CN107456163A - A kind of unmanned supermarket's health automation clean method - Google Patents
A kind of unmanned supermarket's health automation clean method Download PDFInfo
- Publication number
- CN107456163A CN107456163A CN201710795442.3A CN201710795442A CN107456163A CN 107456163 A CN107456163 A CN 107456163A CN 201710795442 A CN201710795442 A CN 201710795442A CN 107456163 A CN107456163 A CN 107456163A
- Authority
- CN
- China
- Prior art keywords
- unmanned supermarket
- robot
- health
- cleaning
- sweeping robot
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The invention discloses a kind of unmanned supermarket's health automation clean method, S1：After unmanned supermarket system starts cleaning task, unmanned supermarket system, which is sent, cleans instruction to the sweeping robot positioned at waiting area；S2：Rectangular coordinate system is established using recharging base as the origin of coordinates and on robot working face；S3：Sweeping robot leaves waiting area and enters unmanned supermarket's car by Vomitory, sniffing robot external environmental information, establishes grating map；S4：By region segmentation to be cleaned into unit area in grating map；S5：Run, cleaned by the cleaning path cooked up；S6：In cleaning process, roadblock scanning is carried out, avoidance is carried out when running into obstacle barrier position information record is entered in map datum simultaneously；S7：Judge whether to have swept the cleanable grid of whole；S8：Terminate.Automaticity is the method increase, and has saved the artificial expenditure cost of street cleaner, and improves sweeping efficiency.
Description
Technical field
The present invention relates to unmanned supermarket's technical field, specially a kind of unmanned supermarket's health automation clean method.
Background technology
Unmanned supermarket is the new development trend of following retail trade.By the terminal inside supermarket, user can enter to do business
The selection of product, merchandise news are checked, self-help settlement etc..According to the needs of function, unmanned supermarket system needs to apply journey with multiple
Sequence/system carries out network docking, such as inventory management system, payment system, subscriber authentication system, delivery system.Unmanned supermarket
It is unattended because flow of the people is excessive, health be easy to it is dirty and messy, if ask special messenger clean, the operating efficiency of cleanup crew is low, and
And add the artificial expenditure cost of cleanup crew.In the prior art, lack a kind of specifically for unmanned supermarket's hygiene
Method.
The content of the invention
It is an object of the invention to provide a kind of unmanned supermarket's health automation clean method, to solve above-mentioned background technology
The problem of middle proposition.
To achieve the above object, the present invention provides following technical scheme：A kind of unmanned supermarket's health automation clean method,
Unmanned supermarket's health automation clean method：
S1：After unmanned supermarket system starts cleaning task, unmanned supermarket system, which is sent, cleans instruction to positioned at waiting area
Sweeping robot, unmanned supermarket system open the Vomitory of sweeping robot simultaneously；
S2：Rectangular coordinate system is established using recharging base as the origin of coordinates and on robot working face, passes through robot
Several equally distributed ultrasonic distance-measuring sensors receive the ultrasonic signal from recharging base on fuselage, judge robot
It is whether sufficient positioned at recharging base and electricity, when robot is located at recharging base and electricity abundance, into S3, otherwise return
Return recharging base and charged in not enough power supply, subsequently into S3；
S3：Sweeping robot leaves waiting area and enters unmanned supermarket's car by Vomitory, outside sniffing robot
Environmental information, establish grating map；
S4：Region segmentation to be cleaned is first found out into the border conduct of unit area into unit area in grating map
The first step in path is cleaned, then abscissa is constant in the rectangular area of monoblock, and along ordinate, direction is moved from small to large,
After outreaching, a grid is moved further along horizontal direction, then ordinate from big to small move by direction, carries out successively, directly
Path is cleaned to cooking up；
S5：Run, cleaned by the cleaning path cooked up, and complete reckoning positioning；
S6：In cleaning process, roadblock scanning is carried out, carrying out avoidance when running into obstacle simultaneously believes barrier position
Breath is recorded into map datum；
S7：Judge whether to have swept the cleanable grid of whole, enter step 9 if completion is cleaned；If being not over, return
Return S2；
S8：Terminate, sweeping robot returns to waiting area.
Preferably, the unmanned supermarket system, which is provided with, cleans the time, reaches after cleaning the time, judges unmanned supermarket for the spare time
During configuration state, unmanned supermarket system starts cleaning task.
Preferably, after the unmanned supermarket system receives manual command, when judging unmanned supermarket for idle state, nobody
Supermarket system starts cleaning task.
Preferably, when the Vomitory breaks down, sweeping robot can not enter unmanned supermarket by Vomitory
Car, unmanned supermarket system send fault-signal.
Preferably, the sweeping robot is in cleaning process, when calling together or calling instruction together outside in sweeping robot receives,
Terminate this time to clean, sweeping robot returns to waiting area, waits clean instruction next time.
