CN103472854A - AGV hoisting correction system based on non-guided path and method thereof - Google Patents
AGV hoisting correction system based on non-guided path and method thereof Download PDFInfo
- Publication number
- CN103472854A CN103472854A CN2013104123877A CN201310412387A CN103472854A CN 103472854 A CN103472854 A CN 103472854A CN 2013104123877 A CN2013104123877 A CN 2013104123877A CN 201310412387 A CN201310412387 A CN 201310412387A CN 103472854 A CN103472854 A CN 103472854A
- Authority
- CN
- China
- Prior art keywords
- agv
- rule schema
- schema shape
- shape code
- code
- Prior art date
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title abstract description 18
- 238000012937 correction Methods 0.000 title abstract description 7
- 238000004891 communication Methods 0.000 claims description 8
- 230000004044 response Effects 0.000 claims description 5
- 238000012360 testing method Methods 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 3
- 238000007405 data analysis Methods 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 230000007812 deficiency Effects 0.000 description 2
- 239000002131 composite material Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Landscapes
- Warehouses Or Storage Devices (AREA)
Abstract
The invention relates to an AGV hoisting correction system based on a non-guided path and a method thereof. The system comprises a goods tray, a regular graphic code positioning controller, a regular graphic code reader, an electromagnetic grid ruler, regular graphic code tags and magnetic nails, wherein the regular graphic code positioning controller is respectively connected with the regular graphic code reader and the electromagnetic grid ruler. The method includes the following steps that an AGV enters a vision trigger area below the goods tray, the regular graphic code positioning controller controls the electromagnetic grid ruler and the regular graphic code reader to collect data, and hoisting correction is carried out. The method is reasonable in design, the alignment function of the AGV and the goods tray is achieved, the automation level of any random positions except the storage area of the tray in the tray hoisting process through the AGV is improved, the problems of heavy workloads and long operating time brought by manual operation are resolved, the error of the AGV relative to the goods tray is reduced, and reliability and stability of AGV transportation are guaranteed.
Description
Technical field
The invention belongs to the AGV technical field, especially a kind of AGV lifting corrective system and method thereof based on non-guide path.
Background technology
AGV is a kind of unpiloted full-automatic carrier, can be applicable to intelligent storage or intelligent parking lot, its working method is: goods is placed on pallet, pallet is placed on the pallet storing district of assigned address, the pallet storing district is an appointed area on the AGV guide path, be laid with two-dimension code label on the ground at this center, appointed area, before AGV lifts goods, by the two-dimension code label correction self of pallet storing district center and the pose of pallet, in the time of before AGV arrival impact point puts down goods, to proofread and correct the pose of cargo storage by the two-dimension code label at center, impact point ground too.The above is the disposal route of AGV under normal circumstances, but when fortuitous event occurring, for example, when anxious the stopping or pallet storing district while not yet using of breaking down, pallet now and the goods of delivery thereof probably are parked on a random site that there is no a Quick Response Code, how to make AGV in the situation that do not guide label, does pose according to the rules normally enter the pallet entrance and automatically completed the pose correction of AGV and pallet before the lifting pallet? the traditional work pattern is the method that relies on the artificial visually examine: the related personnel gets into below the AGV dolly, face upward the head and survey site error and the angular error between AGV dolly and pallet, then, get back on computer operation table, manually input corrective command and correction parameter by means of the position and attitude error data in memory and send to the AGV controller on computer operation table, the order of AGV dolly implementation controller, complete the correction work of initial pose with this.The method deficiency is: adopt the method for manual synchronizing, workload is heavy, the activity duration is long.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, a kind of AGV lifting corrective system and method thereof based on non-guide path is provided, the problems such as the workload that relies on artificial contraposition to bring is heavy for solving, activity duration length.
The present invention solves existing technical matters and takes following technical scheme to realize:
A kind of AGV lifting corrective system based on non-guide path, comprise cargo pallet, be arranged on the rule schema shape code register control on the AGV dolly, be arranged on rule schema shape code code reader and the electric magnetic railings ruler at AGV car body center, be arranged on rule schema shape code label and the magnetic nail of cargo pallet lower surface, rule schema shape code register control is connected with electric magnetic railings ruler with rule schema shape code code reader respectively, the rule schema shape code label that rule schema shape code code reader reads on cargo pallet sends rule schema shape code register control to, the electricity magnetic railings ruler detects the magnetic nail on cargo pallet and sends testing result to rule schema shape code register control, rule schema shape code register control is realized the pose calibration function of AGV dolly for cargo pallet beyond the pallet storing district to receiving the data analysis processing.
