CN110793547A - AGV test site and control method - Google Patents
AGV test site and control method Download PDFInfo
- Publication number
- CN110793547A CN110793547A CN201911067200.8A CN201911067200A CN110793547A CN 110793547 A CN110793547 A CN 110793547A CN 201911067200 A CN201911067200 A CN 201911067200A CN 110793547 A CN110793547 A CN 110793547A
- Authority
- CN
- China
- Prior art keywords
- test
- agv
- electromagnet
- module
- instruction
- 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.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Tests Of Electronic Circuits (AREA)
Abstract
Compared with the prior art, the AGV test site provided by the invention has the advantages that the test platforms can be assembled into a site meeting the requirements according to the actual test requirements, the disassembly and the assembly can be quickly realized, the specification and the test track can be changed according to the requirements, the AGV test site is applied to the test of magnetic stripe AGVs or inertia AGVs of various models, the flexibility of AGV test is facilitated, and the cost can be effectively saved. The control method of the invention has all the advantages of the scheme because the AGV test site is applied.
Description
Technical Field
The invention relates to the field of object positioning, in particular to an AGV test site and a control method.
Background
With the rapid development of logistics systems, the application range of AGVs is also expanding continuously as follows: manufacturing industry, warehousing industry, military, electronics, and the like. In order to improve the competitiveness, the quality of the AGV product is very important, so that the quality of the AGV product needs to be detected after the production of the AGV product is finished. The conventional magnetic stripe AGV test scene is a relatively fixed test scene, namely: the AGV driving path in the test scene is fixed and unchangeable, and the fixed scene is very inconvenient when testing the AGV performance of different models, and the magnetic stripe that has laid needs to be torn open earlier, lays the scene again according to actual demand again, and time and human cost are high, and can leave the trace in the place.
The existing dot matrix type LED display can adopt a common cathode or a common anode, a row circuit of the LED display adopts a line-by-line scanning mode, a column circuit adopts a data transmission mode of serial-in and parallel-out, and a light emitting diode meeting the signal requirement is turned on and lightened. Thus, the dot matrix can be lightened row by row only by using the display codes of the graphs or the characters as column signals and carrying out successive scanning with the corresponding row signals. Due to the persistence effect of the vision of the human eye, complete graphics or text can be seen as displayed as long as the scanning speed is greater than 24 Hz. The LED dot matrix display control mainly uses a single chip microcomputer as a control core, and characters are displayed on an LED dot matrix screen in a left-shifting mode through a row and column driving circuit. In the design process, the driving circuit uses dynamic scanning to display, and the dynamic scanning is simply lighted up row by row in turn, so that the scanning driving circuit can realize that the same-name columns of a plurality of rows (such as 10 rows) share one set of column drivers. Due to the limitation of dynamic scanning display (parallel transmission), dynamic scanning display (serial transmission) is adopted, and an LED dot matrix screen block is used as a display screen in a display mode.
The hypothesis is applied to the AGV test field with LED screen theory of operation, is about to change the LED dot matrix screen into electro-magnet dot matrix circuit board, thereby can realize theoretically generating the navigation route through switching on magnetism with the magnetic stripe on the circuit board.
Disclosure of Invention
The invention aims to provide an AGV test field which can move in a detachable mode and can flexibly change a test path.
In order to realize the purpose, the invention adopts the following technical scheme:
the AGV testing field comprises a main control machine, a plurality of testing platforms and a power supply device for supplying power to the testing platforms; the main control computer is used for receiving a test track instruction, generating a control instruction and sending the control instruction to the test platform; the test platforms can be mutually assembled to form a test field, each test platform comprises an electromagnet array and a control module, and the control module selectively controls the conduction and the cutoff of the current of part of electromagnets in the electromagnet array according to the control instruction so as to enable the conducted electromagnets to form a test track.
