CN104495182B - RFID (radio frequency identification)-based two-bin rail-bound conveying vehicle and rail layout and positioning control method - Google Patents
RFID (radio frequency identification)-based two-bin rail-bound conveying vehicle and rail layout and positioning control method Download PDFInfo
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- CN104495182B CN104495182B CN201410695114.2A CN201410695114A CN104495182B CN 104495182 B CN104495182 B CN 104495182B CN 201410695114 A CN201410695114 A CN 201410695114A CN 104495182 B CN104495182 B CN 104495182B
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Abstract
The invention discloses an RFID (radio frequency identification)-based two-bin rail-bound conveying vehicle and a rail layout and positioning control method and belongs to the technical field of automatic control. The RFID-based two-bin rail-bound conveying vehicle comprises a vehicle frame, a driving device, a guide wheel, a power supply system, a control device, RFID sensors and a positioning sensor, a front storage bin and a rear storage bin are arranged on the vehicle frame, the control device is connected with the power supply system, the RFID sensors and the positioning sensor respectively and controls running of the guide wheel through the driving device, the RFID sensors are mounted at two ends of the bottom of the vehicle frame and can recognize RFID labels used for marking storage cells, and the positioning sensor is mounted at the center of the bottom of the vehicle frame and can recognize positioning points on the front side and the rear side of each RFID label. The front storage bin and the rear storage bin of the rail-bound conveying vehicle are enabled to align at the storage cells respectively to complete multiple-variety and small-batch cargo conveying, storing and fetching, so that operating flexibility of the rail-bound conveying vehicle is enhanced.
Description
Technical field
The present invention relates to a kind of be based on the double storehouse rail-mounted vehicle of RFID and rail layout and position control method, belong to automatic
Control technology field.
Background technology
Traditional warehousing system adopts manual type to access goods, and truck driver is driven fork truck and sailed in shelf tunnel, by
Narrow and small in lane space, fork truck is difficult to flexibly travel wherein.Collide the possibility of guide rail in order to reduce fork truck, wall scroll shelf are not
Allow long.These deficiencies seriously constrain the access efficiency of goods and the space availability ratio in warehouse.
Through frequently with lane stacker in automated warehouse storage system, its be a kind of in the narrow of High Level Rack back and forth
Shuttle and run, carry out the crane of access operation, the goods positioned at access adit can be stored in goods lattice, or by the goods in goods lattice
Take out and be transported to access adit.The stem height of lane stacker is directly proportional to pallet height, and High Level Rack makes tunnel stacking
The excessive height of machine, huge structure are heavy, walking flexibility and less stable, are suitable only for that batch is big, kind is few, Turnover Box
The simple storage pattern that casing specification is basically identical, turnover is slow.On the other hand, the high rack warehouse including multiple rows of shelf generally uses
Multiple stage piler or use bend aisle and turning piler, then between every two row's shelf, a tunnel just need to be set, no
Only cause the serious waste of memory space, and conveying equipment cost increases, system coordination controls complexity, operating efficiency is relatively low.
With the development of the business models such as ecommerce, chain operation, goods access is gradually little, wide in variety, all to batch
Turn fast flexible storage Mode change.Existing rail linear running formula shuttle is preferably more flexible than lane stacker has because of it
Property and adaptability, have obtained extensive utilization in automated warehouse storage system.But existing rail shuttle typically only has one
Storing bin, is not suitable with batch flexible storage pattern little, wide in variety.
Content of the invention
It is an object of the invention to overcoming deficiency of the prior art, provide one kind based on RFID double storehouses rail-mounted vehicle.
The technical solution adopted in the present invention is：Based on RFID double storehouses rail-mounted vehicle, including vehicle frame, located at bottom of frame
Directive wheel, also include control device, RFID sensor, alignment sensor, electric power system and for drive directive wheel operating
Driving means；Described electric power system is electrically connected with described control device, RFID sensor, alignment sensor and driving means respectively
Connect, described RFID sensor, alignment sensor, driving means are connected with control device signal respectively；Before described vehicle frame is provided with
Storing bin and rear storing bin, the bottom of vehicle frame is provided with the Crane Rail of setting corresponding with shelf；Arrange on described Crane Rail
Have：For storing RFID label tag and the anchor point for positioning of stopping of goods information；Described RFID sensor is installed on vehicle frame
Bottom two ends, setting corresponding with RFID label tag；Described alignment sensor is installed on the bottom centre of vehicle frame, with described positioning
The corresponding setting of point；
Described driving means include the same of motor, driving pulley, driven pulley, connection driving pulley and driven pulley
Step carries and is connected to the drive axle of directive wheel, rear drive shaft；Described driving pulley is relatively fixed with drive axle and is connected,
Described driven pulley is relatively fixed with rear drive shaft and is connected；
Drive axle, the two ends of rear drive shaft are supported on described vehicle frame by bearing block respectively；
Motor is fixed on vehicle frame, and the output shaft of motor connects driving gear, and the middle part of drive axle is installed
There is driven gear, driving gear is engaged with driven gear.
