refers to position of the packages platform in addition to entrance is examined in middle position and package, i.e. region in Fig. 4
B.Certainly, in other embodiments, the shape and size of first position and the second position are not limited to this, as long as
The purpose of the present invention is able to achieve to be all contained in the application.
Transport device is currently at first position, and first movement path refers to transport device by the first position that is presently in
It is moved to the path of the second position.
Certainly, in other embodiments, first position and the second position may be to achieve the object of the present invention
Other positions.
Further, in the preferred embodiment, first position and the second position refer to a region rather than consolidate
Some fixed position, transport device can be moved to any one position of first position or this big region of the second position
It sets.
Further, in present pre-ferred embodiments, in order to improve working efficiency, transport device is multiple, each transport
Device is run independently of each other, and is communicatively coupled respectively with server.The number of each transport device is different, and server passes through
The number of each transport device is distinguished, as an implementation can by the mailing address of different transport devices, such as
The number of MAC Address or IP address as transport device.
Server detects the operating status of each transport device, is examining when receiving the first cleaning instruction
When survey transport device completes current task, the second position and each fortune that each transport device to be reached are obtained
The first position that defeated device is presently in is based on each first position and the second position, generates each transport dress
Set corresponding first movement path, and control each transport device be based on each first movement path be moved to it is each
The second position.
Further, it is mutually collided in moving process in order to avoid transport device, it can going out each transport device
The hair time is preset with the preset time difference, and the speed of service of each transport device is identical.For example, the first transport device was in five minutes
After set out, then the second transport device sets out for late ten seconds than the first transport device, avoid transport device and touched in moving process
It hits.
As an implementation, here first position and the second position and above-mentioned first position and second
The region set is identical.But due to the quantity of transport device be it is multiple, each transport device in first position has respectively
First position, and the respectively i.e. second position that will reach.Therefore each transport device has respective first movement road
Diameter, and it is mobile according to respective first movement path.
When transport device is moved to the second position, it can also be filled by cleaning by manually being cleaned to first position
It sets and is cleaned.
Step S330 controls the transport device and enters halted state, so that the instruction to be received such as described transport device, no
It is moved.
Server constantly receives the location information of transport device, when server detects that transport device has arrived at second
When position, control transport device enter halted state, when transport device placed in a suspend state when, transport device will not move, only
It the next instruction to be received such as is.
Further, when transport device is multiple, server detects each transport device according to oneself first movement
When path reaches the preset second position, controls each transport device and enter halted state.
Step S340 controls the clearing apparatus and is cleaned into the first position.
As an implementation, when server detect transport device have arrived at the second position and enter halted state
When, control clearing apparatus enters first position cleaning.
Further, can be after server detect that transport device has arrived at the preset time of the second position, then control
Clearing apparatus processed is cleaned.For example, can server detect transport device reach the second position after two minutes again
Control clearing apparatus enters cleaning.
When transport device be it is multiple, server is only detecting that the transport device enters the default of the second position
After position, it can just control clearing apparatus and enter cleaning.
As an implementation, it after the completion of clearing apparatus cleans first position, sends to clean to server and completes to refer to
It enables, clearing apparatus is not received by next instruction of server transmission sending in the predetermined time after cleaning completion instruction
Afterwards, that is, the original position of clearing apparatus is returned to charge.
Step 350, it receives second and cleans instruction.
After the second position cleans completion, user sends second to transport device by user terminal and cleans instruction, so that
Transport device is moved to the second position, and clearing apparatus is made to enter first position, cleans to first position.
The second position that step S360, acquisition first position and the transport device are presently in, is based on described first
Position and the second position generate the second movement routine, and control the transport device and be based on second movement routine from institute
It states the second position and is moved to the first position, to be cleaned to the second position.
Transport device is currently in halted state in the second position.
As an implementation, since the work of transport device carries out according to the map, in order to allow transport device from
The second position is moved to first position, and the first working map is switched to the second working map.
It should be noted that the first working map refers to transport device when first position is in running order and transport
For device when the second position is in halted state, server is the route of transport device distribution；Second working map refers to service
Device is the second movement routine that first position is moved to by the second position that transport device generates, in addition to this, transport device dress
It sets after reaching first position according to the second path of the second working map, into wait state.
Certainly, as another embodiment, transport device can also be transport device without Map Switch, server
The second movement routine that first position is moved to by the second position is generated, control transport device reaches first position, and records fortune
The location information of defeated device, when detecting that transport device has arrived at first position, control transport device enters halted state, etc.
Next step instruction to be received.
Further, transport device is multiple, and server needs to obtain first that each transport device to be reached
It sets and the second position that each transport device is presently in, is based on each first position and the second position, it is raw
At corresponding second movement routine of each transport device, and controls each transport device and be based on described corresponding second
Movement routine is moved to each first position.