The AGV testing field is provided with a plurality of testing platforms, and when the AGV testing field is used, the testing platforms are assembled into a field meeting the requirements according to actual testing requirements; the control power supply device is controlled by the main control unit to supply power to the test platform of the test site and respectively send control instructions corresponding to the control power supply device to each control module, the control modules control the on-off of each electromagnet in the corresponding electromagnet array according to the received control instructions, the electromagnets of the same test platform are switched on to form sub-navigation paths, the sub-navigation paths jointly form a continuous test track, and the magnetic stripe AGV can conduct a test according to the test track. In addition, the AGV testing field can be applied to testing of inertia AGV, the control module controls the current on-off of part of electromagnets according to the control instruction, the electromagnets after being electrified are equivalent to magnetic nails, and each magnetic nail forms a testing track. Compared with the prior art, the AGV testing field can be rapidly disassembled, and the specification and the testing track can be changed as required, so that the flexibility of AGV testing is facilitated, and the cost can be effectively saved.
Preferably, the test platform still includes installing support and bearing apron, the installing support includes the mounting groove, electromagnet array and control module locate in the mounting groove, the upside of installing support is located to the bearing apron lid. The bearing cover plate of the scheme can keep the test site flat and prevent the electromagnet from deforming under pressure.
Further, the mounting bracket comprises a supporting platform and a supporting leg, the supporting leg is arranged on the lower end face of the supporting platform, the mounting groove is formed in the upper end face of the supporting platform, and the bearing cover plate is covered on the upper end face of the supporting platform.
Preferably, the control module is a circuit board, the electrical components of the circuit board are arranged on the lower end face of the circuit board, and the electromagnet array is arranged on the upper end face of the circuit board. The electromagnet array of the scheme is fixed through the circuit board, the circuit board is not required to be connected with the electromagnets through wires, and the structure of the test platform is simplified.
Preferably, the control module comprises a logic operation module, the logic operation module comprises a signal receiving and sending module and an electromagnet row and column driving module, and the logic operation module is used for receiving and analyzing a control instruction sent by the main control computer and controlling the on-off and polarity of each electromagnet according to an analysis result.
Further, the control module switches the polarity of the electromagnet by changing the current direction of the electromagnet.
For detecting the conduction condition of the electromagnets, the control module is provided with a magnetic detection switch corresponding to each electromagnet, and the control module detects the conduction condition of the electromagnets through the magnetic detection switches and generates a feedback signal.
Preferably, the test platform comprises n rows by n columns of electromagnets, and the electromagnets in the same column form a group of electromagnet arrays; the control instruction comprises a polarity signal and a navigation line signal, the navigation line signal comprises a test platform number, an electromagnet column number and a row on-off signal, the main control computer comprises an electromagnet driving module, an instruction generating module and a storage module, the electromagnet driving module is used for exciting the power supply device to start, the instruction generating module is used for generating the control instruction, and the storage module is used for storing the control instruction so that the control instruction can be reused.
Preferably, a plurality of test platform passes through the cable conductor and establishes ties, test platform includes power connection, the lateral wall of saddle is equipped with the mouth of crossing that transversely runs through, power connection's one end with control module electricity is connected, and the other end extends to on the mouth.
Another object of the present invention is to provide a method for controlling an AGV test site, which includes the following steps:
a. the main control computer receives the test track instruction, starts a power supply device, and supplies power to the AGV test platform; b. and the main control computer generates a navigation line signal and a polarity signal and sends the navigation line signal and the polarity signal to the test platform. c. And the test platform receives the navigation line signal and the polarity signal and selectively controls the current on-off and the direction of part of electromagnets in the electromagnet array. d. The conducted electromagnet forms a test track, and the test platform sends a feedback signal to the main control computer. e. The main control computer receives the feedback signal and judges, and when the feedback signal is judged not to be matched with the control instruction, b-e is repeated; and when the feedback signal is judged to be matched with the control instruction, the main control computer sends a driving instruction to the AGV. Compared with the prior art, the control method has all the advantages of the scheme because the AGV test site is applied.
Drawings
FIG. 1 is a schematic diagram of the operation of the present invention 1;
FIG. 2 is a schematic diagram of the operation of the present invention 2;
FIG. 3 is a schematic diagram of an AGV testing yard;
FIG. 4 is a schematic structural diagram of a test platform;
FIG. 5 is an exploded view of the test platform configuration 1;
FIG. 6 is an exploded view of the test platform configuration 2;
FIG. 7 is a schematic diagram of the operation of the present invention in FIG. 1;
fig. 8 is a diagram of the working principle of the present invention 2.