Described front storing bin by the end convex framework being arranged on vehicle frame front end and is arranged on the middle convex in the middle part of vehicle frame
Framework forms, and described rear storing bin is made up of the end convex framework and described middle convex framework being arranged on vehicle frame rear end.
Described middle convex framework is divided into upper strata framework, middle level framework and lower floor's framework, described control device, electric power system
Corresponding with alignment sensor it is installed in upper strata framework, middle level framework and lower floor's framework.
Described directive wheel is by major diameter main wheel and two coaxial minor diameter wing wheels being symmetrically connected in major diameter main wheel both sides
Composition, and be fixedly connected with corresponding drive shaft by key.
Described Crane Rail includes two groove type tracks being parallel to each other and the carrying between two groove type tracks
Orbital plane, groove type track and described directive wheel match setting.
Described RFID sensor is respectively provided with one in the rear and front end of vehicle frame, and the signal emission port of RFID sensor is vertical
Point to ground.
Compared with prior art, the invention provides based on beneficial effect produced by the rail-mounted vehicle of RFID double storehouses being：
Simple and compact for structure, with low cost, warehouse space can be made full use of, improve warehouse space utilization rate, have and go slick, surely
Qualitative strong advantage, can adapt to batch flexible storage pattern little, wide in variety；Using RFID sensor, cooperation RFID label tag
And alignment sensor, anchor point, realize goods access automation, significantly improve goods access efficiency.
Another object of the present invention is to providing a kind of rail layout method based on RFID double storehouses rail-mounted vehicle, every
Goods access work station point is arranged with Crane Rail, goods is accessed work station point and set with the storing grid one-to-one corresponding on shelf
Put；
The cross central line of storing grid is arranged with RFID label tag with the point of intersection of the longitudinal centre line of Crane Rail；
Between every two RFID label tag, along the longitudinal centre line direction of Crane Rail, on the side of two storing grids
Boundary line both sides are arranged symmetrically two anchor points, read for alignment sensor；
Described anchor point is equipped with position encoded, and to be described by position encoded and intersects between anchor point and storing grid
Position corresponding relation；
Record the path number of current Crane Rail in RFID label tag, correspond to the station information of storing grid and be located at
Four anchor points of RFID label tag both sides position encoded.
Compared with prior art, what the present invention provided is produced based on the rail layout method of RFID double storehouses rail-mounted vehicle
Beneficial effect be：Cooperation is capable of goods compact arrangement based on RFID double storehouses rail-mounted vehicle, makes full use of warehouse space,
Improve warehouse space utilization rate；Consider rail-mounted vehicle positive, reversely separately plant ruuning situation, significantly improve rail-mounted vehicle
Flexibility, reduce the goods access time, improve goods access operating efficiency.
Present invention also offers a kind of position control method based on RFID double storehouses rail-mounted vehicle, at rail-mounted vehicle
When forward mode of operation, RFID label tag is read using the RFID sensor being arranged at rail-mounted vehicle front end；
When rail-mounted vehicle is in inverted running pattern, read using the RFID sensor being arranged at rail-mounted vehicle rear end
Take RFID label tag；
If rail-mounted vehicle carries out goods accessing operation by rear storing bin to some storing grid, pass in RFID
Sensor reads to should stop when second anchor point of alignment sensor successively centering after the RFID label tag of storing grid, this
When rail-mounted vehicle rear storing bin be directed at this target storing grid；
If rail-mounted vehicle carries out goods accessing operation by front storing bin to some storing grid, pass in RFID
After sensor reads the RFID label tag of a rear storing grid of aiming station, stop when first anchor point of alignment sensor centering
Car, now the front storing bin of rail-mounted vehicle be directed at this target storing grid.
Compared with prior art, what the present invention provided is produced based on the position control method of RFID double storehouses rail-mounted vehicle
Beneficial effect be：System coordination controls simple, high working efficiency.
