CN105759824B - Sort the clean method and system of platform - Google Patents
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- CN105759824B CN105759824B CN201610319592.2A CN201610319592A CN105759824B CN 105759824 B CN105759824 B CN 105759824B CN 201610319592 A CN201610319592 A CN 201610319592A CN 105759824 B CN105759824 B CN 105759824B
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- 238000004140 cleaning Methods 0.000 claims abstract description 24
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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Abstract
The present invention provides a kind of clean methods and system for sorting platform, are related to goods sorting technical field.This method includes the first parsing result for obtaining auto-navigation sorting equipment and uploading；Count the ratio that result in all first parsing results obtained in scheduled first time interval is non-successfully resolved；The first control information is issued to auto-navigation clearing apparatus when result is first threshold of the ratio of non-successfully resolved more than setting in all first parsing results of acquisition, so that the auto-navigation clearing apparatus cleans sorting platform.The clean method and system of sorting platform provided by the invention may make the surface of sorting platform to keep cleaning, and more traditional clean method is compared, and the cleaning for sorting platform is more convenient, reduces paying for labour, improves the efficiency and accuracy rate of sorting.
Description
Technical field
The present invention relates to goods sorting technical fields, in particular to a kind of clean method and system for sorting platform.
Background technique
In traditional packages platform, the multi-section auto-navigation trolley sorted on platform passes through the view on scanning platform face
Feel that navigation tag carries out identification and judges direction, to carry out packages.Currently, general be wrapped in when being transported, need
The woven bag for holding package to be dismantled, certain clast can be generated at this time, simultaneous transmission band may also bring some rubbish, and
It is sent to the pallet of auto-navigation trolley together with package, part clast and rubbish can be fallen on platform during transport, work
After making a period of time, the clast and rubbish that can be accumulated on platform can block the vision guided navigation label in sorting flat surface, thus shadow
The scanning work for ringing auto-navigation trolley, causes the walking direction of auto-navigation trolley to break down, so that sorting process goes wrong.
Summary of the invention
The purpose of the present invention is to provide a kind of clean methods and system for sorting platform, to improve above-mentioned problem.
To achieve the goals above, The technical solution adopted by the invention is as follows:
A kind of clean method sorting platform, comprising:
It include: the first parsing result for obtaining auto-navigation sorting equipment and uploading；
Count the ratio that result in all first parsing results obtained in scheduled first time interval is non-successfully resolved
Example；
When result is first threshold of the ratio of non-successfully resolved more than setting in all first parsing results of acquisition
The first control information is issued to auto-navigation clearing apparatus, so that the auto-navigation clearing apparatus cleans sorting platform.
The clean method of sorting platform as described above, it is preferable that in the first solution for obtaining the upload of auto-navigation sorting equipment
Before analysing result, the method also includes:
Obtain the navigation tag on sorting platform；
The navigation tag got is parsed to obtain first parsing result.
The clean method of sorting platform as described above, it is preferable that the quantity of the navigation tag be it is multiple, described pair is obtained
The navigation tag got is parsed the step of obtaining first parsing result and includes:
The navigation tag each of on the sorting platform of acquisition is parsed, the multiple and clearing mark is obtained
Sign one-to-one first parsing result；
Result is non-successfully resolved in all first parsing results obtained in the scheduled first time interval of statistics
Ratio the step of include:
Counting result in all first parsing results of each navigation tag obtained in scheduled first time interval is
The ratio of non-successfully resolved.
The clean method of sorting platform as described above, it is preferable that the method also includes:
Obtain the second parsing result that auto-navigation clearing apparatus uploads；
Count the ratio that result in all second parsing results obtained in scheduled second time interval is successfully resolved；
When result is second threshold of the ratio of successfully resolved more than setting in all second parsing results to auto-navigation
Clearing apparatus issues the second control information, so that the auto-navigation clearing apparatus is back to predetermined position.
The clean method of sorting platform as described above, it is preferable that in the second solution for obtaining the upload of auto-navigation clearing apparatus
Before analysing result, the method also includes:
Obtain the navigation tag on sorting platform；
The navigation tag got is parsed to obtain second parsing result.