And described rule schema shape code label is two-dimension code label, described rule schema shape code code reader is the Quick Response Code code reader.
And described rule schema shape code code reader and electric magnetic railings ruler are installed in the square opening at AGV car body center and, towards cargo pallet, electric magnetic railings ruler is positioned at the surrounding of rule schema shape code code reader.
And described rule schema shape code label is arranged on the center of cargo pallet bottom, described magnetic nail is distributed in the surrounding of rule schema shape code label, and the square region impaled by the magnetic nail is the vision trigger region.
And, described rule schema shape code register control is connected and composed by microprocessor, communication interface and AGV driver module, this microprocessor is connected and realizes data acquisition function with electric magnetic railings ruler with rule schema shape code code reader respectively by communication interface, and this microprocessor is connected with the AGV driver module and realizes the driving control function to AGV.
A kind of bearing calibration of the AGV lifting corrective system based on non-guide path comprises the following steps:
Step 1: the electric magnetic railings ruler that is installed on AGV car body center enters the vision trigger region under cargo pallet in company with car body;
Step 2: electric magnetic railings ruler is issued rule schema shape code register control by signal after collecting the vision trigger pip of vision trigger region, and the moment of electric magnetic railings ruler collection signal is the moment that AGV enters the vision trigger region;
Step 3: rule schema shape code register control sends acquisition to rule schema shape code code reader after receiving the vision trigger pip;
The rule schema shape code code reader at step 4:AGV car body center gathers the regular code image at cargo pallet lower surface center and collection signal is fed back to rule schema shape code register control;
Step 5: rule schema shape code register control is proofreaied and correct the position and attitude error between AGV car body central point and pallet central point according to the picture signal of rule schema shape code code reader feedback;
Step 6:AGV opens jacking apparatus, jacking apparatus is aimed at the cargo pallet registration holes.
And the concrete disposal route of described step 5 is:
(1) set up following three coordinate systems: image coordinate system (u, v), dolly coordinate system (x dolly, y dolly), world coordinate system (the x world, the y world);
(2) calculate under the dolly coordinate system AGV with respect to deviation angle and the deviation position of the rule schema shape code label at cargo pallet lower surface center;
(3) computation rule graphic code label is with respect to deviation position and the deviation angle of world coordinate system;
(4) calculate deviation angle and the deviation position of AGV with respect to world coordinate system, thereby obtain rectification position and the angle of AGV with respect to cargo pallet.
Advantage of the present invention and good effect are:
The present invention is by following closely and arrange the visual pattern trigger region at cargo pallet lower surface center installation rule code label and magnetic, at AGV dolly center installation rule graphic code code reader, with electric magnetic railings ruler and with rule schema shape code register control, be connected, realize AGV and cargo pallet to bit function, improved AGV for the automaticity in the pallet lifting process of any random site beyond the pallet storing district, solved the workload that manual work brings heavy, the problem that activity duration is long, reduced the error of AGV with respect to cargo pallet, the reliability and stability of AGV transportation have been guaranteed.
The accompanying drawing explanation
Fig. 1 is system connection diagram of the present invention;
The schematic diagram that concerns that Fig. 2 is AGV and cargo pallet;
The installation that Fig. 3 is electric magnetic railings ruler and rule schema shape code code reader and AGV car body concerns schematic diagram (vertical view);
The installation that Fig. 4 is electric magnetic railings ruler and rule schema shape code code reader and AGV car body concerns schematic diagram (side view);
The structural representation that Fig. 5 is the cargo pallet bottom;
The processing flow chart that Fig. 6 is this bearing calibration;
Fig. 7 is used artificial operating grip to proofread and correct AGV pose schematic diagram before AGV enters the pallet entrance;
Fig. 8 is the schematic diagram that vision triggers buffer zone;
Fig. 9 is the reference position schematic diagram that the rule schema shape code starts to gather image;
In figure, the 1-1:AGV car body; The 1-2:AGV wheel; The 1-3:AGV lifting body; The 1-4:AGV square opening; 1-5: electric magnetic railings ruler; 1-6: rule schema shape code register control; 1-7: code reader support; 1-8: rule schema shape code code reader; 2-1: cargo pallet; 2-2: pallet registration holes; 2-3: pallet leg; 2-4: vision trigger region; 2-5: magnetic nail; 2-6: rule schema shape code label; 5: the manually-operated handle.
