CN105892468A - Obstacle sensing and early-warning device for AGV control system - Google Patents
Obstacle sensing and early-warning device for AGV control system Download PDFInfo
- Publication number
- CN105892468A CN105892468A CN201610382920.3A CN201610382920A CN105892468A CN 105892468 A CN105892468 A CN 105892468A CN 201610382920 A CN201610382920 A CN 201610382920A CN 105892468 A CN105892468 A CN 105892468A
- Authority
- CN
- China
- Prior art keywords
- agv
- warning device
- barrier
- obstacle sensors
- sensing
- 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.)
- Withdrawn
Links
- 238000004891 communication Methods 0.000 claims abstract description 10
- 230000004888 barrier function Effects 0.000 claims description 46
- 230000006698 induction Effects 0.000 claims description 16
- 238000009434 installation Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 description 24
- 239000000872 buffer Substances 0.000 description 9
- 230000000694 effects Effects 0.000 description 3
- 230000007257 malfunction Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 230000008030 elimination Effects 0.000 description 2
- 238000003379 elimination reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000002390 adhesive tape Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000979 retarding effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses an obstacle sensing and early-warning device for an AGV (Automated Guided Vehicle) control system. The obstacle sensing and early-warning device comprises a controller which is positioned in an AGV body, a CAN (Controller Area Network) bus, and a wireless transceiving device, a motor driving device, an obstacle sensing and early-warning device and a magnetic stripe sensing device used for trail navigation which are respectively in communication connection with the controller through the CAN bus; the obstacle sensing and early-warning device comprises an obstacle sensor which is used for sensing the distance between an obstacle and the AGV body and an early-warning device which is used for warning; the obstacle sensor is an infrared obstacle avoidance sensor or an ultrasonic sensor. The obstacle sensing and early-warning device for the AGV control system, provided by the invention, has the advantage of performing early-warning effectively.
Description
Technical field
The present invention relates to intelligent carriage control system technical field, it is more particularly related to a kind of
The barrier sensing prior-warning device of AGV control system.
Background technology
Automatic guided vehicle (Automated Guided vehicle is called for short AGV) refers to be equipped with electricity magnetically or optically
Etc. homing guidance device, can along regulation guide path travel, there is safeguard protection and various shifting
Carrying the transport vehicle of function, it is with battery as power, completes the carrying to goods by unmanned,
Owing to its automaticity is high, flexibly and easily, it was rapidly progressed in recent years.
Summary of the invention
For weak point present in above-mentioned technology, the present invention provide a kind of can the AGV of effective early warning
The barrier sensing prior-warning device of control system.
In order to realize according to object of the present invention and further advantage, the present invention is by the following technical programs
Realize:
The present invention provides the barrier sensing prior-warning device of a kind of AGV control system, including: it is positioned at AGV
Controller, CAN in car body and be communicatively connected to described control by described CAN respectively
The wireless transmitter of device processed, motor driver, barrier sense prior-warning device and navigate for track
Magnetic stripe induction installation, described barrier sensing prior-warning device includes sensing barrier and AGV car body distance
Barrier induction apparatus and for warning prior-warning device；Described barrier induction apparatus is infrared obstacle avoidance sensing
Device or ultrasonic sensor.
Preferably, described IR evading obstacle sensors includes being positioned at that first in the middle of described AGV headstock is infrared keeps away
Hinder sensor, be symmetrically distributed in the second IR evading obstacle sensors of described AGV headstock both sides and realize institute
State and select between the first IR evading obstacle sensors and described second IR evading obstacle sensors infrared to keep away with switch
Barrier sensor selector；Described first IR evading obstacle sensors, described second IR evading obstacle sensors and
Described IR evading obstacle sensors selector is connected to described controller by described CAN respectively.
Preferably, described IR evading obstacle sensors selector is mounted in the selection of described barrier induction apparatus
Switch or be communicatively connected to described first IR evading obstacle sensors and institute by described wireless transmitter respectively
State the hand-held device of the second IR evading obstacle sensors.
Preferably, described hand-held device is the one in remote controller, panel computer, mobile phone.
Preferably, during the communication mode of described wireless transmitter is mobile data, wifi and bluetooth
A kind of.