The present invention also provides a kind of cleaning systems for sorting platform, which includes:
Auto-navigation sorting equipment, for uploading the first parsing result to controller；
Controller counts between scheduled first time for obtaining the first parsing result of auto-navigation sorting equipment upload
Every the ratio that result in all first parsing results of interior acquisition is non-successfully resolved, and when all first parsing knots obtained
In fruit result be non-successfully resolved ratio be more than setting first threshold when to auto-navigation clearing apparatus issue first control letter
Breath；
Auto-navigation clearing apparatus, for after receiving the first control information that the controller is sent to sorting platform into
Row cleans.
The cleaning systems of sorting platform as described above, it is preferable that the auto-navigation sorting equipment is also used to obtain sorting
Navigation tag on platform, and the navigation tag got is parsed to obtain first parsing result.
The cleaning systems of sorting platform as described above, it is preferable that the quantity of the navigation tag is multiple, the self-conductance
Boat sorting equipment each of is also used on the sorting platform to acquisition the navigation tag and parses, and obtains multiple and institute
One-to-one first parsing result of navigation tag is stated, the controller is also used to count in scheduled first time interval
Result is the ratio of non-successfully resolved in all first parsing results of each navigation tag obtained.
The cleaning systems of sorting platform as described above, it is preferable that the controller is also used to obtain auto-navigation and cleans dress
The second parsing result of upload is set, counting result in all second parsing results obtained in scheduled second time interval is solution
Successful ratio is analysed, and when result is second threshold of the ratio of successfully resolved more than setting in all second parsing results
The second control information is issued to auto-navigation clearing apparatus；
The auto-navigation clearing apparatus is also used to be back to predetermined position after receiving the second control information.
The cleaning systems of sorting platform as described above, it is preferable that the auto-navigation clearing apparatus is also used to obtain sorting
Navigation tag on platform, and the navigation tag got is parsed to obtain second parsing result.
For the prior art, the clean method and system of sorting platform provided by the invention have it is following the utility model has the advantages that
It is provided by the invention sorting platform clean method and system by obtain auto-navigation sorting equipment upload to point
It picks the navigation tag on platform and carries out the parsing result that obtains of parsing, and count in predetermined time period that result is in parsing result
The ratio of non-successfully resolved, to judge the clean-up performance of sorting platform surface.Meanwhile when the ratio is more than the threshold value set
When, control information is issued to auto-navigation clearing apparatus, is cleaned with controlling auto-navigation clearing apparatus to sorting platform, to make
The surface that platform must be sorted keeps cleaning, and more traditional clean method is compared, and the cleaning for sorting platform is more convenient, reduces labor
Power is paid, and the efficiency and accuracy rate of sorting are improved.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
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 composition schematic diagram of the cleaning systems for the sorting platform that first embodiment of the invention provides；
Fig. 2 is the block diagram representation of auto-navigation sorting equipment in Fig. 1；
Fig. 3 is the block diagram representation of auto-navigation clearing apparatus in Fig. 1；
Fig. 4 is the flow chart of the clean method for the sorting platform that second embodiment of the invention provides.
Wherein, the corresponding relationship between appended drawing reference and component names is as follows:
Auto-navigation sorting equipment 100, the first image acquisition unit 101, the first resolution unit 102, controller 200, self-conductance
Navigate clearing apparatus 300, the second image acquisition unit 301, and the second resolution unit 302 sorts platform 400.
Specific embodiment
In traditional packages platform, the multi-section auto-navigation trolley sorted on platform passes through the view on scanning platform face
Feel that navigation tag carries out identification and judges direction, to carry out packages.Currently, general be wrapped in when being transported, need
The woven bag for holding package to be dismantled, certain clast can be generated at this time, simultaneous transmission band may also bring some rubbish, and
It is sent to the pallet of auto-navigation trolley together with package, part clast and rubbish can be fallen on platform during transport, work
After making a period of time, the clast and rubbish that can be accumulated on platform can block the vision guided navigation label in sorting flat surface, thus shadow
The scanning work for ringing auto-navigation trolley, causes the walking direction of auto-navigation trolley to break down, so that sorting process goes wrong.
Inventor is by long-term observation and the study found that proposes the clean method of sorting platform provided by the embodiment of the present invention and is
System.