Description of reference numerals:
AGV test site 1, test platform 2, installing support 201, bearing apron 202, electro-magnet 203, circuit board 2041, electric component 2042, saddle 2011, stabilizer blade 2012, mounting groove 2013, square 2043, power connection 2014, mouth 2015, test track 3, magnetism nail 4.
Detailed Description
The technical scheme of the invention is further explained according to the attached drawings:
in the description of the present invention, it is to be understood that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "horizontal", "inner", "outer", and the like are based on the directions or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and thus, cannot be construed as limiting the present invention. The fixed connection comprises traditional fixed connection modes such as screw connection, riveting and the like.
The first embodiment is as follows:
referring to fig. 1 to 6, an AGV test site 1 of the present embodiment includes a main control computer, a plurality of test platforms 2, and a power supply device for supplying power to the plurality of test platforms 2; the main control computer is used for receiving a test track instruction, generating a control instruction and sending the control instruction to the test platform 2; the test platforms 2 can be mutually assembled to form a test field, the test platforms 2 comprise electromagnet arrays and control modules, and the control modules selectively control the conduction and the cutoff of the current of part of electromagnets 203 in the electromagnet arrays according to the control instructions so that the conducted electromagnets 203 form a test track 3. The structure and the size of the plurality of test platforms 2 are consistent, so that the production and the use management are convenient. And a plurality of test platform 2 establishes ties through the cable conductor, test platform 2 includes power connection 2014, the lateral wall of saddle 2011 is equipped with the mouth 2015 that crosses that transversely runs through, the one end of power connection 2014 with the control module electricity is connected, and the other end extends to on the mouth 2015.
Referring to fig. 1, when the test platform is used for testing a magnetic stripe AGV, electromagnets 203 of the same test platform are turned on to form sub-navigation paths, the sub-navigation paths form a continuous test track 3 together, and the magnetic stripe AGV can walk according to the test track 3 for testing.
Referring to fig. 2, when the device is used for testing inertia AGV, the control module controls the current on/off of a part of the electromagnets 203 according to the control instruction, and the energized electromagnets 203 act as magnetic nails 4.
Specifically, the test platform 2 further comprises a mounting bracket 201 and a bearing cover plate 202, the mounting bracket 201 comprises a mounting groove 2013, the electromagnet array and the control module are arranged in the mounting groove 2013, and the bearing cover plate 202 is arranged on the upper side of the mounting bracket 201 in a covering manner. The bearing cover plate 202 of the scheme can keep the test site flat and prevent the electromagnet 203 from deforming under pressure. The mounting bracket 201 comprises a pallet 2011 and support legs 2012, the lower end face of the pallet 2011 is arranged on the support legs 2012, the mounting groove 2013 is arranged on the upper end face of the pallet 2011, and the upper end face of the pallet 2011 is covered by the bearing cover plate 202.
The control module is a circuit board 2041, the electrical component 2042 of the circuit board 2041 is disposed on the lower end surface thereof, and the electromagnet array is disposed on the upper end surface of the circuit board 2041.
The control module comprises a logic operation module, the logic operation module comprises a signal receiving and sending module and an electromagnet 203 row and column driving module, and the logic operation module is used for receiving and analyzing a control instruction sent by the main control computer and controlling the on-off and polarity of each electromagnet 203 according to an analysis result. The electromagnet array of the scheme is fixed through the circuit board 2041, and the circuit board 2041 and the electromagnet 203 are not required to be connected through a conducting wire, so that the structure of the test platform 2 is simplified.
The control module comprises a logic operation module, and the logic operation module is used for receiving and analyzing the control instruction sent by the main control computer and controlling the on-off and polarity of each electromagnet 203 according to the analysis result.
The control module switches the polarity of the electromagnet 203 by changing the direction of the current to the electromagnet 203.
In order to detect the conduction condition of the electromagnets 203, the control module is provided with a magnetic detection switch (not shown) corresponding to each electromagnet 203, and the control module detects the conduction condition of the electromagnet 203 through the magnetic detection switch and generates a feedback signal.