The present invention at least includes following beneficial effect:
1) wireless transmitter, pre-for tri coloured lantern device, the barrier sensing of state instruction of the present invention
Alarm device and the magnetic stripe induction installation for track navigation are communicatively connected to control by CAN respectively
Device processed, greatly increases the autgmentability of AGV control system, lays the foundation for follow-up exploitation；AGV
Control system breaks down, and maintainer has only to according to which device is fault occur in, it is possible to for
Property inspection related device, malfunction elimination is simple, and operation is convenient, greatly enhances maintenance efficiency；
2) barrier sensing prior-warning device is IR evading obstacle sensors or ultrasonic sensor；All can be effectively
Carry out obstacle distance detection；
3) present invention passes through IR evading obstacle sensors selector, can select to be in the middle of AGV headstock
First IR evading obstacle sensors carries out unidirectional detection, is symmetrically positioned in the second infrared obstacle avoidance of AGV headstock both sides
Sensor carries out two-way detection or the first IR evading obstacle sensors and the second IR evading obstacle sensors work simultaneously
Make to carry out the single, double mode of operation to cross detection；By the selection of multiple detection mode of operation, real
Detecting distance and the detection range of existing barrier are adjustable, while improving the accuracy of detection of obstacles, also
Improve work efficiency；
4) IR evading obstacle sensors selector is mounted in selection switch or the difference of infrared obstacle avoidance detection device
It is communicatively connected to the first IR evading obstacle sensors by wireless transmitter and described second infrared obstacle avoidance senses
The hand-held device of device；Selecting switch and hand-held device is the two of IR evading obstacle sensors selector
Plant different concrete modes, select switch to be suitable for the closely operation near AGV vehicle body, hand-held
Device is suitable for remotely operation；
5) one during hand-held device is remote controller, panel computer, mobile phone is alternative strong；
6) one during the communication mode of wireless transmitter is mobile data, wifi and bluetooth, wireless
Communication mode is alternative strong, communication convenience；
Part is embodied by the further advantage of the present invention, target and feature by description below, and part also will
By the research of the present invention and practice are understood by the person skilled in the art.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the barrier sensing prior-warning device of AGV control system of the present invention；
Fig. 2 is the structural representation of barrier of the present invention sensing prior-warning device.
In figure:
10-controller；20-wireless transmitter；30 motor drivers；40-voice device；50-tri-
Colored lights device；60-barrier sensing prior-warning device；61-barrier induction apparatus；611-the first infrared obstacle avoidance passes
Sensor；612-the second IR evading obstacle sensors；613-IR evading obstacle sensors selector；62-prior-warning device；
70-magnetic stripe induction installation；80-human-computer exchange device；90-CAN bus；100-bar contact formula buffers
Device.
Detailed description of the invention
The present invention is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art's reference
Description word can be implemented according to this.
Should be appreciated that used herein such as " have ", " comprising " and " including " term not
Allot other element one or more or the existence of a combination thereof or interpolation.
As it is shown in figure 1, the barrier sensing prior-warning device of the AGV control system of present invention offer, including:
It is positioned at the controller 10 of AGV car body, CAN (Controller Area Network, controller local
Net) bus 90 and respectively by CAN 90 be communicatively connected to controller 10 wireless receiving and dispatching fill
Put 20, motor driver 30, for the voice device 40 of voice broadcast, for the three of state instruction
Colored lights device 50, barrier sensing prior-warning device 60, magnetic stripe induction installation 70 and navigated for track
Human-computer exchange device 80.
In above-mentioned embodiment, controller 10 is single-chip microcomputer, FPGA (Field-Programmable Gate
Array, field-programmable logic gate array), DSP (Digital Signal Processing, digital signal
Process) in one.
In above-mentioned embodiment, alarm device 30 is preferably acoustic-optic alarm, it is simple to staff and
Time significantly warn.Acoustic-optic alarm includes the buzzer for warning and LED.
In above-mentioned embodiment, voice device 40 is mainly used in reporting the website of AGV car body arrival, broadcasting
Report load-carrying Item Information and other information needing AGV to report of AGV car body.
In above-mentioned embodiment, tri coloured lantern device 50 for indicate AGV car body energising running status,
AGV car body malfunction, AGV be not by fixed route transport condition.Tri coloured lantern device 50 indicates clearly,
It is easy to understand AGV car body state in time.Preferred as present embodiment, tri coloured lantern device 50 is preferred
Instruction system based on ULN2003, ULN2003 is high-voltage great-current darlington transistor array series
Product, has the features such as current gain height, running voltage height, temperature range width, carrying load ability are strong,
It is adapted to all kinds of system requiring high-speed high-power to drive.
In above-mentioned embodiment, barrier sensing prior-warning device 60 is used for sensing barrier and AGV car body
Distance and be sent to controller 10, if the range information that this range information prestores less than controller 10,
Barrier sensing prior-warning device 60 sends early warning, allows the staff of surrounding make protection in time and adjusts.