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, is not intended to limit claimed invention to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
Range, but it is merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
First embodiment
Referring to Fig. 1, being the composition schematic diagram of the cleaning systems of sorting platform provided in an embodiment of the present invention, the sorting
The cleaning systems of platform be used for sorting package sorting platform surface cleaned so that sort platform surface holding clean,
As shown in Figure 1, the cleaning systems of the sorting platform include that auto-navigation sorting equipment 100, controller 200 and auto-navigation clean dress
Set 300.
Wherein, auto-navigation sorting equipment 100 is used to upload the first parsing result to controller 200.Controller 200 is for obtaining
It is derived from the first parsing result that navigation sorting equipment 100 uploads, counts all first obtained in scheduled first time interval
Result is the ratio of non-successfully resolved in parsing result, and working as result in all first parsing results obtained is not to be parsed into
The first control information is issued to auto-navigation clearing apparatus 300 when the ratio of function is more than the first threshold of setting.Auto-navigation cleans dress
300 are set for cleaning after receiving the first control information that the controller 200 is sent to sorting platform 400.
In the present embodiment, auto-navigation sorting equipment 100 refers to the self-conductance for goods handling of view-based access control model navigation principle
It navigates trolley (auto-navigation robot), auto-navigation clearing apparatus 300 refers to the auto-navigation for cleaning of view-based access control model navigation principle
Trolley.
Referring to Fig. 2, sorting 400 surface of platform is provided with navigation tag, it include multiple groups in each navigation tag for knowing
Not Bian Hao the information such as (position), angle and offset identification information, be provided on auto-navigation sorting equipment 100 for obtaining point
Pick the first image acquisition unit 101 (such as video camera) of the navigation tag on 400 surface of platform and for parsing leading for acquisition
First resolution unit 102 (being such as equipped with the image recognition apparatus of respective image identification software) of navigation mark label, in this example, image
Identification software is the prior art, does not carry out any improvement to it in the present embodiment.
Auto-navigation sorting equipment 100 passes through its first image acquisition unit 101 when transporting package on sorting platform 400
The navigation tag on sorting 400 surface of platform is got, and by the first resolution unit 102 in the navigation tag got
Every group of identification information is parsed, and corresponding first parsing result is obtained.When sorting 400 surface of platform on clast and rubbish compared with
When few, the navigation tag that the first image acquisition unit 101 obtains is relatively clear, can pass through the first resolution unit of image at this time
102 parse the information such as the number, angle and position of every group of identification information, i.e. parsing result is successfully resolved, auto-navigation sorting
Device 100 can be moved according to the information parsed according to scheduled running route, and will package be smoothly transported to it is specified
Position.Auto-navigation sorting equipment 100 sort platform 400 on transport package too long when, sort 400 surface of platform on can accumulate compared with
More clasts and rubbish, the navigation tag for causing the first image acquisition unit 101 to obtain is unintelligible, at this time the first parsing of image
Unit 102 can not parse corresponding information, i.e. parsing result is non-successfully resolved, the walking direction of auto-navigation sorting equipment 100
It is likely to occur failure, package possibly can not be transported to specified position by auto-navigation sorting equipment 100, so that sorting process occurs
Problem.
Controller 200 receives the first parsing result that each auto-navigation sorting equipment 100 uploads, and counts and presetting
First time interval in obtain all first parsing results in result be non-successfully resolved ratio.When the ratio of the statistics
More than setting first threshold (such as 3%, 5%) when, illustrate sort platform 400 on the navigation tag surface hoard have it is more
Clast and rubbish, at this point, controller 200 issues the first control information, auto-navigation clearing apparatus to auto-navigation clearing apparatus 300
300 receive the first control information starting and clean to the navigation tag on sorting platform 400.
In the present embodiment, parsing result is that non-successfully resolved refers to, the multiple groups identification information part in same navigation tag
It is not resolved.For example, 9 groups of identification informations in same navigation tag regard as this as long as not being resolved more than 5 groups
The non-successfully resolved of navigation tag.In this way, when the identification information that cannot be resolved in a certain navigation tag is more than certain group number
When, controller 200 can control auto-navigation clearing apparatus 300 at once and clean to the navigation tag, thus avoid as far as possible by
It is excessive in clast and rubbish and the case where cause identification information all in same navigation tag that cannot be resolved, really
Protecting auto-navigation sorting equipment 100 can be by navigation tag accurate navigation, i.e. packages are accurate.