Embodiment
Below in conjunction with accompanying drawing, the embodiment of the present invention is further described.
A kind of AGV lifting corrective system based on non-guide path, as shown in Figure 1, comprise cargo pallet, be arranged on the rule schema shape code register control on the AGV dolly, the rule schema shape code code reader that is arranged on AGV car body center and electric magnetic railings ruler, the rule schema shape code label that is arranged on the cargo pallet lower surface and magnetic nail.In the present embodiment, rule schema shape code label is two-dimension code label, and rule schema shape code code reader is the Quick Response Code code reader.Described rule schema shape code register control is connected and composed by microprocessor, communication interface and AGV driver module, this microprocessor is connected and realizes data acquisition function with electric magnetic railings ruler with rule schema shape code code reader respectively by communication interface, this microprocessor is connected with the AGV driver module and realizes the driving control function to AGV, and this communication interface can be the interfaces such as network interface, USB interface or 1394 interfaces.Described rule schema shape code register control is connected with electric magnetic railings ruler with rule schema shape code code reader by communication interface, this rule schema shape code register control is for reading the rule schema shape code label of cargo pallet lower surface and sending rule schema shape code register control to, described electric magnetic railings ruler is followed closely and sends testing result to rule schema shape code register control for detection of the magnetic of cargo pallet lower surface, rule schema shape code register control is analyzed and is controlled the AGV driver module to the rule schema shape code image that reads and electric magnetic railings ruler testing result and moved, thereby realize the pose calibration function of AGV dolly for the random site top tray beyond the pallet storing district.
As shown in Figures 2 to 4, AGV consists of car body 1-1, wheel 1-2 and lifting body 1-3, in the square opening of AGV car body center, 1-4 is equipped with electric magnetic railings ruler 1-5 and the rule schema shape code code reader 1-8 towards cargo pallet, by the electric magnetic railings ruler of four direction, constitutes combined electrical magnetic railings ruler group.Rule schema shape code code reader is arranged on the inner ring of magnetic railings ruler by code reader support 1-7, rule schema shape code register control (master controller) 1-6 is installed on the rear end of vehicle bottom.
As shown in Figure 5, be provided with four registration holes 2-2 and four cargo pallet leg 2-3 in the bottom of cargo pallet 2-1, the be laid in center of cargo pallet bottom of rule schema shape code label 2-6, in the surrounding of rule schema shape code label, magnetic nail 2-5 is installed, the direction that each group magnetic nail corresponding A GV dolly enters pallet, the square region impaled by the magnetic nail is vision trigger region 2-4, this vision trigger region can be used for directions and central point, and described cargo pallet can be parked on the random site beyond the pallet storing district.
A kind of AGV lifting bearing calibration based on non-guide path, as shown in Figure 6:
Step 1: the electric magnetic railings ruler that is installed on AGV car body center enters the vision trigger region under cargo pallet in company with car body;
As shown in Figure 7, in figure, 1-0 is AGV dolly upper surface, before the AGV dolly enters cargo pallet, rely on the manually-operated handle to control the AGV dolly and normally enter the pallet entrance, its control mode is: by manually-operated handle 5, to rule schema shape code register control (master controller), send order, master controller sends order to the AGV driver module again,, thereby thereby by pose 1. to pose 2. the relative position of adjusting AGV dolly and pallet entrance makes AGV, the AGV dolly after adjustment can normally enter the pallet entrance;
Step 2: electric magnetic railings ruler is issued rule schema shape code register control by signal after collecting the vision trigger pip of vision trigger region, and the moment of electric magnetic railings ruler collection signal is the moment that AGV enters the vision trigger region:
As shown in Figure 8, in the AGV traveling process, default vision triggers buffer zone, and it is the stretch journey that AGV is about to enter the vision trigger region that this vision triggers buffer zone.Pass by time of this buffer zone of AGV dolly should equal time, electric magnetic railings ruler that electric magnetic railings ruler gathers magnetic signal and sends the time of image acquisition order, the temporal summation that camera receives the image acquisition order to time, the master controller of master controller feedback trigger pip to camera.
Step 3: rule schema shape code register control sends acquisition to rule schema shape code code reader after receiving the vision trigger pip;
The rule schema shape code code reader at step 4:AGV car body center gathers the regular code image at cargo pallet lower surface center and collection signal is fed back to master controller;
As shown in Figure 9, rule schema shape code code reader starts the photographic images position: when the electric magnetic railings ruler of AGV dolly be positioned at its corresponding magnetic nail group directly over the time, the rule schema shape code code reader that is installed on AGV car body center starts the task that carries out image gathers, and image pick-up signal is fed back to rule schema shape code register control.
Step 5: rule schema shape code register control is proofreaied and correct the position and attitude error between AGV car body central point and pallet central point according to the picture signal of rule schema shape code code reader feedback.
In this step, the detailed method of relevant AGV vision location has a detailed description in patented claim formerly the applicant, as " indoor mobile robot positioning system and method based on Quick Response Code " (number of patent application: 201210186563.5), and " mobile robot positioning system of rule-based graphic code composite label and method " (number of patent application is 201310017927.1), do not repeat them here, the method for only register control being proofreaied and correct to the position and attitude error between AGV car body and cargo pallet according to decoded information is summarized as follows:
(1) set up following three coordinate systems: image coordinate system (u, v), dolly coordinate system (x dolly, y dolly), world coordinate system (the x world, the y world);
(2) calculate under the dolly coordinate system AGV with respect to deviation angle and the deviation position of the rule schema shape code label at cargo pallet lower surface center;
(3) computation rule graphic code label is with respect to deviation position and the deviation angle of world coordinate system;
(4) calculate deviation angle and the deviation position of AGV with respect to world coordinate system, thereby obtain rectification position and the angle of AGV with respect to cargo pallet.
Step 6:AGV opens jacking apparatus, jacking apparatus is aimed at the cargo pallet registration holes.
It is emphasized that; embodiment of the present invention is illustrative; rather than determinate; therefore the present invention includes and be not limited to the embodiment described in embodiment; every other embodiments that drawn by those skilled in the art's technical scheme according to the present invention, belong to the scope of protection of the invention equally.
Claims (7)
1. the AGV lifting corrective system based on non-guide path, it is characterized in that: comprise cargo pallet, be arranged on the rule schema shape code register control on the AGV dolly, be arranged on rule schema shape code code reader and the electric magnetic railings ruler at AGV car body center, be arranged on rule schema shape code label and the magnetic nail of cargo pallet lower surface, rule schema shape code register control is connected with electric magnetic railings ruler with rule schema shape code code reader respectively, the rule schema shape code label that rule schema shape code code reader reads on cargo pallet sends rule schema shape code register control to, the electricity magnetic railings ruler detects the magnetic nail on cargo pallet and sends testing result to rule schema shape code register control, rule schema shape code register control is realized the pose calibration function of AGV dolly for cargo pallet beyond the pallet storing district to receiving the data analysis processing.
2. the AGV lifting corrective system based on non-guide path according to claim 1, it is characterized in that: described rule schema shape code label is two-dimension code label, described rule schema shape code code reader is the Quick Response Code code reader.
3. the AGV lifting corrective system based on non-guide path according to claim 1 and 2, it is characterized in that: described rule schema shape code code reader and electric magnetic railings ruler are installed in the square opening at AGV car body center and, towards cargo pallet, electric magnetic railings ruler is positioned at the surrounding of rule schema shape code code reader.
4. the AGV lifting corrective system based on non-guide path according to claim 1 and 2, it is characterized in that: described rule schema shape code label is arranged on the center of cargo pallet bottom, described magnetic nail is distributed in the surrounding of rule schema shape code label, and the square region impaled by the magnetic nail is the vision trigger region.
5. the AGV lifting corrective system based on non-guide path according to claim 1 and 2, it is characterized in that: described rule schema shape code register control is connected and composed by microprocessor, communication interface and AGV driver module, this microprocessor is connected and realizes data acquisition function with electric magnetic railings ruler with rule schema shape code code reader respectively by communication interface, and this microprocessor is connected with the AGV driver module and realizes the driving control function to AGV.