In technique scheme, human-computer exchange device 80 is connected by CAN 90 with controller 10,
For receiving and store AGV running data and sending remote operation instruction to AGV.
The work process of the AGV control system of the present invention is, barrier sensing prior-warning device 60 reads
Range information is also fed back to controller 10 by CAN by the distance of AGV car body and barrier；When
During the target range that range information prestores less than controller 10, controller 10 sends information warning to obstacle
Thing sensing prior-warning device 60 is with warning；Meanwhile, controller 10 sends deceleration command to AGV, AGV
Automatic retarding is to stopping.
The wireless transmitter 20 of the present invention, motor driver 30, voice device 40, tri coloured lantern fill
Put 50, barrier sensing prior-warning device 60, for the magnetic stripe induction installation 70 of track navigation and man-machine
Switch 80 is connected by CAN 90 with between controller 10 respectively, greatly reduces wiring
Amount；The barrier sensing prior-warning device of AGV control system based on CAN, greatly increases
The autgmentability of AGV control system, lays the foundation for follow-up exploitation；AGV control system breaks down,
Maintainer has only to according to which device is fault occur in, it is possible to check related device targetedly,
Malfunction elimination is simple, and operation is convenient, greatly enhances maintenance efficiency.
As another embodiment of the invention, barrier sensing prior-warning device 60 includes sensing barrier
With the barrier induction apparatus 61 of AGV car body distance and for the prior-warning device 62 of warning；Barrier senses
Device 61 is IR evading obstacle sensors or ultrasonic sensor, all can effectively carry out obstacle distance detection.
As the another embodiment of above-mentioned embodiment, barrier induction apparatus 61 is infrared obstacle avoidance sensing
Device, IR evading obstacle sensors includes being positioned at the first IR evading obstacle sensors 611 in the middle of AGV headstock, right
Claim the second IR evading obstacle sensors 612 being distributed in AGV headstock both sides and realize the first infrared obstacle avoidance biography
The IR evading obstacle sensors selected between sensor 611 and the second IR evading obstacle sensors 612 and switch selects
Device 613；First IR evading obstacle sensors the 611, second IR evading obstacle sensors 612 and infrared obstacle avoidance pass
Sensor selector 613 is connected to controller 10 by CAN 90 respectively.Generally, it is positioned at AGV
The first IR evading obstacle sensors 611 in the middle of headstock sends a branch of detection signal and carries out unidirectional detection, detection
Signal is sector distribution, but the detection range of unidirectional detection is the narrowest.In embodiment of the present invention, red
Outer avoidance sensor also includes the second IR evading obstacle sensors 612 being symmetrically distributed in AGV headstock both sides,
It is symmetrically distributed in the two bundle detection letters that the second IR evading obstacle sensors 612 of AGV headstock both sides sends respectively
Number carry out two-way detection, the two-way detection of intersection, widen detection range.Further, infrared keep away
Barrier sensor also include realizing the first IR evading obstacle sensors 611 and the second IR evading obstacle sensors 612 it
Between select and the IR evading obstacle sensors selector 613 that switches.According to the scope to be detected around AGV and
Distance to be detected, by IR evading obstacle sensors selector 613, can select employing to be positioned at AGV headstock
The first middle IR evading obstacle sensors 611 carries out unidirectional detection, or employing is symmetrically distributed in AGV car
Second IR evading obstacle sensors 612 of head both sides carries out two-way detection, or uses the first infrared obstacle avoidance to pass
Sensor 611 and the second IR evading obstacle sensors 612 work to carry out the single, double work to cross detection simultaneously
Operation mode.Selection by multiple detection mode of operation, it is achieved the detecting distance of barrier and detection range
Adjustable, while improving the accuracy of detection of obstacles, also improve work efficiency.
In above-mentioned embodiment, IR evading obstacle sensors selector 613 is mounted in barrier induction apparatus 61
Selection switch or be communicatively connected to the first IR evading obstacle sensors 611 by wireless transmitter 20 respectively
Hand-held device with the second IR evading obstacle sensors 612.It is red for selecting switch and hand-held device
Two kinds of different concrete modes of outer avoidance sensor selector 613, select switch to be suitable at AGV vehicle body
Neighbouring closely operation, hand-held device is suitable for remotely operation.
In above-mentioned embodiment, hand-held device is the one in remote controller, panel computer, mobile phone.
As another embodiment of the invention, the communication mode of wireless transmitter 20 is mobile number
According to the one in, wifi and bluetooth.Wherein, appointing during mobile data communication includes 2G, 3G, 4G
A kind of.The communication mode of wireless transmitter 20 is alternative strong, communication convenience.