Similarly, transport device is moved to first position, can be by artificial, can also be by clearing apparatus to the second position
It is cleaned.
Step S370 controls the clearing apparatus and is cleaned into the second position.
As an implementation, when server detects that transport device is in first position, control clearing apparatus enters
First position is cleaned.The step of specifically cleaning first position with clearing apparatus is identical, and I will not elaborate.
As an implementation, when server receives the first cleaning instruction, the position of transport device is judged:
If transport device is in first position, control transport device is moved to the second position according to first movement path, and control cleans dress
It sets and first position is cleaned, control transport device again later according to the second movement routine and be moved to first position, control is clear
Sweeping device cleans the second position；If transport device is in the second position, control transport device is according to the second mobile road
Diameter is moved to first position, and control clearing apparatus cleans the second position, controls transport device again later according to first movement road
Diameter is moved to the second position, and control clearing apparatus cleans first position.
Sorting platform cleaning method provided in this embodiment, simplify clean sorting platform workflow, user according to
The entire workflow of the demand of oneself, server control transport device and clearing apparatus is controlled, and sweeping efficiency is improved,
Simplify and cleans program.
Embodiment two
Fig. 3 is referred to, is a kind of sorting platform cleaning method that second embodiment of the invention provides, is applied to packages
Platform, the packages platform include the server, transport device and the clearing apparatus.The described method includes:
Step S410, server receive first and clean instruction, judge the position of the transport device Yu the clearing apparatus.
Server searches the position of pre-stored transport device and clearing apparatus after receiving the first cleaning instruction
Coordinate information, and judge whether the position coordinates of transport device and the position coordinates of clearing apparatus belong to the same area, it is
It is no to belong to first position or the second position.
Step S420 controls the transport device if the clearing apparatus and the transport device are in first position
Or the clearing apparatus is moved to the preset second position, control clearing apparatus cleans the position being presently in；
If the determination result is YES, that is, it characterizes transport device and clearing apparatus is in same position, specifically, if judging result
Characterization transport device and clearing apparatus are in first position, control transport device or clearing apparatus is moved to the second position.Example
Such as, control clearing apparatus is moved to the second position, controls clearing apparatus later and cleans to the second position.
Certainly, above description does not indicate the limitation to the present embodiment.As long as transport device and clearing apparatus are in same
Position, can be first position, the second position or other positions, control transport device or any one device of clearing apparatus to
Position except current location is mobile, and controls clearing apparatus and clean to the location of after movement, belongs to the present invention
The range of protection.
Step S430, if the clearing apparatus is in the first position, the transport device is in the second position, then controls
It makes the clearing apparatus to clean the first position, after receiving the second cleaning instruction, controls the transport device
It is moved to the first position, the clearing apparatus is controlled and is moved to the second position, controls the clearing apparatus to described
The second position is cleaned.
If judging result be it is no, i.e. it is clear to control transport device when be in different location for characterization clearing apparatus and transport device
Sweep its locating region.Server receives user terminal is sent second and cleans instruction, controls transport device and clearing apparatus is handed over
Change place, and control clearing apparatus and clean the region for cleaning be not swept into later for the first time.
The present embodiment is specifically to specific embodiments such as the positioning of the definition of first position, the second position, transport device
It is identical with the first embodiment, I will not elaborate.
Embodiment three
Refer to Fig. 5, the structural block diagram for the sorting platform clearing apparatus that the embodiment of the present invention three provides.The sorting platform
Clearing apparatus 500 is applied to packages platform, including server, transport device and clearing apparatus.The sorting platform is clear
Sweeping device includes:
First cleans instruction receiving unit 510, cleans instruction for receiving first.
First generation unit 520, the first position for obtaining the second position and the transport device is presently in, base
First movement path is generated in the first position and the second position, and controls the transport device and is based on the first movement
Path is moved to the second position from the first position.
4th control unit 524 enters halted state for controlling the transport device, so that the transport device waits
Instruction is received, without movement.
First control unit 530 is cleaned for controlling the clearing apparatus into the first position.
Second cleans instruction receiving unit 540, cleans instruction for receiving second.
First switch unit 542, for the first working map to be switched to the second working map, second working map
Include second movement routine.
Third control unit 544, for controlling second shifting of the transport device based on second working map
Dynamic path is moved to the first position.
Second generation unit 550, the second position for obtaining first position and the transport device is presently in, base
In the first position and the second position, the second movement routine is generated, and controls the transport device and is based on second shifting
Dynamic path is moved to the first position from the second position.
Second control unit 560 is cleaned for controlling the clearing apparatus into the second position.