6. the bearing calibration as AGV lifting corrective system as described in claim 1 to 5 any one, is characterized in that, comprises the following steps:
Step 1: the electric magnetic railings ruler that is installed on AGV car body center enters the vision trigger region under cargo pallet in company with car body;
Step 2: electric magnetic railings ruler is issued rule schema shape code register control by signal after collecting the vision trigger pip of vision trigger region, and the moment of electric magnetic railings ruler collection signal is the moment that AGV enters the vision trigger region;
Step 3: rule schema shape code register control sends acquisition to rule schema shape code code reader after receiving the vision trigger pip;
The rule schema shape code code reader at step 4:AGV car body center gathers the regular code image at cargo pallet lower surface center and collection signal is fed back to rule schema shape code register control;
Step 5: rule schema shape code register control is proofreaied and correct the position and attitude error between AGV car body central point and pallet central point according to the picture signal of rule schema shape code code reader feedback;
Step 6:AGV opens jacking apparatus, jacking apparatus is aimed at the cargo pallet registration holes.
7. the AGV lifting bearing calibration based on guide path according to claim 6, it is characterized in that: the concrete disposal route of described step 5 is:
(1) set up following three coordinate systems: image coordinate system (u, v), dolly coordinate system (x dolly, y dolly), world coordinate system (the x world, the y world);
(2) calculate under the dolly coordinate system AGV with respect to deviation angle and the deviation position of the rule schema shape code label at cargo pallet lower surface center;
(3) computation rule graphic code label is with respect to deviation position and the deviation angle of world coordinate system;
(4) calculate deviation angle and the deviation position of AGV with respect to world coordinate system, thereby obtain rectification position and the angle of AGV with respect to cargo pallet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310412387.7A CN103472854B (en) | 2013-09-11 | 2013-09-11 | Based on AGV lifting corrective system and the method thereof of non-guide path |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310412387.7A CN103472854B (en) | 2013-09-11 | 2013-09-11 | Based on AGV lifting corrective system and the method thereof of non-guide path |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103472854A true CN103472854A (en) | 2013-12-25 |
| CN103472854B CN103472854B (en) | 2016-02-24 |
Family
ID=49797744
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310412387.7A Expired - Fee Related CN103472854B (en) | 2013-09-11 | 2013-09-11 | Based on AGV lifting corrective system and the method thereof of non-guide path |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103472854B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107272694A (en) * | 2017-07-18 | 2017-10-20 | 北京星航机电装备有限公司 | One kind is based on Mecanum wheel independent navigation omnidirectional vehicle control |
| WO2018090081A1 (en) * | 2016-11-15 | 2018-05-24 | Swisslog Australia Pty Limited | A system for, and a method of, order palletising |
| CN108803608A (en) * | 2018-06-08 | 2018-11-13 | 广州市远能物流自动化设备科技有限公司 | The butt junction location method and parking AGV of parking AGV and automobile |
| CN108803603A (en) * | 2018-06-05 | 2018-11-13 | 广州市远能物流自动化设备科技有限公司 | AGV trolley butt junction location methods based on coded image and AGV trolleies |
| CN109189066A (en) * | 2018-08-31 | 2019-01-11 | 深圳市易成自动驾驶技术有限公司 | AGV trolley and shelf interconnection method, device and computer readable storage medium |
| CN109254564A (en) * | 2017-07-13 | 2019-01-22 | 杭州海康机器人技术有限公司 | Article carrying method, apparatus, terminal and computer readable storage medium |
| CN109308072A (en) * | 2017-07-28 | 2019-02-05 | 杭州海康机器人技术有限公司 | The Transmission Connection method and AGV of automated guided vehicle AGV |
| CN111620027A (en) * | 2020-06-22 | 2020-09-04 | 上海发网云物流科技有限公司 | AGV carrying goods shelf positioning system and positioning method |