As another embodiment of the invention, human-computer exchange device 80 also includes display screen and is positioned at aobvious
Button in display screen.Display screen and button realize man-machine interaction, travel for real-time reception and storage AGV
Data and send remote operation instruction to AGV, the monitoring of convenient AGV control system.
As another embodiment of the invention, the AGV control system that the present invention provides also includes being positioned at
Bar contact formula buffer unit 100 bottom AGV headstock；Bar contact formula buffer unit 100 with
Controller 10 is connected by CAN 90.When bar contact formula buffer unit 100 touches obstacle
During thing, on the one hand, bar contact formula buffer unit 100 is to playing cushioning effect between AGV and barrier；
On the other hand, collision information is sent to control by bar contact formula buffer unit 100 by CAN
Device 10, sends after controller 10 Receiving collision information and disconnects the order powered of AGV and supply to disconnect AGV
Electricity, thus stop AGV and travel.Bar contact formula buffer unit 100 is AGV and barrier collision
Provide buffer protection.
Preferred as above-mentioned embodiment, bar contact formula buffer unit 100 includes rubber strip, rubber
The impact-cushioning effect of adhesive tape is preferable, and AGV and collision thing are served well buffering collision and protection
Effect.
Although embodiment of the present invention are disclosed as above, but it is not restricted to description and embodiment party
Listed utilization in formula.It can be applied to various applicable the field of the invention completely.For being familiar with ability
Other amendment it is easily achieved for the personnel in territory.Therefore without departing substantially from claim and equivalency range
Under the general concept limited, the present invention is not limited to specific details and shown here as the legend with description.
Claims (5)
1. a barrier sensing prior-warning device for AGV control system, including: it is positioned at AGV car body
In controller, CAN and be communicatively connected to described controller by described CAN respectively
Wireless transmitter, motor driver, barrier sensing prior-warning device and for track navigation magnetic
Bar induction installation, it is characterised in that described barrier sensing prior-warning device includes sensing barrier and AGV
The barrier induction apparatus of car body distance and the prior-warning device for warning；Described barrier induction apparatus is infrared
Avoidance sensor or ultrasonic sensor.
2. the barrier sensing prior-warning device of AGV control system as claimed in claim 1, its feature
Being, described IR evading obstacle sensors includes the first infrared obstacle avoidance sensing being positioned in the middle of described AGV headstock
Device, it is symmetrically distributed in the second IR evading obstacle sensors of described AGV headstock both sides and realizes described first
The infrared obstacle avoidance sensing selected between IR evading obstacle sensors and described second IR evading obstacle sensors and switch
Device selector；Described first IR evading obstacle sensors, described second IR evading obstacle sensors and described red
Outer avoidance sensor selector is connected to described controller by described CAN respectively.
3. the barrier sensing prior-warning device of AGV control system as claimed in claim 2, its feature
Be, described IR evading obstacle sensors selector be mounted in described barrier induction apparatus selection switch or
It is communicatively connected to described first IR evading obstacle sensors and described second respectively by described wireless transmitter
The hand-held device of IR evading obstacle sensors.
4. the barrier sensing prior-warning device of AGV control system as claimed in claim 3, its feature
Being, described hand-held device is the one in remote controller, panel computer, mobile phone.