Example IV
Refer to Fig. 6, the structural block diagram for the sorting platform clearing apparatus that the embodiment of the present invention three provides.The sorting platform
Clearing apparatus 600 is applied to packages platform, including server, transport device and clearing apparatus.The sorting platform is clear
Sweeping device includes:
First judging unit 610 cleans instruction for receiving first, judges that the transport device is with the clearing apparatus
It is no to be in first position.
4th control unit 620 if the determination result is YES characterizes the clearing apparatus and the transport device is in the
One position, the 4th control unit is used to control the transport device or the clearing apparatus is moved to the preset second position, control
Clearing apparatus processed cleans the position being presently in.
5th control unit 630, if judging result be it is no, characterize the clearing apparatus and be in the first position, it is described
Transport device is in the second position, and the 5th control unit cleans the first position for controlling the clearing apparatus,
It after receiving the second cleaning instruction, controls the transport device and is moved to the first position, control the clearing apparatus and move
The second position is moved, the clearing apparatus is controlled and the second position is cleaned.
In conclusion sorting platform cleaning method provided in an embodiment of the present invention and device, server is to transport device
Position is positioned, and controls transport device movement and working map switching, is improved the efficiency for cleaning sorting platform, is simplified
The step of cleaning sorting platform, improves the deficiencies in the prior art.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, flow chart and block diagram in attached drawing
Show the device of multiple embodiments according to the present invention, the architectural framework in the cards of method and computer program product,
Function and operation.In this regard, each box in flowchart or block diagram can represent the one of a module, section or code
Part, a part of the module, section or code, which includes that one or more is for implementing the specified logical function, to be held
Row instruction.It should also be noted that function marked in the box can also be to be different from some implementations as replacement
The sequence marked in attached drawing occurs.For example, two continuous boxes can actually be basically executed in parallel, they are sometimes
It can execute in the opposite order, this depends on the function involved.It is also noted that every in block diagram and or flow chart
The combination of box in a box and block diagram and or flow chart can use the dedicated base for executing defined function or movement
It realizes, or can realize using a combination of dedicated hardware and computer instructions in the system of hardware.
In addition, each functional module in each embodiment of the present invention can integrate one independent portion of formation together
Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.It needs
Illustrate, herein, relational terms such as first and second and the like be used merely to by an entity or operation with
Another entity or operation distinguish, and without necessarily requiring or implying between these entities or operation, there are any this realities
The relationship or sequence on border.
The terms "include", "comprise" or any other variant thereof is intended to cover non-exclusive inclusion, so that packet
The process, method, article or equipment for including a series of elements not only includes those elements, but also including being not explicitly listed
Other element, or further include for elements inherent to such a process, method, article, or device.Do not limiting more
In the case where, the element that is limited by sentence "including a ...", it is not excluded that including process, method, the object of the element
There is also other identical elements in product or equipment.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should also be noted that similar label and letter exist
Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and explained.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
Claims (10)
1. a kind of sorting platform cleaning method, which is characterized in that be applied to packages platform, the packages platform includes
Server, transport device and clearing apparatus, which comprises
The server receives first and cleans instruction；
The first position that the acquisition second position and the transport device are presently in is based on the first position and second
It sets and generates first movement path, and control the transport device and be moved to based on the first movement path from the first position
The second position, and the control clearing apparatus enter the first position and are cleaned；
It receives second and cleans instruction；
The second position that acquisition first position and the transport device are presently in is based on the first position and second
It sets, generates the second movement routine, and control the transport device and be based on second movement routine from second position movement
Enter the second position to the first position, and the control clearing apparatus and cleaned.
2. the method according to claim 1, wherein described generated based on the first position and the second position
First movement path, and control the transport device and be based on the first movement path and be moved to described the from the first position
Two positions, and the control clearing apparatus enter the step of first position is cleaned, comprising:
First movement path is generated based on the first position and the second position, and controls the transport device and is based on described the
One movement routine is moved to the second position from the first position；
The clearing apparatus is controlled to be cleaned into the first position.
3. according to the method described in claim 2, it is characterized in that, described be based on the first position and the second position, life
At the second movement routine, and control the transport device be based on second movement routine be moved to from the second position it is described
First position, and the control clearing apparatus enter the step of second position is cleaned, comprising:
Based on the first position and the second position, the second movement routine is generated, and controls the transport device based on described
Second movement routine is moved to the first position from the second position；
The clearing apparatus is controlled to be cleaned into the second position.
4. the method according to claim 1, wherein the second movement routine of the generation, and controlling the transport
Device is based on the step of second movement routine is moved to the first position from the second position, comprising:
First working map is switched to the second working map by the server, and second working map includes the second mobile road
Diameter；
It is mobile mobile from the second position to control second movement routine of the transport device based on second working map
To the first position.
5. the method according to claim 1, wherein the generation first movement path, and controlling the transport
Device was based on after the step of first movement path is moved to the second position from the first position, and the method is also
Include:
It controls the transport device and enters halted state, so that the instruction to be received such as described transport device, without movement.