Referring to Fig. 3, likewise, auto-navigation clearing apparatus 300 is provided with for obtaining leading on sorting 400 surface of platform
Second resolution unit 302 of the second image acquisition unit 301 of navigation mark label and the navigation tag for parsing acquisition.Auto-navigation
Clearing apparatus 300 passes through its second image acquisition unit when cleaning to the navigation tag on sorting platform 400
301 get the navigation tag on sorting 400 surface of platform, and by the second resolution unit 302 to the navigation tag got
It is parsed, obtains corresponding second parsing result, and be uploaded to controller 200.
Controller 200 receives the second parsing result that auto-navigation clearing apparatus 300 uploads, and counts preset the
Result is the ratio of successfully resolved in all second parsing results obtained in two time intervals.When the ratio of the statistics is more than to set
When fixed second threshold, illustrate that the navigation tag for sorting 400 surface of platform extremely cleans, at this point, controller 200 is clear to auto-navigation
Sweeping device 300 sends the second control information, and auto-navigation clearing apparatus 300 is back to predetermined position after receiving the second control information
It stays where one is, pending further orders.
It should be noted that the size of second threshold need to meet 1 size for being less than first threshold with the difference of second threshold,
It just can ensure that, when sorting the clast and excessive rubbish on 400 surface of platform, controller 200 can control auto-navigation and clean dress in this way
The navigation tag set on 300 pairs of sorting platforms 400 cleans.
In the present embodiment, the quantity for sorting the navigation tag on platform 400 is preferably several, with every 0.5 meter or so one
To be preferable, auto-navigation sorting equipment 100 can parse each navigation tag when transporting package on sorting platform 400, unite
Meter each navigation tag in the first time interval of setting is not resolved successful ratio, and to not being resolved successful ratio
Navigation tag more than the first threshold of setting is cleaned, it is ensured that and each navigation tag on sorting platform 400 keeps cleaning,
Guarantee that package can be transported to specified position by auto-navigation sorting equipment 100, i.e. packages are accurate.
In the present embodiment, the ratio that result in parsing result is successfully resolved (or failed) is counted, is not limited only to above-mentioned
The mode counted in the time interval of setting.It can also be by counting same navigation tag continuously multiple parsing results
Middle result is the ratio of successfully resolved (or non-successfully resolved).For example, when auto-navigation sorting equipment 100 obtains navigation tag,
Can count the ratio that result in nearest continuous 20 the first parsing results of same navigation tag is non-successfully resolved, and by it
As the standard compared with first threshold.
The cleaning systems of sorting platform provided in this embodiment, the implementation for sorting the navigation tag on platform 400 can
There are many, such as two dimensional code or bar code etc., it is preferable with two dimensional code.
Second embodiment
Referring to Fig. 4, the embodiment of the invention provides a kind of clean method for sorting platform, it below will be to shown in Fig. 4
Detailed process is described in detail.
Step S401, counting result in all first parsing results obtained in first time interval is non-successfully resolved
Ratio.
Sorting platform surface is provided with a navigation tag at a certain distance, includes multiple groups in each navigation tag for knowing
Not Bian Hao the information such as (position), angle and offset identification information, be provided with for obtaining sorting on auto-navigation sorting equipment
First parsing of the first image acquisition unit of the navigation tag on platform surface and the navigation tag for parsing acquisition is single
Member.
Auto-navigation sorting equipment gets sorting by its first image acquisition unit when sorting platform row transport package
Each navigation tag on platform surface, and each navigation tag got is parsed by the first resolution unit, it obtains
To with one-to-one multiple first parsing results of each navigation tag, and be uploaded to controller.
Controller receives the first parsing result that each auto-navigation sorting equipment uploads, and counts preset first
Result is the ratio of non-successfully resolved in all first parsing results of the same navigation tag obtained in time interval.
Step S402 judges that whether result is the ratio of non-successfully resolved more than the in all first parsing results obtained
One threshold value, if it is execution step S403.
Controller judges result in all first parsing results of the same navigation tag obtained in first time interval
It whether is more than first threshold for the ratio of non-successfully resolved, if it is execution step S403.If not then continuing to count and sentence
Result is the ratio of successfully resolved in all first parsing results of the same navigation tag obtained in next first time interval of breaking
Whether example is more than first threshold, until all the of the same navigation tag that obtains in some next first time interval
Result is until the ratio of successfully resolved is more than first threshold in one parsing result.