Brief description
Fig. 1 is the structural representation in the present invention based on RFID double storehouses rail-mounted vehicle.
Fig. 2 is the front view in the present invention based on RFID double storehouses rail-mounted vehicle.
Fig. 3 is operation schematic diagram on Crane Rail for the directive wheel in the present invention.
Fig. 4 is to be directed to the top view accessing work station point layout based on RFID double storehouses rail-mounted vehicle in goods in the present invention.
In figure：0- rail-mounted vehicle；1- vehicle frame；Storing bin before 1A-；Front storing bin after 1B-；2- motor；3- is actively
Gear；4- driven gear；5- drive axle；14- rear drive shaft；6- directive wheel；8- bearing block；10- driving pulley；12- is synchronous
Band；19- driven pulley；21st, 22-RFID sensor；23- control device；24- electric power system；25- alignment sensor；99- row
Track road, 100- groove type track；103- bearing track face；116- storing grid；117- storage tank；118-RFID label；
119- anchor point.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following examples are only used for clearly illustrating the present invention
Technical scheme, and can not be limited the scope of the invention with this.
As shown in Fig. 1 ~ 3, based on RFID double storehouses rail-mounted vehicle, including vehicle frame 1, the directive wheel 6 located at vehicle frame 1 bottom,
Directive wheel 6 is provided with 4, is symmetrically mounted on the bottom surrounding of vehicle frame 1, and directive wheel 6 is connected in big by major diameter main wheel and symmetrically
The coaxial minor diameter wing wheel of two of diameter main wheel both sides forms, and is fixedly connected with corresponding drive shaft by key.
Vehicle frame 1 is in " mountain " glyph framework structure, has two end convex frameworks and a middle convex framework, is arranged on
The end convex framework of vehicle frame 1 front end and the middle convex framework being arranged in the middle part of vehicle frame 1 form front storing bin 1A, are arranged on car
The end convex framework of frame 1 rear end and aforesaid middle convex framework form rear storing bin 1B.Front storing bin 1A and rear storing bin
1B is used for placing the storage tank 117 of dimensional standard.Middle convex framework is divided into upper strata framework, middle level framework and lower floor's framework, control
Device 23 processed, electric power system 24 and alignment sensor 25 correspondence are installed in upper strata framework, middle level framework and lower floor's framework.
Electric power system 24 is electrically connected with control device 23, RFID sensor, alignment sensor 25 and driving means respectively, uses
In powering to each part.
Driving means include motor 2, driving pulley 10, driven pulley 19, Timing Belt 12 and are connected to guiding
The drive axle 5 of wheel 6, rear drive shaft 14.Driving pulley 10 is bonded with drive axle 5, driven pulley 19 and rear drive shaft 14
Bonded, Timing Belt 12 connects driving pulley 10 and driven pulley 19, thus the motion of drive axle 5 is passed to rear drive shaft
14.Drive axle 5, the two ends of rear drive shaft 14 are supported on vehicle frame 1 by bearing block 8 respectively.Motor 2 is propped up by L-shaped
Frame is fixed on the front end cross beam of vehicle frame 1, and the output shaft of motor 2 passes through bonded driving gear 3, in drive axle 5
Portion is provided with driven gear 4 by key, and driving gear 3 is engaged with driven gear 4, thus the motion of motor 2 is passed to
Drive axle 5.Based on the drive connection of RFID double storehouses rail-mounted vehicle it is：Drive before being driven by gear pair by motor 2
Axle 5, then rear drive shaft 14 is driven by Timing Belt 12, four directive wheels 6 of synchronous driving.
Crane Rail 99 setting corresponding with shelf, including two groove type tracks 100 being parallel to each other and recessed located at two
Bearing track face 103 between flute profile track 100, groove type track 100 and directive wheel 6 match setting, guide for embedded
The major diameter main wheel of wheel 6.The both ends of the surface of major diameter main wheel and track contacts side surfaces, the periphery of main wheel is not connect with base track bottom
Touch, therefore, the major diameter main wheel of embedded groove type track 100 can the motion laterally gone up of restricted guidance wheel 6.The wing of directive wheel 6
The periphery of wheel is contacted with bearing track face 103, bears the load of rail-mounted vehicle 0 in rolling process.