6. a kind of sorting platform cleaning method, which is characterized in that be applied to packages platform, the packages platform includes
Server, transport device and clearing apparatus, which comprises
The server receives first and cleans instruction, judges the position of the transport device Yu the clearing apparatus；
If the clearing apparatus and the transport device are in first position, the transport device or the clearing apparatus are controlled
It is moved to the preset second position, control clearing apparatus cleans the position being presently in；
If the clearing apparatus is in the first position, the transport device is in the second position, then controls the cleaning dress
It sets and the first position is cleaned, after receiving the second cleaning instruction, control the transport device and be moved to described the
One position controls the clearing apparatus and is moved to the second position, controls the clearing apparatus and carries out to the second position
It cleans.
7. a kind of sorting platform clearing apparatus, which is characterized in that be applied to packages platform, the packages platform includes
Server, transport device and clearing apparatus, the sorting platform clearing apparatus include:
First cleans instruction receiving unit, cleans instruction for receiving first；
First generation unit, the first position for obtaining the second position and the transport device is presently in, based on described
First position and the second position generate first movement path, and control the transport device be based on the first movement path from
The first position is moved to the second position, and the control clearing apparatus enters the first position and cleaned；
Second cleans instruction receiving unit, cleans instruction for receiving second；
Second generation unit, the second position for obtaining first position and the transport device is presently in, based on described
First position and the second position generate the second movement routine, and control the transport device and be based on second movement routine
It is moved to the first position from the second position, and the control clearing apparatus enters the second position and carries out clearly
It sweeps.
8. sorting platform clearing apparatus according to claim 7, which is characterized in that the sorting platform clearing apparatus also wraps
It includes:
First switch unit, for the first working map to be switched to the second working map, second working map includes institute
State the second movement routine；
First control unit is moved for controlling the transport device based on second movement routine of second working map
It moves to the first position.
9. sorting platform clearing apparatus according to claim 7, which is characterized in that the sorting platform clearing apparatus also wraps
It includes:
Second control unit enters halted state for controlling the transport device, so that the finger to be received such as described transport device
It enables, without movement.
10. a kind of sorting platform clearing apparatus, which is characterized in that be applied to packages platform, the packages platform packet
Server, transport device and clearing apparatus are included, the sorting platform clearing apparatus includes:
First judging unit cleans instruction for receiving first, judges the position of the transport device Yu the clearing apparatus；
Third control unit controls the transport device if the clearing apparatus and the transport device are in first position
Or the clearing apparatus is moved to the preset second position, control clearing apparatus cleans the position being presently in；
4th control unit, if the clearing apparatus is in the first position, the transport device is in the second position, then controls
It makes the clearing apparatus to clean the first position, after receiving the second cleaning instruction, controls the transport device
It is moved to the first position, the clearing apparatus is controlled and is moved to the second position, controls the clearing apparatus to described
The second position is cleaned.
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| CN201611114966.3A CN106483889B (en) | 2016-12-07 | 2016-12-07 | Sort platform cleaning method and device |
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|---|---|---|---|
| CN201611114966.3A CN106483889B (en) | 2016-12-07 | 2016-12-07 | Sort platform cleaning method and device |
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| CN107563708B (en) * | 2017-09-30 | 2023-04-07 | 北京极智嘉科技股份有限公司 | Article sorting system and method |
| CN109911643B (en) * | 2019-04-02 | 2020-09-15 | 上海快仓智能科技有限公司 | Material putting method, control device, equipment and system |
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| CN105182978A (en) * | 2015-09-29 | 2015-12-23 | 江苏美的清洁电器股份有限公司 | Cleaning device, cleaning system and cleaning method |
| CN105479490A (en) * | 2015-12-24 | 2016-04-13 | 华中科技大学 | Real-time dynamic obstacle avoidance device and obstacle avoidance method of dual robots |
| CN105759824A (en) * | 2016-05-13 | 2016-07-13 | 杭州亚美利嘉科技有限公司 | Cleaning method and system for sorting platform |
| CN205608521U (en) * | 2016-05-13 | 2016-09-28 | 南京工程学院 | Dining room service robot system based on IGPS and inside communication |
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| EP1776623B1 (en) * | 2004-06-24 | 2011-12-07 | iRobot Corporation | Remote control scheduler and method for autonomous robotic device |
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| CN105182978A (en) * | 2015-09-29 | 2015-12-23 | 江苏美的清洁电器股份有限公司 | Cleaning device, cleaning system and cleaning method |
| CN105479490A (en) * | 2015-12-24 | 2016-04-13 | 华中科技大学 | Real-time dynamic obstacle avoidance device and obstacle avoidance method of dual robots |
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