5. the barrier sensing prior-warning device of the AGV control system as described in claim 1 or 3, its
Being characterised by, the communication mode of described wireless transmitter is in mobile data, wifi and bluetooth
Kind.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610382920.3A CN105892468A (en) | 2016-06-02 | 2016-06-02 | Obstacle sensing and early-warning device for AGV control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610382920.3A CN105892468A (en) | 2016-06-02 | 2016-06-02 | Obstacle sensing and early-warning device for AGV control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105892468A true CN105892468A (en) | 2016-08-24 |
Family
ID=56710978
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610382920.3A Withdrawn CN105892468A (en) | 2016-06-02 | 2016-06-02 | Obstacle sensing and early-warning device for AGV control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105892468A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107346139A (en) * | 2017-06-27 | 2017-11-14 | 苏州美天网络科技有限公司 | Intelligence based on multi-faceted tag recognition carries vehicle control |
| CN107357289A (en) * | 2017-06-27 | 2017-11-17 | 苏州美天网络科技有限公司 | Intelligence based on electronic tag carries vehicle control |
| CN109885041A (en) * | 2017-12-06 | 2019-06-14 | 杭州海康机器人技术有限公司 | Automated guided vehicle AGV control method, system, device and AGV |
| CN111327743A (en) * | 2020-04-01 | 2020-06-23 | 南京工业职业技术学院 | Smart mobile phone obstacle early warning device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204705894U (en) * | 2015-06-15 | 2015-10-14 | 济南大学 | Magnetic navigation AGV material handling dolly |
| CN204945798U (en) * | 2015-09-10 | 2016-01-06 | 东莞理工学院 | A kind of Intelligent transfer robot adopting automation controller able to programme |
| CN205121340U (en) * | 2015-11-17 | 2016-03-30 | 杭州瓦瑞科技有限公司 | But omnidirectional movement's automation guides dolly |
| CN105480902A (en) * | 2016-01-19 | 2016-04-13 | 杭州瓦瑞科技有限公司 | Universal forklift type AGV |
| CN205229457U (en) * | 2015-12-25 | 2016-05-11 | 河南城建学院 | Intelligent vehicle ranging system |
-
2016
- 2016-06-02 CN CN201610382920.3A patent/CN105892468A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204705894U (en) * | 2015-06-15 | 2015-10-14 | 济南大学 | Magnetic navigation AGV material handling dolly |
| CN204945798U (en) * | 2015-09-10 | 2016-01-06 | 东莞理工学院 | A kind of Intelligent transfer robot adopting automation controller able to programme |
| CN205121340U (en) * | 2015-11-17 | 2016-03-30 | 杭州瓦瑞科技有限公司 | But omnidirectional movement's automation guides dolly |
| CN205229457U (en) * | 2015-12-25 | 2016-05-11 | 河南城建学院 | Intelligent vehicle ranging system |
| CN105480902A (en) * | 2016-01-19 | 2016-04-13 | 杭州瓦瑞科技有限公司 | Universal forklift type AGV |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107346139A (en) * | 2017-06-27 | 2017-11-14 | 苏州美天网络科技有限公司 | Intelligence based on multi-faceted tag recognition carries vehicle control |
| CN107357289A (en) * | 2017-06-27 | 2017-11-17 | 苏州美天网络科技有限公司 | Intelligence based on electronic tag carries vehicle control |
| CN109885041A (en) * | 2017-12-06 | 2019-06-14 | 杭州海康机器人技术有限公司 | Automated guided vehicle AGV control method, system, device and AGV |
| CN109885041B (en) * | 2017-12-06 | 2022-07-05 | 杭州海康机器人技术有限公司 | AGV control method, system and device for automatic guided transport vehicle and AGV |
| CN111327743A (en) * | 2020-04-01 | 2020-06-23 | 南京工业职业技术学院 | Smart mobile phone obstacle early warning device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106094815A (en) | A kind of control system of AGV | |
| CN105892468A (en) | Obstacle sensing and early-warning device for AGV control system | |
| US10301155B2 (en) | Sensor configuration for a materials handling vehicle | |
| CN110294436B (en) | Label layout for industrial vehicle operation | |
| US9415513B2 (en) | Systems and methods for railyard robotics | |
| US10065314B2 (en) | System and method for manipulation platform | |
| EP3410248B1 (en) | Multiple zone sensing for materials handling vehicles | |
| CN105955276A (en) | Scramming apparatus for AGV | |
| CN102549514B (en) | For the steering correction of remote-operated materials handling vehicle | |
| CN207158711U (en) | A kind of laser navigation is from electrical forklift | |
| US20180079079A1 (en) | Mobile robot with collision anticipation | |
| KR101147447B1 (en) | Traffic service system of road construction and method thereof | |
| CN102393742A (en) | Wheel-type intelligent transport vehicle applied to protected agriculture | |
| CN105911991A (en) | AGV protection system | |
| CN102103379A (en) | Dispatching system of automated guided vehicle (AGV) | |
| WO2012136672A1 (en) | A collision avoiding method and associated system | |
| CN106200651A (en) | A kind of tunnel construction new energy rail electric locomotive Unmanned Systems | |
| US11360478B2 (en) | Method for the operation of an autonomous industrial truck and intra-logistics system with an autonomous industrial truck | |
| CN202453735U (en) | Anti-collision system for automatic guided vehicle at intersections | |
| CN114873449A (en) | Intelligent driving system of mining explosion-proof monorail crane bicycle | |
| CN102514900B (en) | Routing automatic transporting system and method | |
| EP3879857A1 (en) | Parking information management server, parking assist device, and parking assist system | |
| CN106066646A (en) | A kind of infra-red ray detection device of AGV | |
| CN214031454U (en) | Single track hangs unmanned monitored control system | |
| CN206003314U (en) | A kind of fog-zone intellectual inducing indicates |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20160824 |
|
| WW01 | Invention patent application withdrawn after publication |