It is disposed with Crane Rail 99：For storing RFID label tag 118 and the positioning for positioning of stopping of goods information
Point 119.RFID sensor is respectively provided with one in the rear and front end of vehicle frame 1, and the RFID sensor 21 positioned at vehicle frame 1 front end is arranged on
In the middle part of the base cross members of end convex framework in front, the RFID sensor 22 being located at vehicle frame 1 rear end accordingly is arranged on rear
The base cross members of end convex framework in the middle part of, the signal emission port of RFID sensor 21,22 is perpendicularly oriented to ground.RFID passes
Sensor setting corresponding with RFID label tag 118；Alignment sensor 25 is installed on the bottom centre of vehicle frame 1, relative with anchor point 119
Should arrange.
RFID sensor, alignment sensor 25, driving means are connected with control device 23 signal respectively, and control device 23 leads to
Cross RFID sensor and read the station information that mark goods accesses the RFID label tag 118 of work station point, known by alignment sensor 25
Not Biao Shi goods access work station point position anchor point 119 positional information, synchronously drive four directive wheels 6 by driving means
Roll walking along the groove type track 100 on Crane Rail 99.
As shown in figure 4, the rail layout method based on RFID double storehouses rail-mounted vehicle, every Crane Rail 99 is all arranged
There is goods access work station point, goods accesses work station point and corresponds setting with the storing grid 116 on shelf；
The cross central line of storing grid 116 is arranged with RFID mark with the point of intersection of the longitudinal centre line of Crane Rail 99
Sign 118；In Fig. 4, shown in A, B, the C on Crane Rail 99, RFID sensor can read the information of RFID label tag 118.
Between every two RFID label tag 118, along the longitudinal centre line direction of Crane Rail 99, in two storing grids
116 boundary line both sides are arranged symmetrically two anchor points 119, read for alignment sensor 25.In Fig. 4, storing grid 116B
Anchor point 119C2 and B1 being arranged symmetrically with the boundary line both sides of C.Alignment sensor 25 can centering anchor point 119 position, such as
Using photoelectric sensor as alignment sensor 25, then adopt location hole as anchor point 119, in the track of non-locating hole site
On, the light carried orbital plane 103 that photoelectric sensor sends reflects, and the photoelectric sensor state receiving heliogram is 1；
And in position of positioning hole, the light that photoelectric sensor sends passes through location hole areflexia, do not receive the photoelectric transfer of heliogram
Sensor state is 0, thus identifying anchor point 119 position and being positioned.
Anchor point 119 be equipped with position encoded, and to be described by position encoded anchor point 119 and storing grid 116 it
Between intersect position corresponding relation.
Correspond to rail-mounted vehicle 0 near the anchor point 119 of front storing grid 116 adopts rear storing bin 1B to access rear
The parking spot of storage tank 117 in storing grid 116, the anchor point 119 near rear storing grid 116 correspond to tracked transportation
Car 0 adopts the parking spot of storage tank 117 in the storing grid 116 of front storing bin 1A access front, and by the position of anchor point 119
Put coding to describe the position corresponding relation intersecting between anchor point 119 and storing grid 116.As front storing grid in Fig. 4
For B, rear storing grid is C, is C2 near the anchor point of front storing grid B, and the anchor point near rear storing grid C is
B1.As alignment sensor 25 centering anchor point C2, the rear storing bin 1B be aligned rear storing grid C of rail-mounted vehicle 0；When fixed
During level sensor 25 centering anchor point B1, the front storing bin 1A be aligned front storing grid B of rail-mounted vehicle 0.In this instance, fixed
The position encoded rule in site represents the storing of rail-mounted vehicle for first letter representation storing grid numbering, second-order digit
Storehouse is numbered, and 1 is front storing bin, and 2 is rear storing bin.By above-mentioned anchor point layout and position encoded rule, rail-mounted vehicle 0 is no
By using front storing bin 1A or after storing bin 1B can alignment target storing grid, both played rail-mounted vehicle in the present invention
The extra space advantage of double storing bins, also maintains the layout pattern of existing storing grid in High Level Rack, can make full use of vertical
The arrangement space in body warehouse.
Path number, the station information of corresponding storing grid and the position of current Crane Rail is recorded in RFID label tag 118
In RFID label tag 118 both sides four anchor points position encoded, can help rail-mounted vehicle 0 determine itself be located current line
Track road and current station point, provide foundation for its online path planning；Rail-mounted vehicle 0 identification target storing grid can be helped
Four anchor points 119 of 116 both sides, adopt front storing bin 1A or rear storing bin 1B alignment target storing grid 116 to provide for it
Reference.
Based on the position control method of RFID double storehouses rail-mounted vehicle, specific as follows：
1）, when rail-mounted vehicle 0 is in forward mode of operation, using RFID sensor 21 read RFID label tag 118；When
When rail-mounted vehicle 0 is in inverted running pattern, RFID label tag 118 is read using RFID sensor 22.
2）If, rail-mounted vehicle 0 goods accessing operation is carried out to some storing grid 116 by rear storing bin 1B,
Then read to should be after the RFID label tag 118 of storing grid 116, when alignment sensor 25 successively centering second in RFID sensor
Stop immediately during individual anchor point 119, now the rear storing bin 1B of rail-mounted vehicle 0 is directed at this target storing grid.In Fig. 4,
Rail-mounted vehicle 0 carries out goods accessing operation by rear storing bin 1B to storing grid B, then read to should in RFID sensor
After RFID label tag B of storing grid, move on rail-mounted vehicle 0, alignment sensor 25 successively centering anchor point A1,
B2.Stop immediately as alignment sensor 25 be aligned anchor point B2, now the rear storing bin 1B alignment target storage of rail-mounted vehicle
Object space lattice B.
3）If, rail-mounted vehicle 0 goods accessing operation is carried out to some storing grid 116 by front storing bin 1A,
Then read the RFID label tag 118 of a rear storing grid 116 of aiming station in RFID sensor after, when alignment sensor 25 is looked for
Stop immediately during positive first anchor point 119, now the front storing bin 1A of rail-mounted vehicle 0 is directed at this target storing grid.As
In Fig. 4, rail-mounted vehicle 0 carries out goods accessing operation by front storing bin 1A to storing grid B, then read in RFID sensor
After the RFID label tag 118 of a rear storing grid C of storing grid B, move on rail-mounted vehicle 0, alignment sensor
Stop immediately during 25 centering anchor point B1, now the front storing bin 1A alignment target storing grid B of rail-mounted vehicle 0.
The above is only the preferred embodiment of the present invention it is noted that ordinary skill people for the art
For member, on the premise of without departing from the technology of the present invention principle, some improvement can also be made and deform, these improve and deform
Also should be regarded as protection scope of the present invention.
Claims (8)
1. be based on RFID double storehouses rail-mounted vehicle, including vehicle frame, located at bottom of frame directive wheel it is characterised in that also including
Control device, RFID sensor, alignment sensor, electric power system and the driving means for driving directive wheel operating；Described confession
Electric system is electrically connected with described control device, RFID sensor, alignment sensor and driving means respectively, described RFID sensing
Device, alignment sensor, driving means are connected with control device signal respectively；Described vehicle frame is provided with front storing bin and rear storing
Storehouse, the bottom of vehicle frame is provided with the Crane Rail of setting corresponding with shelf；It is disposed with described Crane Rail：For storing goods
The RFID label tag of information and the anchor point for positioning of stopping；Described RFID sensor is installed on the bottom two ends of vehicle frame, with
The corresponding setting of RFID label tag；Described alignment sensor is installed on the bottom centre of vehicle frame, setting corresponding with described anchor point；
Described driving means include motor, driving pulley, the Timing Belt of driven pulley, connection driving pulley and driven pulley
With drive axle, the rear drive shaft being connected to directive wheel；Described driving pulley is relatively fixed with drive axle and is connected, described
Driven pulley is relatively fixed with rear drive shaft and is connected；
Drive axle, the two ends of rear drive shaft are supported on described vehicle frame by bearing block respectively；
Motor is fixed on vehicle frame, and the output shaft of motor connects driving gear, the middle part of drive axle be provided with by
Moving gear, driving gear is engaged with driven gear.
2. according to claim 1 based on the double storehouse rail-mounted vehicles of RFID it is characterised in that described front storing bin is by arranging
End convex framework in vehicle frame front end and be arranged on middle convex framework composition in the middle part of vehicle frame, described rear storing bin is by arranging
End convex framework in vehicle frame rear end and described middle convex framework composition.
3. according to claim 2 based on the double storehouse rail-mounted vehicle of RFID it is characterised in that described middle convex framework divides
For upper strata framework, middle level framework and lower floor's framework, described control device, electric power system are corresponding with alignment sensor to be installed on upper strata
In framework, middle level framework and lower floor's framework.