The test platform 2 comprises n rows by n columns of electromagnets 203, and the electromagnets 203 in the same column form a group of electromagnet arrays; control command includes polarity signal and navigation line signal, navigation line signal includes 2 serial numbers of test platform, electro-magnet 203 column number and row break-make signal, the main control computer includes electro-magnet 203 drive module, instruction generation module and save module, electro-magnet 203 drive module is used for arousing power supply unit and starts, instruction generation module is used for generating control command, save module is used for saving control command to the messenger can be applied to in the AGV test after this. N is an integer greater than 1.
Preferably, the circuit board 2041 is provided at its upper end with longitudinally and transversely arranged squares 2043 to facilitate regular and rapid arrangement of the electromagnets 203 on the circuit board 2041.
Preferably, the control command is represented by a 16-ary character string.
Preferably, the test track command is generated by manual input.
The working principle of the present embodiment is illustrated below:
the AGV test site 1 shown in fig. 7 includes 9 test platforms 2, each test platform 2 is provided with 8 rows by 8 columns of electromagnets 203, the number of each test platform 2 is 01 to 09, and the number of each test platform 2 is 01 to 08.
When the main control computer receives the test track instruction, a control instruction is generated, the main control computer sends a corresponding control instruction to each test platform 2 respectively so that each platform generates a matched sub-navigation path, and the main control computer needs to send 8 groups of character strings to each test platform 2 so as to correspond to 8 rows of electromagnets 203 of each test platform 2.
As shown in fig. 8, the main control computer sends 8 sets of control commands to the first test platform 2 from left, where the first character string of each set is a polarity signal, and 0xFF and 0x00 represent the N pole and S pole respectively; the second character string of each group is a platform number, and 0x01 to 0x09 respectively represent platforms 01 to 09; the third character string of each group represents the column number of the electromagnet 203, and 0x01 to 0x08 represent the electromagnets of the first to eighth columns, respectively; the 9 th to 16 th of each group respectively represent the on signals of each row in the corresponding column, and 0xFF and 0x00 respectively represent on and off. As can be seen from the above, the first set of strings in fig. 8 represents: 01 the first to fourth rows of electromagnets 203 of the first column of the platform are on, the electromagnets 203 of the fifth to eighth rows are off, and so on.
Compared with the prior art, the AGV testing field 1 provided by the invention is provided with the plurality of testing platforms 2, the testing platforms 2 can be assembled into a field meeting the requirements according to the actual testing requirements, the disassembly and the assembly can be rapidly realized, and the specification and the testing track 3 can be changed as required so as to be applied to the testing of magnetic stripe AGVs or inertia AGVs of various models, thereby being beneficial to the flexibility of AGV testing and effectively saving the cost.
Example two:
the implementation discloses a control method, which comprises the following steps:
a. the main control computer receives the test track instruction, starts a power supply device, and supplies power to the AGV test platform; b. and the main control computer generates a navigation line signal and a polarity signal and sends the navigation line signal and the polarity signal to the test platform. c. And the test platform receives the navigation line signal and the polarity signal and selectively controls the current on-off and the direction of part of electromagnets 203 in the electromagnet array. d. The switched-on electromagnet forms a test track 3, and the test platform sends a feedback signal to the main control computer. e. The main control computer receives the feedback signal and judges, and when the feedback signal is judged not to be matched with the control instruction, b-e is repeated; and when the feedback signal is judged to be matched with the control instruction, the main control computer sends a driving instruction to the AGV.
In order to avoid the problem that the AGV cannot smoothly complete the test due to the fault of the AGV test site, the method further comprises the following steps:
f, the AGV drives from the starting point of the test track to the terminal, and when the AGV finishes the test, the step h is carried out; and when the AGV tests abnormally, the AGV sends a state abnormal signal to the main control computer, and the step g is carried out. g. And (c) the main control computer receives the state abnormity signal and judges, and when the state abnormity is judged to be caused by mismatching of the test track 3 and the control instruction, the steps b-g are repeated. h. The main control machine closes the power supply device, saves the control instruction and finishes the work.
Compared with the prior art, the control method has all the advantages of the scheme because the AGV test site 1 is applied, the AGV test flow can be further simplified, and the flexibility of controlling the AGV test site is improved.
Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (10)
1. The utility model provides a AGV test place, its characterized in that: the system comprises a main control machine, a plurality of test platforms and a power supply device for supplying power to the test platforms;
the main control computer is used for receiving a test track instruction, generating a control instruction and sending the control instruction to the test platform;
the test platforms can be mutually assembled to form a test field, each test platform comprises an electromagnet array and a control module, and the control module selectively controls the conduction and the cutoff of the current of part of electromagnets in the electromagnet array according to the control instruction so as to enable the conducted electromagnets to form a test track.
2. The AGV test yard of claim 1, wherein: the test platform further comprises a mounting bracket and a bearing cover plate, the mounting bracket comprises a mounting groove, the electromagnet array and the control module are arranged in the mounting groove, and the bearing cover plate is covered on the upper side of the mounting bracket.
3. The AGV test yard of claim 2, wherein: the mounting bracket comprises a supporting platform and supporting legs, the supporting legs are arranged on the lower end face of the supporting platform, the mounting groove is formed in the upper end face of the supporting platform, and the bearing cover plate is covered on the upper end face of the supporting platform.
4. An AGV test yard according to claim 1 or 2, wherein: the control module is a circuit board, the electric parts of the circuit board are arranged on the lower end face of the circuit board, and the electromagnet array is arranged on the upper end face of the circuit board.
5. The AGV test yard of claim 1, wherein: the control module comprises a logic operation module, the logic operation module comprises a signal receiving and sending module and an electromagnet row and column driving module, and the logic operation module is used for receiving and analyzing a control instruction sent by the main control computer and controlling the on-off and polarity of each electromagnet according to an analysis result.
6. The AGV test yard of claim 5, wherein: the control module switches the polarity of the electromagnet by changing the current direction of the electromagnet.
7. The AGV test yard of claim 1, wherein: the control module is provided with a magnetic detection switch corresponding to each electromagnet, and the control module detects the conduction condition of the electromagnet through the magnetic detection switch and generates a feedback signal.
8. The AGV test yard of claim 7, wherein: the test platform comprises n rows by n columns of electromagnets, and the electromagnets in the same column form a group of electromagnet arrays;
the control instruction comprises a polarity signal and a navigation line signal, the navigation line signal comprises a test platform number, an electromagnet column number and a row on-off signal, the main control computer comprises an electromagnet driving module, an instruction generating module and a storage module, the electromagnet driving module is used for exciting the power supply device to start, the instruction generating module is used for generating the control instruction, and the storage module is used for storing the control instruction.
9. The AGV test yard of claim 3, wherein: a plurality of test platform passes through the cable conductor and establishes ties, test platform includes power connection, the lateral wall of saddle is equipped with the mouth of crossing that transversely runs through, power connection's one end with the control module electricity is connected, and the other end extends to on the mouth.
10. The AGV test yard control method of any one of claims 1 to 9, including the steps of:
a. the main control computer receives the test track instruction, starts a power supply device, and supplies power to the AGV test platform;
b. the main control computer generates a navigation line signal and a polarity signal and sends the navigation line signal and the polarity signal to the test platform;
c. the test platform receives the navigation line signal and the polarity signal and selectively controls the current on-off and the direction of part of electromagnets in the electromagnet array;
d. the conducted electromagnet forms a test track, and the test platform sends a feedback signal to the main control computer;
e. the main control computer receives the feedback signal and judges, and when the feedback signal is judged not to be matched with the control instruction, b-e is repeated;
and when the feedback signal is judged to be matched with the control instruction, the main control computer sends a driving instruction to the AGV.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911067200.8A CN110793547A (en) | 2019-11-04 | 2019-11-04 | AGV test site and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911067200.8A CN110793547A (en) | 2019-11-04 | 2019-11-04 | AGV test site and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110793547A true CN110793547A (en) | 2020-02-14 |