| CN114537940A (en) * | 2021-10-28 | 2022-05-27 | 北京迈格威科技有限公司 | Shuttle vehicle for warehousing system, warehousing system and control method of shuttle vehicle |
| JP7507964B2 (en) | 2021-01-29 | 2024-06-28 | ベイジン・ジンドン・チアンシ・テクノロジー・カンパニー・リミテッド | Method and apparatus for adjusting shelf position and orientation by a mobile robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1998035276A1 (en) * | 1997-02-10 | 1998-08-13 | Fmc Corporation | Navigation system for automatic guided vehicle |
| US6256560B1 (en) * | 1999-02-25 | 2001-07-03 | Samsung Electronics Co., Ltd. | Method for correcting position of automated-guided vehicle and apparatus therefor |
| JP4721977B2 (en) * | 2006-07-31 | 2011-07-13 | 三菱電機株式会社 | Transport equipment safety device and transport equipment safe operation method |
| CN102520722A (en) * | 2011-12-24 | 2012-06-27 | 长春艾希技术有限公司 | Automated guided vehicle utilizing non-contact power supply |
| CN102735235A (en) * | 2012-06-07 | 2012-10-17 | 无锡普智联科高新技术有限公司 | Indoor mobile robot positioning system and method based on two-dimensional code |
| CN103123682A (en) * | 2013-01-17 | 2013-05-29 | 无锡普智联科高新技术有限公司 | System and method for positioning mobile robot based on regular graphic code composite tags |
| CN103268116A (en) * | 2013-04-17 | 2013-08-28 | 无锡普智联科高新技术有限公司 | Complex magnetic marker correction-based deviation rectification control system and method for automatic guided vehicle (AGV) |
| CN203520163U (en) * | 2013-09-11 | 2014-04-02 | 无锡普智联科高新技术有限公司 | AGV lifting correcting system based on non-guide path |
-
2013
- 2013-09-11 CN CN201310412387.7A patent/CN103472854B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1998035276A1 (en) * | 1997-02-10 | 1998-08-13 | Fmc Corporation | Navigation system for automatic guided vehicle |
| US6256560B1 (en) * | 1999-02-25 | 2001-07-03 | Samsung Electronics Co., Ltd. | Method for correcting position of automated-guided vehicle and apparatus therefor |
| JP4721977B2 (en) * | 2006-07-31 | 2011-07-13 | 三菱電機株式会社 | Transport equipment safety device and transport equipment safe operation method |
| CN102520722A (en) * | 2011-12-24 | 2012-06-27 | 长春艾希技术有限公司 | Automated guided vehicle utilizing non-contact power supply |
| CN102735235A (en) * | 2012-06-07 | 2012-10-17 | 无锡普智联科高新技术有限公司 | Indoor mobile robot positioning system and method based on two-dimensional code |
| CN103123682A (en) * | 2013-01-17 | 2013-05-29 | 无锡普智联科高新技术有限公司 | System and method for positioning mobile robot based on regular graphic code composite tags |
| CN103268116A (en) * | 2013-04-17 | 2013-08-28 | 无锡普智联科高新技术有限公司 | Complex magnetic marker correction-based deviation rectification control system and method for automatic guided vehicle (AGV) |
| CN203520163U (en) * | 2013-09-11 | 2014-04-02 | 无锡普智联科高新技术有限公司 | AGV lifting correcting system based on non-guide path |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018090081A1 (en) * | 2016-11-15 | 2018-05-24 | Swisslog Australia Pty Limited | A system for, and a method of, order palletising |
| AU2017361114B2 (en) * | 2016-11-15 | 2023-10-12 | Swisslog Australia Pty Limited | A system for, and a method of, order palletising |
| US11402847B2 (en) | 2017-07-13 | 2022-08-02 | Hangzhou Hikrobot Technology Co., Ltd. | Article transportation method, terminal and computer-readable storage medium |
| CN109254564A (en) * | 2017-07-13 | 2019-01-22 | 杭州海康机器人技术有限公司 | Article carrying method, apparatus, terminal and computer readable storage medium |
| CN107272694B (en) * | 2017-07-18 | 2020-07-28 | 北京星航机电装备有限公司 | Omnidirectional vehicle control system based on Mecanum wheel autonomous navigation |
| CN107272694A (en) * | 2017-07-18 | 2017-10-20 | 北京星航机电装备有限公司 | One kind is based on Mecanum wheel independent navigation omnidirectional vehicle control |
| CN109308072A (en) * | 2017-07-28 | 2019-02-05 | 杭州海康机器人技术有限公司 | The Transmission Connection method and AGV of automated guided vehicle AGV |
| CN108803603A (en) * | 2018-06-05 | 2018-11-13 | 广州市远能物流自动化设备科技有限公司 | AGV trolley butt junction location methods based on coded image and AGV trolleies |
| CN108803603B (en) * | 2018-06-05 | 2021-11-30 | 广州市远能物流自动化设备科技有限公司 | AGV trolley butt joint positioning method based on coded images and AGV trolley |