Step S403 issues the first control information to auto-navigation clearing apparatus.
Controller issues the first control information to auto-navigation clearing apparatus, and auto-navigation clearing apparatus receives the first control letter
Breath starting and to result in all first parsing results be successfully resolved ratio be more than the corresponding navigation tag of first threshold into
Row cleans.
Step S404 counts the ratio that result in all second parsing results obtained in the second time interval is successfully resolved
Example.
The second image that auto-navigation clearing apparatus is also equipped with for obtaining the navigation tag on sorting platform surface obtains
Second resolution unit of unit and the navigation tag for parsing acquisition.It is cleaned to the navigation tag on sorting platform
When, while the navigation tag on sorting platform surface is got by its second image acquisition unit, and single by the second parsing
Member parses the navigation tag got, obtains corresponding second parsing result, and be uploaded to controller.
Controller receives the second parsing result that auto-navigation clearing apparatus uploads, and counts in preset second time
Result is the ratio of successfully resolved in all second parsing results of the same navigation tag cleaned obtained in interval.
Step S405 judges that whether result is the ratio of successfully resolved more than second in all second parsing results obtained
Threshold value, if it is execution step S406.
Controller judges all second parsing knots of the same navigation tag cleaned obtained in the second time interval
Result is whether the ratio of successfully resolved is more than second threshold in fruit, if it is step S406 is executed, if not then continuing to unite
It counts and judges to obtain in next second time interval in all second parsing results of same navigation tag result to be parsed into
Whether the ratio of function is more than second threshold, until the same navigation tag that obtains in some next second time interval
Result is until the ratio of successfully resolved is more than second threshold in all second parsing results.
Step S406 issues the second control information to auto-navigation clearing apparatus.
When the ratio of the statistics is more than the second threshold of setting, controller sends the second control to auto-navigation clearing apparatus
Information.Auto-navigation clearing apparatus, which receives, to be back to predetermined position after the second control information and stays where one is, pending further orders.
It should be noted that controller can be the servers such as network server, database server in the present embodiment,
It is also possible to that the intelligent terminal (such as computer) of corresponding application programs is installed.
In conclusion the clean method and system of sorting platform provided in an embodiment of the present invention are by obtaining auto-navigation sorting
What device uploaded carries out the first parsing result for obtaining of parsing to the navigation tag on sorting platform, and when counting scheduled first
Between be spaced in the first parsing result result be ratio shared by the first parsing result of non-successfully resolved, to judge to sort
The clean-up performance of platform surface issues control information to auto-navigation clearing apparatus when the ratio is more than the first threshold set, with
Control auto-navigation clearing apparatus cleans sorting platform.During cleaning to sorting platform, auto-navigation is obtained
The second parsing result that clearing apparatus uploads, and count in all second parsing results obtained in scheduled second time interval
It as a result is ratio shared by the second parsing result of successfully resolved, to judge to sort whether platform is cleaned up, when the ratio
The second control information is issued to auto-navigation clearing apparatus when example is more than the second threshold of setting, so that the auto-navigation clearing apparatus
Predetermined position is back to await orders.Therefore, the clean method of sorting platform and system provided by the embodiment of the present invention may make
When packages, the surface for sorting platform keeps cleaning, and more traditional clean method is compared, and sorts the cleaning of platform more just
Victory reduces paying for labour, improves the efficiency and accuracy rate of sorting.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in 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.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do
Invention product using when the orientation or positional relationship usually put, be merely for convenience of description of the present invention and simplification of the description, without
It is that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore not
It can be interpreted as limitation of the present invention.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and cannot manage
Solution is indication or suggestion relative importance.
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.
Claims (6)
1. a kind of clean method for sorting platform characterized by comprising
The navigation tag on sorting platform is obtained, the navigation tag got is parsed to obtain the first parsing result；
Obtain first parsing result that auto-navigation sorting equipment uploads；
Count the ratio that result in all first parsing results obtained in scheduled first time interval is non-successfully resolved；
When result is first threshold of the ratio of non-successfully resolved more than setting in all first parsing results of acquisition to certainly
The clearing apparatus that navigates issues the first control information, so that the auto-navigation clearing apparatus cleans sorting platform.
