Shopping cart self-carried track anti-collision method based on path planning

A path planning, shopping cart technology, applied in the direction of coin-operated equipment for distributing discrete items, coin-operated equipment for distributing discrete items, coinless or similar appliances, etc., which can solve the problem of product jamming, Commodity drop, unsolved problems, etc., to achieve the effect of convenient and fast operation, and prevent collision

CN112967450AInactive Publication Date: 2021-06-15上海玮顺网络科技有限公司
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2021-06-15
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses a path planning-based anti-collision method for a self-carried track of a shopping cart. The method comprises the following steps that: S1, nodes and two-dimensional space images of a vending machine plane are acquired; S2, a customer carries out online payment selection and purchase when selecting and purchasing commodities; S3, transportation devices carry the commodities to transport the commodities, and convey the commodities to a commodity taking opening; S4, transportation tracks of the transportation devices are planned based on an A * algorithm; S5, the transportation tracks of the transportation devices in different areas are merged; and S6, when the transportation devices carry out transportation, four groups of the transportation devices are detected through multiple groups of detection mechanisms; According to the shopping cart self-carried track anti-collision method based on path planning, the commodities are conveyed through the transportation devices, the problems that the commodities are clamped and blocked at the commodity taking opening are solved; the transportation devices convey the commodities through a crawler belt, operation is convenient and fast, route planning can be conducted on transportation mechanisms, and collision is effectively prevented when the transportation mechanisms run.
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Description

technical field

[0001] The invention belongs to the technical field of automatic vending machines, and in particular relates to a path planning-based anti-collision method for shopping carts with crawlers. Background technique

[0002] A vending machine is a machine that can automatically pay according to the coins put in. Vending machines are common equipment for commercial automation. They are not limited by time and place, can save manpower and facilitate transactions. It is a new form of commercial retail, also known as a 24-hour micro supermarket. Common vending machines are divided into four types: beverage vending machines, food vending machines, comprehensive vending machines, and cosmetics vending machines. General vending machines are composed of coin devices, indicating devices, and storage and vending devices. The coin device is the core of the vending machine. Its main function is to confirm the authenticity of the coins put in, sort the types of coins, and ca...

Examples

Embodiment Construction

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0026] see figure 1 , the present invention provides a technical solution: a path planning-based anti-collision method for shopping carts with crawler tracks, including the following steps:

[0027] S1. Obtain the nodes and two-dimensional space images of the vending machine plane: input the nodes and two-dimensional space images of the vending machines, and realize the basic transportation area planning for each group of transportation devices, and determine ...