| CN108803608B (en) * | 2018-06-08 | 2021-11-30 | 广州市远能物流自动化设备科技有限公司 | Docking positioning method for parking AGV and automobile and parking AGV |
| CN108803608A (en) * | 2018-06-08 | 2018-11-13 | 广州市远能物流自动化设备科技有限公司 | The butt junction location method and parking AGV of parking AGV and automobile |
| CN109189066A (en) * | 2018-08-31 | 2019-01-11 | 深圳市易成自动驾驶技术有限公司 | AGV trolley and shelf interconnection method, device and computer readable storage medium |
| CN111620027A (en) * | 2020-06-22 | 2020-09-04 | 上海发网云物流科技有限公司 | AGV carrying goods shelf positioning system and positioning method |
| JP7507964B2 (en) | 2021-01-29 | 2024-06-28 | ベイジン・ジンドン・チアンシ・テクノロジー・カンパニー・リミテッド | Method and apparatus for adjusting shelf position and orientation by a mobile robot |
| CN114537940A (en) * | 2021-10-28 | 2022-05-27 | 北京迈格威科技有限公司 | Shuttle vehicle for warehousing system, warehousing system and control method of shuttle vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103472854B (en) | 2016-02-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103472854B (en) | Based on AGV lifting corrective system and the method thereof of non-guide path | |
| CN103472827B (en) | Based on AGV lifting corrective system and the method thereof of guide path | |
| CN203520163U (en) | AGV lifting correcting system based on non-guide path | |
| CN105863351B (en) | A kind of autonomous parking system and method based on intelligent automobile carrying implement | |
| CN205450772U (en) | Automated guidance of qxcomm technology car | |
| CN102944236B (en) | Mobile robot positioning system and method based on a plurality of two-dimensional code readers | |
| CN203520162U (en) | AGV lifting correcting system based on guide path | |
| CN103268119A (en) | Automatic guided vehicle navigation control system and navigation control method thereof | |
| CN206627826U (en) | Navigation system based on Quick Response Code | |
| CN106708051A (en) | Two-dimensional code-based navigation system and method, navigation marker and navigation controller | |
| CN101984382A (en) | Method for intelligently inspection substation equipment by using robot | |
| CN106200652A (en) | A kind of intelligent material conveying system and method for carrying | |
| CN107092263A (en) | A kind of AGV vehicle dispatchings system and method | |
| CN110645647B (en) | Indoor air purification method and system | |
| CN111813125A (en) | Indoor environment detection system and method based on wheeled robot | |
| CN113955360B (en) | Automatic steel coil warehousing method and system on vehicle based on full-automatic unmanned crane | |
| CN107943026B (en) | Mecanum wheel inspection robot and inspection method thereof | |
| CN206671887U (en) | A kind of AGV navigation deviation-rectifying systems based on assistant images | |
| CN115759892A (en) | Unmanned intelligent checking system and method for electric power material storage | |
| CN208351329U (en) | Inspecting robot | |
| CN206086424U (en) | Automatic charging system based on mecanum wheel qxcomm technology transport vechicle | |
| CN206096933U (en) | Intelligence materials handling system | |
| CN202304844U (en) | Novel magnetic navigation site sensor | |
| CN112008727A (en) | Elevator-taking robot key control method based on bionic vision and elevator-taking robot | |
| CN205153650U (en) | Sideslip detecting system in advance in lifting and horizontal moving garage |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180820 Address after: 518000 room 503, block A, sang Tai Building, Xili University, Xili street, Shenzhen, Guangdong, Nanshan District Patentee after: SHENZHEN PUZHI LIANKE ROBOT TECHNOLOGY Co.,Ltd. Address before: 214135 floor 4, block A, whale block, Wuxi (National) software park, 18, Zhen Ze Road, Wuxi New District, Jiangsu. Patentee before: WUXI PUZHI LIANKE HIGH-TECH Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20221121 Address after: 570100 Room 101, Building 7, Fisheries Yard, No. 2, Haixiu East Road, Haifu Street, Meilan District, Haikou, Hainan Patentee after: Aibo Technology (Hainan) Co.,Ltd. Address before: Room 503, Block A, Sangtai Building, Xili University City, Xili Street, Nanshan District, Shenzhen Patentee before: SHENZHEN PUZHI LIANKE ROBOT TECHNOLOGY Co.,Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160224 |