Compared with prior art, the beneficial effects of the invention are as follows：This unmanned supermarket's health automation clean method, passes through nothing
People's supermarket system sends cleaning instruction and starts cleaning task to sweeping robot, and after the completion of task to be cleaned, sweeping robot returns
The waiting area of unmanned supermarket is returned to, unmanned supermarket's automatic cleaning function is realized, improves automaticity, and saved cleaning
The artificial expenditure cost of worker, and improve sweeping efficiency.
Embodiment
Below in conjunction with the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described,
Obviously, described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Based in the present invention
Embodiment, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made, all
Belong to the scope of protection of the invention.
The present invention provides a kind of technical scheme：A kind of unmanned supermarket's health automation clean method, the unmanned supermarket defends
Raw automation clean method：
S1：After unmanned supermarket system starts cleaning task, unmanned supermarket system, which is sent, cleans instruction to positioned at waiting area
Sweeping robot, unmanned supermarket system open the Vomitory of sweeping robot simultaneously；
S2：Rectangular coordinate system is established using recharging base as the origin of coordinates and on robot working face, passes through robot
Several equally distributed ultrasonic distance-measuring sensors receive the ultrasonic signal from recharging base on fuselage, judge robot
It is whether sufficient positioned at recharging base and electricity, when robot is located at recharging base and electricity abundance, into S3, otherwise return
Return recharging base and charged in not enough power supply, subsequently into S3；
S3：Sweeping robot leaves waiting area and enters unmanned supermarket's car by Vomitory, outside sniffing robot
Environmental information, establish grating map；
S4：Region segmentation to be cleaned is first found out into the border conduct of unit area into unit area in grating map
The first step in path is cleaned, then abscissa is constant in the rectangular area of monoblock, and along ordinate, direction is moved from small to large,
After outreaching, a grid is moved further along horizontal direction, then ordinate from big to small move by direction, carries out successively, directly
Path is cleaned to cooking up；
S5：Run, cleaned by the cleaning path cooked up, and complete reckoning positioning；
S6：In cleaning process, roadblock scanning is carried out, carrying out avoidance when running into obstacle simultaneously believes barrier position
Breath is recorded into map datum；
S7：Judge whether to have swept the cleanable grid of whole, enter step 9 if completion is cleaned；If being not over, return
Return S2；
S8：Terminate, sweeping robot returns to waiting area.
The unmanned supermarket system, which is provided with, cleans the time, reaches after cleaning the time, judges unmanned supermarket for idle state
When, unmanned supermarket system starts cleaning task.
After the unmanned supermarket system receives manual command, when judging unmanned supermarket for idle state, unmanned system of supermarket
System starts cleaning task.
When the Vomitory breaks down, sweeping robot can not enter unmanned supermarket's car, nothing by Vomitory
People's supermarket system sends fault-signal.
The sweeping robot in cleaning process, when sweeping robot receive in call together or call instruction together outside when, terminate this
Secondary cleaning, sweeping robot return to waiting area, wait clean instruction next time.
This unmanned supermarket's health automation clean method, cleaning instruction is sent to sweeping robot by unmanned supermarket system
Start cleaning task, after the completion of task to be cleaned, sweeping robot returns to the waiting area of unmanned supermarket, realizes unmanned supermarket
Automatic cleaning function, automaticity is improved, and saved the artificial expenditure cost of street cleaner, and improve cleaning effect
Rate.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (5)
- A kind of 1. unmanned supermarket's health automation clean method, it is characterised in that unmanned supermarket's health automation cleaning side Method：S1：After unmanned supermarket system starts cleaning task, unmanned supermarket system, which is sent, cleans instruction to sweeping the floor positioned at waiting area Robot, unmanned supermarket system open the Vomitory of sweeping robot simultaneously；S2：Rectangular coordinate system is established using recharging base as the origin of coordinates and on robot working face, passes through robot fuselage Several upper equally distributed ultrasonic distance-measuring sensors receive the ultrasonic signal from recharging base, whether judge robot It is whether sufficient positioned at recharging base and electricity, when robot is located at recharging base and electricity abundance, into S3, otherwise returns and fill Electric pedestal is simultaneously charged in not enough power supply, subsequently into S3；S3：Sweeping robot leaves waiting area and enters unmanned supermarket's car, sniffing robot external environment condition by Vomitory Information, establish grating map；S4：Region segmentation to be cleaned is first found out into the border of unit area as cleaning into unit area in grating map The first step in path, then abscissa is constant in the rectangular area of monoblock, and along ordinate, direction is moved from small to large, reaches Behind top, a grid is moved further along horizontal direction, then ordinate from big to small move by direction, carries out successively, until rule Mark and clean path；S5：Run, cleaned by the cleaning path cooked up, and complete reckoning positioning；S6：In cleaning process, roadblock scanning is carried out, carrying out avoidance when running into obstacle simultaneously remembers barrier position information Record into map datum；S7：Judge whether to have swept the cleanable grid of whole, enter step 9 if completion is cleaned；If being not over, S2 is returned；S8：Terminate, sweeping robot returns to waiting area.