4. according to any one of claim 1-3 based on the double storehouse rail-mounted vehicles of RFID it is characterised in that described guiding
Wheel is connected in two coaxial minor diameter wing wheels of major diameter main wheel both sides and form by major diameter main wheel and symmetrically, and by key and phase
The drive shaft answered is fixedly connected.
5. according to claim 4 based on the double storehouse rail-mounted vehicle of RFID it is characterised in that described Crane Rail includes two
Groove type track and the bearing track face between two groove type tracks that bar is parallel to each other, groove type track and described guiding
Take turns the setting that matches.
6. according to claim 4 based on the double storehouse rail-mounted vehicle of RFID it is characterised in that described RFID sensor is in car
The rear and front end of frame is respectively provided with one, and the signal emission port of RFID sensor is perpendicularly oriented to ground.
7. a kind of rail layout method based on RFID double storehouses rail-mounted vehicle is it is characterised in that uniform on every Crane Rail
It is equipped with goods access work station point, goods accesses work station point and corresponds setting with the storing grid on shelf；
The cross central line of storing grid is arranged with RFID label tag with the point of intersection of the longitudinal centre line of Crane Rail；
Between every two RFID label tag, along the longitudinal centre line direction of Crane Rail, in the boundary line of two storing grids
Both sides are arranged symmetrically two anchor points, read for alignment sensor；
Described anchor point is equipped with position encoded, and to describe the position intersecting between anchor point and storing grid by position encoded
Put corresponding relation；
Record the path number of current Crane Rail, the station information of corresponding storing grid in RFID label tag and be located at RFID mark
Sign both sides four anchor points position encoded.
8. a kind of position control method based on RFID double storehouses rail-mounted vehicle it is characterised in that：
When rail-mounted vehicle is in forward mode of operation, read using the RFID sensor being arranged at rail-mounted vehicle front end
RFID label tag；
When rail-mounted vehicle is in inverted running pattern, read using the RFID sensor being arranged at rail-mounted vehicle rear end
RFID label tag；
If rail-mounted vehicle carries out goods accessing operation by rear storing bin to some storing grid, in RFID sensor
Read to should stop when second anchor point of alignment sensor successively centering, now have after the RFID label tag of storing grid
The rear storing bin of rail waggon is directed at this target storing grid；
If rail-mounted vehicle carries out goods accessing operation by front storing bin to some storing grid, in RFID sensor
After reading the RFID label tag of a rear storing grid of aiming station, stop when first anchor point of alignment sensor centering,
Now the front storing bin of rail-mounted vehicle is directed at this target storing grid.
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| CN201410695114.2A CN104495182B (en) | 2014-11-27 | 2014-11-27 | RFID (radio frequency identification)-based two-bin rail-bound conveying vehicle and rail layout and positioning control method |
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| CN107054960A (en) * | 2017-04-24 | 2017-08-18 | 深圳市鸿鹭工业设备有限公司 | A kind of split type four-way shuttle and products storage circulation system |
| CN108594783A (en) * | 2018-07-03 | 2018-09-28 | 成都博士信智能科技发展有限公司 | Aeroamphibious tubular type system and aeroamphibious experiencing system |
| CN109592281B (en) * | 2019-02-12 | 2024-02-27 | 湖州德奥机械设备有限公司 | Positioning mechanism of transfer trolley |
| CN109928132B (en) * | 2019-04-30 | 2021-10-01 | 牛眼智能物流设备(苏州)有限公司 | Running device and running method of four-way shuttle trolley |
| CN110550408A (en) * | 2019-09-27 | 2019-12-10 | 深圳市骄冠科技实业有限公司 | Rail attachment device of conveying and sorting vehicle |
| CN114378786B (en) * | 2022-01-20 | 2023-09-19 | 北京全路通信信号研究设计院集团有限公司 | Rail type robot positioning method and device |
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| JP3754504B2 (en) * | 1996-07-12 | 2006-03-15 | トーヨーカネツソリューションズ株式会社 | Conveying means control method and apparatus |
| AT501062B1 (en) * | 2004-06-04 | 2007-06-15 | Katt Transp Gmbh | METHOD FOR PROMOTING GOODS AND PLANT FOR IMPLEMENTING THE PROCESS |
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| CN201808937U (en) * | 2010-09-15 | 2011-04-27 | 湖南大学 | Sorting machine replenishment system based on radio frequency identification (RFID) communication |
| CN204368839U (en) * | 2014-11-27 | 2015-06-03 | 国家电网公司 | Based on RFID two storehouses rail-mounted vehicle |
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