2. the method according to claim 1, wherein the quantity of the navigation tag is multiple, described pair of acquisition
To the navigation tag parsed the step of obtaining the first parsing result and include:
The navigation tag each of on the sorting platform of acquisition is parsed, the multiple and navigation tag one is obtained
One corresponding first parsing result；
Result is the ratio of non-successfully resolved in all first parsing results obtained in the scheduled first time interval of statistics
Example the step of include:
Counting result in all first parsing results of each navigation tag obtained in scheduled first time interval is not solve
Analyse successful ratio.
3. the method according to claim 1, wherein the method also includes:
The navigation tag on sorting platform is obtained, the navigation tag got is parsed to obtain the second parsing result；
Obtain second parsing result that auto-navigation clearing apparatus uploads；
Count the ratio that result in all second parsing results obtained in scheduled second time interval is successfully resolved；
It is cleaned when result is second threshold of the ratio of successfully resolved more than setting in all second parsing results to auto-navigation
Device issues the second control information, so that the auto-navigation clearing apparatus is back to predetermined position.
4. a kind of cleaning systems for sorting platform characterized by comprising
Auto-navigation sorting equipment, for obtain sorting platform on navigation tag, and to the navigation tag got into
Row parsing obtains the first parsing result, uploads first parsing result to controller；
Controller, the first parsing result uploaded for obtaining the auto-navigation sorting equipment counted between scheduled first time
Every the ratio that result in all first parsing results of interior acquisition is non-successfully resolved, and when all first parsing knots obtained
In fruit result be non-successfully resolved ratio be more than setting first threshold when to auto-navigation clearing apparatus issue first control letter
Breath；
Auto-navigation clearing apparatus is clear for carrying out after receiving the first control information that the controller is sent to sorting platform
It sweeps.
5. the cleaning systems of sorting platform according to claim 4, which is characterized in that the quantity of the navigation tag is more
A, each of the auto-navigation sorting equipment is also used on the sorting platform to acquisition, and the navigation tag parses,
Obtain multiple first parsing results one-to-one with the navigation tag, the controller is also used to count scheduled the
Result is the ratio of non-successfully resolved in all first parsing results of each navigation tag obtained in one time interval.
6. the cleaning systems of sorting platform according to claim 4, which is characterized in that the auto-navigation clearing apparatus is also used
Navigation tag on acquisition sorting platform, and the navigation tag got is parsed to obtain the second parsing knot
Fruit；
The controller is also used to obtain the second parsing result that the auto-navigation clearing apparatus uploads, when counting scheduled second
Between be spaced in all second parsing results for obtaining result be successfully resolved ratio, and in all second parsing results
The second control information is issued to auto-navigation clearing apparatus when being more than as a result the second threshold of setting for the ratio of successfully resolved；
The auto-navigation clearing apparatus is also used to be back to predetermined position after receiving the second control information.
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100370226C (en) * | 2004-07-23 | 2008-02-20 | 东北大学 | Method for visual guiding by manual road sign |
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| CN202372856U (en) * | 2011-12-30 | 2012-08-08 | 长春艾希技术有限公司 | Safety-guaranteed system device of non-contact power supply automatic guided vehicle |
| CN102341322B (en) * | 2009-01-17 | 2014-08-13 | 布穆朗系统有限公司 | Variable offset positioning antenna array for enhanced guidance of automated guided vehicles (agvs) |
| US8989900B2 (en) * | 2012-03-16 | 2015-03-24 | Kabushiki Kaisha Yaskawa Denki | Robot system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100370226C (en) * | 2004-07-23 | 2008-02-20 | 东北大学 | Method for visual guiding by manual road sign |
| US7877166B2 (en) * | 2005-06-28 | 2011-01-25 | S.C. Johnson & Son, Inc. | RFID navigational system for robotic floor treater |
| CN102341322B (en) * | 2009-01-17 | 2014-08-13 | 布穆朗系统有限公司 | Variable offset positioning antenna array for enhanced guidance of automated guided vehicles (agvs) |
| CN202372856U (en) * | 2011-12-30 | 2012-08-08 | 长春艾希技术有限公司 | Safety-guaranteed system device of non-contact power supply automatic guided vehicle |
| US8989900B2 (en) * | 2012-03-16 | 2015-03-24 | Kabushiki Kaisha Yaskawa Denki | Robot system |
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| CN105759824A (en) | 2016-07-13 |
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