- 2. unmanned supermarket's health automation clean method as claimed in claim 1, it is characterised in that the unmanned supermarket system It is provided with and cleans the time, reach after cleaning the time, when judging unmanned supermarket for idle state, unmanned supermarket system, which starts to clean, appoints Business.
- 3. unmanned supermarket's health automation clean method as claimed in claim 1, it is characterised in that the unmanned supermarket system After receiving manual command, when judging unmanned supermarket for idle state, unmanned supermarket system starts cleaning task.
- 4. unmanned supermarket's health automation clean method as claimed in claim 1, it is characterised in that the Vomitory occurs During failure, sweeping robot can not enter unmanned supermarket's car by Vomitory, and unmanned supermarket system sends fault-signal.
- 5. unmanned supermarket's health automation clean method as claimed in claim 1, it is characterised in that the sweeping robot exists In cleaning process, when calling together or calling instruction together outside in sweeping robot receives, terminate this time to clean, sweeping robot returns to Area is waited, waits clean instruction next time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710795442.3A CN107456163A (en) | 2017-09-06 | 2017-09-06 | A kind of unmanned supermarket's health automation clean method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710795442.3A CN107456163A (en) | 2017-09-06 | 2017-09-06 | A kind of unmanned supermarket's health automation clean method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107456163A true CN107456163A (en) | 2017-12-12 |
Family
ID=60551129
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710795442.3A Pending CN107456163A (en) | 2017-09-06 | 2017-09-06 | A kind of unmanned supermarket's health automation clean method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108460584A (en) * | 2018-04-15 | 2018-08-28 | 杨国超 | A kind of unmanned Supermarket Management System |
| CN109645892A (en) * | 2018-12-12 | 2019-04-19 | 深圳乐动机器人有限公司 | A kind of recognition methods of barrier and clean robot |
| CN111493749A (en) * | 2019-01-31 | 2020-08-07 | 北京奇虎科技有限公司 | Sweeping robot-based sweeping method and device, electronic equipment and storage medium |
| CN112859862A (en) * | 2021-01-15 | 2021-05-28 | 珠海市一微半导体有限公司 | Method and system for map correction by charging pile |
| CN113358132A (en) * | 2021-06-30 | 2021-09-07 | 山东新一代信息产业技术研究院有限公司 | Robot navigation map optimization method and system |
| CN113909207A (en) * | 2021-09-01 | 2022-01-11 | 苏州鑫格雅电子科技有限公司 | Ultrasonic cleaning method and system for glass manufacturing |
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| CN105425801A (en) * | 2015-12-10 | 2016-03-23 | 长安大学 | Intelligent cleaning robot based on advanced path programming technology and cleaning method thereof |
| CN105629970A (en) * | 2014-11-03 | 2016-06-01 | 贵州亿丰升华科技机器人有限公司 | Robot positioning obstacle-avoiding method based on supersonic wave |
| CN106882677A (en) * | 2017-03-22 | 2017-06-23 | 日立电梯（中国）有限公司 | A kind of elevator automatic cleaning method |
| CN107102294A (en) * | 2017-06-19 | 2017-08-29 | 安徽味唯网络科技有限公司 | A kind of method in sweeping robot intelligent planning path |
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| CN105629970A (en) * | 2014-11-03 | 2016-06-01 | 贵州亿丰升华科技机器人有限公司 | Robot positioning obstacle-avoiding method based on supersonic wave |
| CN105425801A (en) * | 2015-12-10 | 2016-03-23 | 长安大学 | Intelligent cleaning robot based on advanced path programming technology and cleaning method thereof |
| CN106882677A (en) * | 2017-03-22 | 2017-06-23 | 日立电梯（中国）有限公司 | A kind of elevator automatic cleaning method |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108460584A (en) * | 2018-04-15 | 2018-08-28 | 杨国超 | A kind of unmanned Supermarket Management System |
| CN109645892A (en) * | 2018-12-12 | 2019-04-19 | 深圳乐动机器人有限公司 | A kind of recognition methods of barrier and clean robot |
| CN111493749A (en) * | 2019-01-31 | 2020-08-07 | 北京奇虎科技有限公司 | Sweeping robot-based sweeping method and device, electronic equipment and storage medium |
| CN111493749B (en) * | 2019-01-31 | 2023-10-03 | 北京奇虎科技有限公司 | Sweeping method and device based on sweeping robot, electronic equipment and storage medium |
| CN112859862A (en) * | 2021-01-15 | 2021-05-28 | 珠海市一微半导体有限公司 | Method and system for map correction by charging pile |
| CN113358132A (en) * | 2021-06-30 | 2021-09-07 | 山东新一代信息产业技术研究院有限公司 | Robot navigation map optimization method and system |
| CN113909207A (en) * | 2021-09-01 | 2022-01-11 | 苏州鑫格雅电子科技有限公司 | Ultrasonic cleaning method and system for glass manufacturing |
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Application publication date: 20171212 |
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