Family
ID=69442556
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911067200.8A Pending CN110793547A (en) | 2019-11-04 | 2019-11-04 | AGV test site and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110793547A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111976719A (en) * | 2020-08-03 | 2020-11-24 | 长沙理工大学 | Vehicle warehousing system and method |
| CN113771988A (en) * | 2021-08-27 | 2021-12-10 | 南华大学 | Medical treatment shelter removes loading platform |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102053625A (en) * | 2010-12-30 | 2011-05-11 | 厦门大学 | Method for controlling moving slide block on curved surface |
| US8761987B2 (en) * | 2010-10-05 | 2014-06-24 | Checkpoint Llc | Automatic guided vehicle sensor system and method of using same |
| CN104102217A (en) * | 2014-07-14 | 2014-10-15 | 上海海事大学 | System and method for detecting running state of carrying vehicle |
| CN104897177A (en) * | 2015-06-30 | 2015-09-09 | 广东嘉腾机器人自动化有限公司 | Navigation error correction method based on magnetic nail location |
| CN106767808A (en) * | 2016-11-22 | 2017-05-31 | 上海振华重工电气有限公司 | Automated container terminal automated guided vehicle paths planning method based on template |
| CN109270937A (en) * | 2018-11-15 | 2019-01-25 | 中国人民解放军海军航空大学青岛校区 | A kind of magnetic nail, electromagnet array, AGV air navigation aid and its AGV based on electromagnet array |
-
2019
- 2019-11-04 CN CN201911067200.8A patent/CN110793547A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8761987B2 (en) * | 2010-10-05 | 2014-06-24 | Checkpoint Llc | Automatic guided vehicle sensor system and method of using same |
| CN102053625A (en) * | 2010-12-30 | 2011-05-11 | 厦门大学 | Method for controlling moving slide block on curved surface |
| CN104102217A (en) * | 2014-07-14 | 2014-10-15 | 上海海事大学 | System and method for detecting running state of carrying vehicle |
| CN104897177A (en) * | 2015-06-30 | 2015-09-09 | 广东嘉腾机器人自动化有限公司 | Navigation error correction method based on magnetic nail location |
| CN106767808A (en) * | 2016-11-22 | 2017-05-31 | 上海振华重工电气有限公司 | Automated container terminal automated guided vehicle paths planning method based on template |
| CN109270937A (en) * | 2018-11-15 | 2019-01-25 | 中国人民解放军海军航空大学青岛校区 | A kind of magnetic nail, electromagnet array, AGV air navigation aid and its AGV based on electromagnet array |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111976719A (en) * | 2020-08-03 | 2020-11-24 | 长沙理工大学 | Vehicle warehousing system and method |
| CN113771988A (en) * | 2021-08-27 | 2021-12-10 | 南华大学 | Medical treatment shelter removes loading platform |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101201377B (en) | Device and method for testing remote controller | |
| CN110793547A (en) | AGV test site and control method | |
| WO2007021935A3 (en) | Apparatus and method for driving light-emitting diodes (leds) | |
| CN103208220B (en) | Intelligent type low-voltage is for distribution training system and practical training method thereof | |
| CN104008722A (en) | Organic light emitting display | |
| CN100530005C (en) | Block assembly indicating device and block assembly indicating method | |
| KR20130112570A (en) | Display apparatus | |
| CN106313515A (en) | 3D printing equipment having real-time detection feedback function | |
| CN102290028A (en) | Organic light emitting display and power supply for the same | |
| CN113129789B (en) | LED display screen fault self-checking method and LED display screen fault polling method | |
| CN116953406A (en) | Anti-interference test equipment of electronic equipment | |
| CN105866601A (en) | Wire welding fool-proof device and fool-proof method | |
| CN116312300A (en) | Unit board level fault monitoring system and method for LED display screen | |
| CN102879214A (en) | Fault detecting and indicating apparatus | |
| CN106246214B (en) | The condition detecting system and method for electromagnetic priority valve | |
| KR100377918B1 (en) | Central integrated information system for running of trains | |
| US20180152119A1 (en) | Power generation device | |
| CN207215963U (en) | A kind of automatic aging test device | |
| CN207474078U (en) | For the detecting system of movable storage device control module | |
| CN110703125A (en) | Plc terminal detection device and detection method | |
| JPH06167945A (en) | Display device for multi point input/output device | |
| CN108345001B (en) | Modular laser ranging data projection instrument and data projection method | |
| CN211603440U (en) | Electroluminescent device test system | |
| CN202603040U (en) | Connection device of electric wires welded on circuit board and circuit board | |
| CN221329162U (en) | LED intelligent identification nondestructive control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |