CN111766856A - Automatic guide transport vehicle, auxiliary positioning method and system thereof and vehicle-mounted controller - Google Patents
Automatic guide transport vehicle, auxiliary positioning method and system thereof and vehicle-mounted controller Download PDFInfo
- Publication number
- CN111766856A CN111766856A CN201910241334.0A CN201910241334A CN111766856A CN 111766856 A CN111766856 A CN 111766856A CN 201910241334 A CN201910241334 A CN 201910241334A CN 111766856 A CN111766856 A CN 111766856A
- Authority
- CN
- China
- Prior art keywords
- auxiliary positioning
- guided vehicle
- sensor
- vehicle
- auxiliary
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 48
- 238000001514 detection method Methods 0.000 claims abstract description 15
- 238000009434 installation Methods 0.000 claims abstract description 11
- 239000002184 metal Substances 0.000 claims description 17
- 238000003860 storage Methods 0.000 claims description 8
- 238000007599 discharging Methods 0.000 claims 1
- 238000013519 translation Methods 0.000 abstract description 12
- 238000010586 diagram Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 9
- 230000005693 optoelectronics Effects 0.000 description 6
- 239000010410 layer Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 239000002346 layers by function Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000004073 vulcanization Methods 0.000 description 1
Images
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
- 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
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The disclosure relates to an automatic guided vehicle, an auxiliary positioning method and system thereof and a vehicle-mounted controller. The method comprises the following steps: under the condition that the laser navigation sensor feeds back that the automatic guided vehicle reaches the target location, at least two auxiliary positioning sensors on the vehicle body of the automatic guided vehicle, which are close to one side of the target location, are used for detecting auxiliary positioning blocks on the ground of the target location; adjusting the rotation direction of the steering wheel according to the detection signals of the at least two auxiliary positioning sensors; and under the condition that the at least two auxiliary positioning sensors detect the auxiliary positioning blocks on the ground of the target site, controlling the automatic guided vehicle to stop. This openly can judge that AGV translation stops the website and whether reach the expectation position through the assistance-localization real-time sensor of AGV automobile body installation, through detecting subaerial assistance-localization real-time piece, has promoted the off-position precision and the deflection precision of many rudder wheels AGV at the translation and stop the platform in-process from this.
Description
Technical Field
The disclosure relates to the field of automatic guided vehicles, in particular to an automatic guided vehicle, an auxiliary positioning method and system thereof and a vehicle-mounted controller.
Background
Agv (automated Guided vehicle), i.e., "automated Guided vehicle", is a multifunctional vehicle equipped with navigation and positioning devices such as optical devices and electromagnetic devices and capable of traveling along a predetermined guide path or a freely planned path. It should have full-automatic path search, safety protection, loading and unloading and carrying full-flow actions. The method is distinguished from the navigation mode of the AGV and comprises the following steps of magnetic navigation, laser navigation, natural navigation and the like; the AGV is divided into a forklift type, a horizontal transport and transfer type, a submarine lift type and the like according to the transport and transfer modes of the AGV; the driving modes of the AGV are classified into a single/multiple steering wheel type, a differential type, and the like. According to different AGV using scenes, a designer can select a proper navigation mode, a transfer carrying mode and a driving mode to design and develop.
Compared with a single-steering-wheel AGV and a differential AGV, the multi-steering-wheel AGV has the main advantages of being strong in driving capability and capable of meeting the requirements of large volume and heavy weight of transported objects; the movable floor is flexible in movement, can be moved in parallel and turned on site, and is suitable for places with narrow passages. In practical application, the device is widely applied to material and finished product carrying links such as a casting workshop, a tire vulcanization production workshop and the like.
Disclosure of Invention
The applicant found that: although many steering wheel AGVs have its driving force strong, but the translation and turn to nimble characteristics, in the in-service use process, because on-the-spot place ground condition limits, the ground slope often can surpass the required ground slope maximum value of AGV even running 0.05. For an AGV with a large vehicle size, the unevenness of the ground often causes the deviation between the actual traveling distance of a steering wheel and the running distance set by a control system, and further causes different X-direction stop positions at the front end and the rear end of a vehicle body, thereby affecting the condition of the deflection precision of the vehicle body. In this case, the low deflection accuracy at the time of final stop by the parallel movement often affects the final effect of its use, and adversely affects the project.
In view of the above technical problems, the present disclosure provides an automatic guided vehicle, an auxiliary positioning method and system thereof, and an onboard controller, which can improve the parking accuracy and the deflection accuracy of the AGV with multiple steering wheels during the translation and docking of the AGV to a platform.
According to one aspect of the present disclosure, there is provided an automated guided vehicle assisted positioning method, comprising:
under the condition that the laser navigation sensor feeds back that the automatic guided vehicle reaches the target location, at least two auxiliary positioning sensors on the vehicle body of the automatic guided vehicle, which are close to one side of the target location, are used for detecting auxiliary positioning blocks on the ground of the target location;
adjusting the rotation direction of the steering wheel according to the detection signals of the at least two auxiliary positioning sensors;
and under the condition that the at least two auxiliary positioning sensors detect the auxiliary positioning blocks on the ground of the target site, controlling the automatic guided vehicle to stop.
In some embodiments of the present disclosure, the at least two auxiliary positioning sensors include a first auxiliary positioning sensor and a second auxiliary positioning sensor, wherein,
the positions of a first auxiliary positioning block and a second auxiliary positioning block which are pre-embedded in the ground of the target site correspond to the positions of the first auxiliary positioning sensor and the second auxiliary positioning sensor respectively.
In some embodiments of the present disclosure, the adjusting the rotation direction of the steering wheel by the detection signals of the at least two auxiliary position sensors includes:
under the condition that the first auxiliary positioning block detects the first auxiliary positioning block and the second auxiliary positioning sensor does not detect the second auxiliary positioning block, controlling a steering wheel on one side of the second auxiliary positioning sensor to run towards the direction of the second auxiliary positioning block;
and under the condition that the first auxiliary positioning block is not detected by the first auxiliary positioning block and the second auxiliary positioning block is detected by the second auxiliary positioning sensor, controlling the steering wheel on one side of the first auxiliary positioning sensor to run towards the first auxiliary positioning block.
In some embodiments of the present disclosure, the automated guided vehicle assisted positioning method further comprises:
under the condition that the laser navigation sensor feeds back that the automatic guided vehicle reaches the target location, determining at least two auxiliary positioning sensors close to one side of the target location from four auxiliary positioning sensors of the automatic guided vehicle, wherein the four auxiliary positioning sensors are arranged at the positions of four corners below the body of the automatic guided vehicle; and then, a step of detecting auxiliary positioning blocks on the ground of the target site by using at least two auxiliary positioning sensors on the body of the automatic guided vehicle, wherein the at least two auxiliary positioning sensors are close to one side of the target site.
In some embodiments of the present disclosure, the automated guided vehicle assisted positioning method further comprises:
and under the condition that the at least two auxiliary positioning sensors detect the auxiliary positioning blocks on the ground of the target place, feeding back the running of the automatic guide transport vehicle to the target place to the upper computer management system.
In some embodiments of the present disclosure, the auxiliary positioning sensor is a proximity sensor or a photoelectric sensor.
In some embodiments of the present disclosure, in the case where the auxiliary positioning sensor is a proximity sensor, the auxiliary positioning block is a metal plate.
In some embodiments of the present disclosure, in the case that the auxiliary positioning sensor is an optoelectronic sensor, the auxiliary positioning block is a specular reflection plate.
In some embodiments of the present disclosure, the target location is a loading dock or a unloading dock of an automated guided vehicle.
In some embodiments of the present disclosure, the set position of the auxiliary positioning block is determined by the body contour size of the automated guided vehicle and the installation position of the auxiliary positioning sensor.
According to another aspect of the present disclosure, there is provided an onboard controller including:
the auxiliary positioning signal acquisition module is used for detecting auxiliary positioning blocks on the ground of the target place by using at least two auxiliary positioning sensors on the body of the automatic guided transport vehicle, which are close to one side of the target place, under the condition that the laser navigation sensor feeds back that the automatic guided transport vehicle reaches the target place;
the steering wheel control module is used for adjusting the rotation direction of the steering wheel according to the detection signals of the at least two auxiliary positioning sensors;
and the parking control module is used for controlling the automatic guided vehicle to stop under the condition that the at least two auxiliary positioning sensors detect the auxiliary positioning blocks on the ground of the target site.
In some embodiments of the present disclosure, the onboard controller is configured to perform operations for implementing the automated guided vehicle assisted positioning method as described in any of the above embodiments.
According to another aspect of the present disclosure, there is provided an onboard controller including:
a memory to store instructions;
a processor configured to execute the instructions to cause the onboard controller to perform operations to implement the automated guided vehicle assisted positioning method according to any of the embodiments described above.
According to another aspect of the present disclosure, there is provided an automated guided vehicle comprising an auxiliary positioning sensor, and an onboard controller as described in any of the above embodiments.
In some embodiments of the present disclosure, the auxiliary positioning sensor is a proximity switch.
According to another aspect of the present disclosure, an auxiliary positioning system for an automated guided vehicle is provided, which includes two auxiliary positioning blocks pre-embedded in the ground of a target location, and the automated guided vehicle according to any of the above embodiments.
According to another aspect of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, which when executed by a processor, implement the method for assisting positioning of an automated guided vehicle according to any one of the above embodiments.
The auxiliary positioning sensor can be installed on the AGV body, the auxiliary positioning block on the ground can be detected, whether the AGV translation stopping station reaches the expected position or not is judged, and therefore the stopping precision and the deflection precision of the AGV with the multiple steering wheels in the translation stopping process are improved.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic view of some embodiments of a related art automated guided vehicle.
Fig. 2 is a schematic diagram of some embodiments of a related art automated guided vehicle control system.
Fig. 3 is a schematic diagram of some embodiments of a motion control system for a related art automated guided vehicle.
FIG. 4 is a schematic illustration of the effect of deflection error on AGV positioning accuracy in the related art.
Fig. 5 is a schematic view of some embodiments of automated guided vehicle assisted positioning systems of the present disclosure.
Fig. 6 is a schematic view of other embodiments of the automated guided vehicle assisted positioning system of the present disclosure.
Fig. 7 is a schematic view of some embodiments of the automated guided vehicle of the present disclosure.
Fig. 8 is a schematic diagram of some embodiments of an automated guided vehicle assisted positioning method of the present disclosure.
Fig. 9 is a schematic view of other embodiments of the automated guided vehicle assisted positioning method of the present disclosure.
FIG. 10 is a schematic diagram of some embodiments of the disclosed onboard controller.
FIG. 11 is a schematic diagram of additional embodiments of the disclosed onboard controller.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.
Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Fig. 1 is a schematic view of some embodiments of a related art automated guided vehicle. As shown in fig. 1, the automated guided vehicle body of the present disclosure includes a steering wheel 1, a steering wheel 2, an auxiliary universal wheel 1, and an auxiliary universal wheel 2, wherein the steering wheel is an integrated mechanical structure integrating a driving motor, a steering motor, a speed reducer, and the like. The laser scanning navigation sensor is positioned at the center of the AGV body, the installation height is about 2-3 m away from the ground, and a laser reflecting plate which is arranged in the detection environment is convenient to detect and is used as a main navigation control module of the AGV. Control system components such as AGV vehicle-mounted controller, drive servo controller, steering servo controller, IO module install in the inside electric box of AGV body.
Fig. 2 is a schematic diagram of some embodiments of a related art automated guided vehicle control system. The system architecture is the key to the AGV control system, and the control scheme set forth in this disclosure is designed based on the system architecture shown in fig. 2. As shown in fig. 2, the upper management layer is mainly equipped with a scheduling management system of the AGV system, and is responsible for issuing and distributing tasks, traveling routes, and other scheduling management works to the AGV system, and receiving feedback of state information of the AGV system. The communication layer is mainly deployed by means of a wireless access terminal (AP) arranged on site and is responsible for constructing a wireless network for connecting the upper management system and the AGV system to transmit data. The control layer is mainly an embedded programmable controller which is mounted on an AGV and controls each functional module of the functional layer through a CAN bus and a serial bus. The executing and feedback layer is an executing element and a sensor element, such as a driving motor, a steering motor, an encoder, a sensor, and the like.
Fig. 3 is a schematic diagram of some embodiments of a motion control system for a related art automated guided vehicle. As shown in fig. 3, the upper computer management system sends a task instruction to the AGV vehicle-mounted control system, and the AGV control system receives the task instruction, converts the task instruction into a motion instruction, and sends the motion instruction to the driving servo controller and the steering servo controller; at the moment, the driving servo controller and the steering servo controller control the driving motor and the steering motor to act, and the servo controller receives encoder feedback data to adjust the motor to act in real time in the movement process; in the whole movement process, the laser navigation sensor detects a reflector deployed in the environment, position information is uploaded to the AGV vehicle-mounted controller in real time, and the AGV vehicle-mounted controller adjusts the movement instructions to the driving servo controller and the steering servo controller in real time according to the position information so as to ensure that the AGV finally stops at the set position. For the parallel movement of the double-steering wheel AGV, the laser navigation sensor feeds back the space geometric coordinates of the AGV reference point, and the space geometric coordinates are only single-point coordinates.
The applicant found that: if the flatness condition of the actual running field of the AGV is poor, the situation of encoder feedback data distortion in the running process of the steering wheel is easily caused, and the angle deflection error in the running and stopping processes of the AGV cannot be reflected.
FIG. 4 is a schematic illustration of the effect of deflection error on AGV positioning accuracy in the related art. The embodiment of FIG. 4 reflects the deviation of the actual parking position of both AGVs, as reflected by the (X, Y) coordinate positions fed back by the laser navigation sensors.
Therefore, in order to improve the positioning accuracy of the AGV in parallel movement, the auxiliary positioning mode is provided.
Fig. 5 is a schematic view of some embodiments of automated guided vehicle assisted positioning systems of the present disclosure. As shown in fig. 5, the automated guided vehicle auxiliary positioning system of the present disclosure further includes an auxiliary positioning sensor and an auxiliary positioning block on the basis of the motion control system of the automated guided vehicle of fig. 3, wherein:
an auxiliary positioning sensor is installed on the AGV body, and an auxiliary positioning block (an auxiliary positioning device) is pre-buried on the ground of a preset point.
In some embodiments of the present disclosure, the auxiliary positioning sensor may be a proximity sensor, a photoelectric sensor, or other type of sensor.
In some embodiments of the present disclosure, in the case where the auxiliary positioning sensor is a proximity sensor, the auxiliary positioning block may be a metal plate.
In some embodiments of the present disclosure, in the case where the auxiliary positioning sensor is an optoelectronic sensor, the auxiliary positioning block may be a specular reflection plate.
In some embodiments of the present disclosure, the target location may be a loading dock or a unloading dock of an automated guided vehicle.
In some embodiments of the present disclosure, the set position of the auxiliary locating block may be determined by the body contour size of the automated guided vehicle and the installation position of the auxiliary locating sensor.
After the position information that laser navigation sensor returned shows that AGV has arrived the destination, the sensor returns the detected signal to AGV vehicle control system, according to the signal feedback of auxiliary positioning sensor, AGV vehicle control system can judge whether AGV automobile body front end or rear end deviate from the destination, if deviate, then drive steering wheel 1 or steering wheel 2 and move, finely tune AGV's berth position to reach final set point, and then avoided the production of deflection error.
Fig. 6 is a schematic view of other embodiments of the automated guided vehicle assisted positioning system of the present disclosure. As shown in fig. 6, the automated guided vehicle auxiliary positioning system may include an auxiliary positioning block 61, an upper computer management system 62, and an automated guided vehicle 63, wherein:
the automated guided vehicle 63 may include an AGV onboard controller, an auxiliary positioning sensor, a laser navigation sensor, a drive servo controller and corresponding drive motor and encoder, a rotary servo controller and corresponding drive motor and encoder as shown in fig. 5.
The number of the auxiliary positioning blocks 61 is at least two, and the auxiliary positioning blocks 61 are pre-embedded on the ground of a preset point (target site).
In some embodiments of the present disclosure, at least two of the auxiliary positioning blocks 61 are disposed on the same horizontal line.
In some embodiments of the present disclosure, the auxiliary locating block 61 may also be implemented as a one-piece locating block of a length or width greater than or equal to that of the cart (automated guided vehicle).
In order to cooperate with the proximity sensor, the above embodiments of the present disclosure need to embed two metal plates in the platform position where the AGV is expected to arrive, so that the proximity sensor can detect the metal plates to generate signals. The pre-buried needs of this metal sheet are according to the position coordinate decision that actual expected AGV stopped to ensure that two metal sheets are located same water flat line, with the higher precision of deflecting when guaranteeing the AGV parking.
Based on the automatic guided transporting vehicle auxiliary positioning system that this discloses above-mentioned embodiment provided, can utilize the auxiliary positioning sensor of AGV automobile body installation, through detecting subaerial auxiliary positioning piece, judge whether AGV translation berths the website and reaches the expectation position, judge the automobile body direction of deflecting through the feedback of sensor signal, reach the accuracy of final positioning through the rotational speed and the direction of adjusting the steering wheel to reach higher off-position precision and deflection precision.
Fig. 7 is a schematic view of some embodiments of the automated guided vehicle of the present disclosure. As shown in fig. 7, the automatic guided vehicle of the present disclosure adds an auxiliary positioning sensor to the automatic guided vehicle of fig. 3, and improves the corresponding functions of the vehicle-mounted controller
As shown in fig. 7, this solution requires at least four secondary positioning sensors mounted on the AGV to ensure that at least two secondary positioning sensors are provided on each of the front, rear, left, and right sides of the AGV.
In some embodiments of the present disclosure, the auxiliary positioning sensor may be a proximity sensor.
In some embodiments of the present disclosure, in the case where the auxiliary positioning sensor is a proximity sensor, the auxiliary positioning block may be a metal plate.
In some embodiments of the present disclosure, the auxiliary positioning sensor may be a proximity switch.
In some embodiments of the present disclosure, the four proximity sensors are all installed at four corners below the vehicle body structure, the detection directions are downward detection, and the installation positions are respectively located at the upper left, the upper right, the lower left and the lower right of the vehicle body. For convenience, it may be defined that the upper left proximity sensor is the assistant positioning sensor 1, the upper right proximity sensor is the assistant positioning sensor 2, the lower right proximity sensor is the assistant positioning sensor 3, and the lower left proximity sensor is the assistant positioning sensor 4. The schematic structure is shown in fig. 7.
In some embodiments of the present disclosure, the auxiliary positioning sensors 1 and 2 may use an inductive normally open proximity switch, which is mainly used to detect a metal object, and when the sensor detects the metal object, the sensor signal output is 1; when no metal object is detected, the sensor signal output is 0. Because the proximity switch can only generate a detection signal when the metal moves to the position below the detection surface of the proximity switch, compared with other types of sensors, the proximity switch has better detection stability and better cost performance.
To cooperate with the proximity sensor, the above embodiments of the present disclosure need to pre-embed two metal plates at the expected arrival platform position of the AGV for the sensor to detect to generate signals. The pre-buried needs of this metal sheet are according to the position coordinate decision that actual expected AGV stopped to ensure that two metal sheets are located same water flat line, with the higher precision of deflecting when guaranteeing the AGV parking.
In some embodiments of the present disclosure, the auxiliary positioning sensor may be an optoelectronic sensor.
In some embodiments of the present disclosure, the auxiliary positioning sensor may be a reflective photoelectric sensor.
In some embodiments of the present disclosure, the reflective photoelectric sensor may include an emitter for emitting a light signal outwards and a detector for receiving a reflected signal reflected back from the auxiliary positioning block.
In some embodiments of the present disclosure, in the case where the auxiliary positioning sensor is an optoelectronic sensor, the auxiliary positioning block may be a specular reflection plate.
Based on the automated guided transporting vehicle that this discloses above-mentioned embodiment provided, can utilize the assistance-localization real-time sensor of AGV automobile body installation, through detecting subaerial assistance-localization real-time piece, judge whether AGV translation berths the website and reaches the expectation position, judge the automobile body direction of deflecting through the feedback of sensor signal, reach the accuracy of final location through the rotational speed and the direction of adjusting the steering wheel to reach higher off-position precision and deflection precision.
Fig. 8 is a schematic diagram of some embodiments of an automated guided vehicle assisted positioning method of the present disclosure. Preferably, this embodiment may be performed by the automated guided vehicle assisted positioning system of the present disclosure or the onboard controller of the present disclosure. The method comprises the following steps:
and 81, under the condition that the laser navigation sensor feeds back that the automatic guided vehicle reaches the target location, detecting auxiliary positioning blocks on the ground of the target location by using at least two auxiliary positioning sensors on the vehicle body of the automatic guided vehicle, wherein the at least two auxiliary positioning sensors are close to one side of the target location.
In some embodiments of the present disclosure, the auxiliary positioning sensor may be a proximity sensor, a photoelectric sensor, or other type of sensor
In some embodiments of the present disclosure, in the case where the auxiliary positioning sensor is a proximity sensor, the auxiliary positioning block may be a metal plate.
In some embodiments of the present disclosure, in the case where the auxiliary positioning sensor is an optoelectronic sensor, the auxiliary positioning block may be a specular reflection plate.
In some embodiments of the present disclosure, the target location may be a loading dock or a unloading dock of an automated guided vehicle.
In some embodiments of the present disclosure, the set position of the auxiliary locating block may be determined by the body contour size of the automated guided vehicle and the installation position of the auxiliary locating sensor.
In some embodiments of the present disclosure, the at least two auxiliary positioning sensors include a first auxiliary positioning sensor and a second auxiliary positioning sensor, wherein positions of a first auxiliary positioning block and a second auxiliary positioning block embedded in the ground of the target location correspond to positions of the first auxiliary positioning sensor and the second auxiliary positioning sensor, respectively.
In some embodiments of the present disclosure, the automated guided vehicle assisted positioning method may further include: under the condition that the laser navigation sensor feeds back that the automatic guided vehicle reaches the target location, determining at least two auxiliary positioning sensors close to one side of the target location from four auxiliary positioning sensors of the automatic guided vehicle, wherein the four auxiliary positioning sensors are arranged at the positions of four corners below the body of the automatic guided vehicle; and then, in step 81, detecting an auxiliary positioning block on the ground of the target site by using at least two auxiliary positioning sensors on the body of the automatic guided vehicle, wherein the at least two auxiliary positioning sensors are close to one side of the target site.
And step 82, adjusting the rotation direction of the steering wheel according to the detection signals of the at least two auxiliary positioning sensors.
In some embodiments of the present disclosure, where the at least two auxiliary positioning sensors include a first auxiliary positioning sensor and a second auxiliary positioning sensor, step 82 may include:
and step 821, controlling the steering wheel on one side of the second auxiliary positioning sensor to run towards the direction of the second auxiliary positioning block under the condition that the first auxiliary positioning block is detected by the first auxiliary positioning block and the second auxiliary positioning sensor does not detect the second auxiliary positioning block.
And step 822, controlling the steering wheel on one side of the first auxiliary positioning sensor to run towards the first auxiliary positioning block under the condition that the first auxiliary positioning block is not detected by the first auxiliary positioning block and the second auxiliary positioning block is detected by the second auxiliary positioning sensor.
And 83, controlling the automatic guided vehicle to stop under the condition that the at least two auxiliary positioning sensors detect the auxiliary positioning blocks on the ground of the target site.
In some embodiments of the present disclosure, the automated guided vehicle assisted positioning method may further include: and under the condition that the at least two auxiliary positioning sensors detect the auxiliary positioning blocks on the ground of the target place, feeding back the running of the automatic guide transport vehicle to the target place to the upper computer management system.
The above embodiment of the present disclosure provides a positioning method suitable for an AGV with multiple steering wheels, which can improve the parking precision and deflection precision of the AGV with multiple steering wheels during the process of translating and parking a platform.
Based on the automatic guided transporting vehicle auxiliary positioning method provided by the embodiment of the disclosure, whether the AGV translation stopping station reaches the expected position or not can be judged by using an auxiliary positioning sensor installed on the AGV body and detecting an auxiliary positioning block on the ground, the vehicle body deflection direction is judged by the feedback of a sensor signal, and the accuracy of final positioning is achieved by adjusting the rotating speed and the direction of a steering wheel, so that higher stopping precision and deflection precision are achieved.
Fig. 9 is a schematic view of other embodiments of the automated guided vehicle assisted positioning method of the present disclosure. Preferably, this embodiment may be performed by the automated guided vehicle assisted positioning system of the present disclosure or the onboard controller of the present disclosure.
For convenience of description, the present embodiment will be described by taking the positive translation of the AGV in the Y-axis direction as an example in the embodiment of fig. 7. And when the upper computer management system receives a task instruction, the management system calculates the position of a task destination point and issues the AGV vehicle-mounted control system. And the AGV vehicle-mounted laser navigation sensor feeds back the position coordinates of the AGV body calculated at present to the control system, and the control system calculates the path from the traveling to the target point position and controls the driving and steering servo control system to work. In the process, the laser navigation sensor still calculates the position information in real time, and feeds the position information back to the vehicle-mounted control system to calculate whether the AGV body runs along the designated route or not and continuously feeds back and adjusts the AGV body.
After the laser navigation sensor feeds back the coordinates of the AGV driving to the destination point, the AGV vehicle-mounted control system detects the signal states of the auxiliary positioning sensors 1 and 2. If the sensor 1 has a signal and the sensor 2 has no signal, the steering wheel 2 drives towards the positive direction of the Y axis, and the steering wheel 1 drives towards the negative direction of the Y axis; if the sensor 2 has a signal and the sensor 1 has no signal, the steering wheel 1 drives towards the positive direction of the Y axis, and the steering wheel 2 drives towards the negative direction of the Y axis; when the sensors 1 and 2 both have signals, the AGV stops acting and feeds back to the upper computer management system, and the AGV runs to the position of the destination point.
The embodiment of the disclosure provides an auxiliary enhancement type positioning mode for an AGV with multiple steering wheels during parallel movement, and mainly aims to solve the problem that the AGV with multiple steering wheels, which is positioned only by laser, cannot meet the requirement on the deflection precision after parallel movement.
FIG. 10 is a schematic diagram of some embodiments of the disclosed onboard controller. As shown in fig. 10, the disclosed vehicle controller (e.g., the AGV vehicle controller of fig. 5 embodiment) may include an auxiliary positioning signal acquisition module 101, a steering wheel control module 102, and a parking control module 103, wherein:
and the auxiliary positioning signal acquisition module 101 is configured to detect an auxiliary positioning block on the ground of the target location by using at least two auxiliary positioning sensors on the vehicle body of the automatic guided vehicle, which are close to one side of the target location, under the condition that the laser navigation sensor feeds back that the automatic guided vehicle has reached the target location.
In some embodiments of the present disclosure, the auxiliary positioning sensor may be a proximity sensor, a photoelectric sensor, or other type of sensor
In some embodiments of the present disclosure, in the case where the auxiliary positioning sensor is a proximity sensor, the auxiliary positioning block may be a metal plate.
In some embodiments of the present disclosure, in the case where the auxiliary positioning sensor is an optoelectronic sensor, the auxiliary positioning block may be a specular reflection plate.
In some embodiments of the present disclosure, the target location may be a loading dock or a unloading dock of an automated guided vehicle.
In some embodiments of the present disclosure, the set position of the auxiliary locating block may be determined by the body contour size of the automated guided vehicle and the installation position of the auxiliary locating sensor.
In some embodiments of the present disclosure, the at least two auxiliary positioning sensors include a first auxiliary positioning sensor and a second auxiliary positioning sensor, wherein positions of a first auxiliary positioning block and a second auxiliary positioning block embedded in the ground of the target location correspond to positions of the first auxiliary positioning sensor and the second auxiliary positioning sensor, respectively.
In some embodiments of the present disclosure, the assistant positioning signal acquiring module 101 may be configured to determine, from four assistant positioning sensors of the automated guided vehicle, at least two assistant positioning sensors near one side of the target location in a case where the laser navigation sensor feeds back that the automated guided vehicle has reached the target location, where the four assistant positioning sensors are disposed at four corners below a vehicle body of the automated guided vehicle; and then, detecting the auxiliary positioning blocks on the ground of the target site by using at least two auxiliary positioning sensors on the body of the automatic guided vehicle, which are close to one side of the target site.
And the steering wheel control module 102 is used for adjusting the rotation direction of the steering wheel according to the detection signals of the at least two auxiliary positioning sensors.
In some embodiments of the present disclosure, in a case where the at least two secondary positioning sensors include a first secondary positioning sensor and a second secondary positioning sensor, the steering wheel control module 102 may be configured to control the steering wheel on one side of the second secondary positioning sensor to travel towards the second secondary positioning block in a case where the first secondary positioning block is detected by the first secondary positioning sensor and the second secondary positioning sensor does not detect the second secondary positioning block; and under the condition that the first auxiliary positioning block is not detected by the first auxiliary positioning block and the second auxiliary positioning block is detected by the second auxiliary positioning sensor, controlling the steering wheel on one side of the first auxiliary positioning sensor to run towards the first auxiliary positioning block.
And the parking control module 103 is used for controlling the automatic guided vehicle to stop under the condition that the at least two auxiliary positioning sensors detect the auxiliary positioning blocks on the ground of the target place.
In some embodiments of the present disclosure, the parking control module 103 is configured to control the automatic guided vehicle to stop and feed back the automatic guided vehicle to the upper computer management system when the at least two auxiliary positioning sensors detect the auxiliary positioning blocks on the ground of the target location.
In some embodiments of the present disclosure, the onboard controller is configured to perform operations for implementing the automated guided vehicle assisted positioning method as described in any of the embodiments above (e.g., the embodiments of fig. 8 or 9).
Based on the automated guided transporting vehicle that this discloses above-mentioned embodiment provided, can utilize the assistance-localization real-time sensor of AGV automobile body installation, through detecting subaerial assistance-localization real-time piece, judge whether AGV translation berths the website and reaches the expectation position, judge the automobile body direction of deflecting through the feedback of sensor signal, reach the accuracy of final location through the rotational speed and the direction of adjusting the steering wheel to reach higher off-position precision and deflection precision.
FIG. 11 is a schematic diagram of additional embodiments of the disclosed onboard controller. As shown in FIG. 11, the present disclosure vehicle controller (e.g., the AGV vehicle controller of the embodiment of FIG. 5) may include a memory 111 and a processor 112, wherein:
a memory 111 for storing instructions.
A processor 112 configured to execute the instructions to enable the onboard controller to perform operations for implementing the method for assisting positioning of an automated guided vehicle according to any of the embodiments described above (e.g., the embodiment of fig. 8 or 9).
The above embodiment of the present disclosure provides a positioning method suitable for an AGV with multiple steering wheels, which can improve the parking precision and deflection precision of the AGV with multiple steering wheels during the process of translating and parking a platform.
The embodiment of the disclosure provides an auxiliary enhancement type positioning mode for an AGV with multiple steering wheels during parallel movement, and mainly aims to solve the problem that the AGV with multiple steering wheels, which is positioned only by laser, cannot meet the requirement on the deflection precision after parallel movement.
According to another aspect of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, which when executed by a processor, implement the method for assisting positioning of an automated guided vehicle according to any one of the embodiments (for example, the embodiment of fig. 8 or 9) above.
Based on the computer readable storage medium provided by the above embodiment of the present disclosure, the AGV vehicle body mounted auxiliary positioning sensor can be used to determine whether the AGV translation parking station reaches the expected position by detecting the auxiliary positioning block on the ground, the vehicle body deflection direction is determined by the feedback of the sensor signal, and the final positioning accuracy is achieved by adjusting the rotation speed and direction of the steering wheel, so as to achieve higher parking accuracy and deflection accuracy.
The on-board controllers described above may be implemented as a general purpose processor, a Programmable Logic Controller (PLC), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any suitable combination thereof, for performing the functions described herein.
Thus far, the present disclosure has been described in detail. Some details that are well known in the art have not been described in order to avoid obscuring the concepts of the present disclosure. It will be fully apparent to those skilled in the art from the foregoing description how to practice the presently disclosed embodiments.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware to implement the above embodiments, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk, an optical disk, or the like.
The description of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the disclosure in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the disclosure and the practical application, and to enable others of ordinary skill in the art to understand the disclosure for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (13)
1. An auxiliary positioning method for an automatic guided vehicle is characterized by comprising the following steps:
under the condition that the laser navigation sensor feeds back that the automatic guided vehicle reaches the target location, at least two auxiliary positioning sensors on the vehicle body of the automatic guided vehicle, which are close to one side of the target location, are used for detecting auxiliary positioning blocks on the ground of the target location;
adjusting the rotation direction of the steering wheel according to the detection signals of the at least two auxiliary positioning sensors;
and under the condition that the at least two auxiliary positioning sensors detect the auxiliary positioning blocks on the ground of the target site, controlling the automatic guided vehicle to stop.
2. The automated guided vehicle assistant positioning method of claim 1,
the at least two auxiliary positioning sensors comprise a first auxiliary positioning sensor and a second auxiliary positioning sensor, wherein,
the positions of a first auxiliary positioning block and a second auxiliary positioning block which are pre-embedded in the ground of the target site correspond to the positions of the first auxiliary positioning sensor and the second auxiliary positioning sensor respectively.
3. The automated guided vehicle assistant positioning method according to claim 2, wherein the adjusting the rotation direction of the steering wheel by the detection signals of the at least two assistant positioning sensors comprises:
under the condition that the first auxiliary positioning block detects the first auxiliary positioning block and the second auxiliary positioning sensor does not detect the second auxiliary positioning block, controlling a steering wheel on one side of the second auxiliary positioning sensor to run towards the direction of the second auxiliary positioning block;
and under the condition that the first auxiliary positioning block is not detected by the first auxiliary positioning block and the second auxiliary positioning block is detected by the second auxiliary positioning sensor, controlling the steering wheel on one side of the first auxiliary positioning sensor to run towards the first auxiliary positioning block.
4. The automated guided vehicle assistant positioning method of any one of claims 1-3, further comprising:
under the condition that the laser navigation sensor feeds back that the automatic guided vehicle reaches the target location, determining at least two auxiliary positioning sensors close to one side of the target location from four auxiliary positioning sensors of the automatic guided vehicle, wherein the four auxiliary positioning sensors are arranged at the positions of four corners below the body of the automatic guided vehicle; and then, a step of detecting auxiliary positioning blocks on the ground of the target site by using at least two auxiliary positioning sensors on the body of the automatic guided vehicle, wherein the at least two auxiliary positioning sensors are close to one side of the target site.
5. The automated guided vehicle assistant positioning method of any one of claims 1-3, further comprising:
and under the condition that the at least two auxiliary positioning sensors detect the auxiliary positioning blocks on the ground of the target place, feeding back the running of the automatic guide transport vehicle to the target place to the upper computer management system.
6. The automated guided vehicle assistant positioning method of any one of claims 1-3,
the auxiliary positioning sensor is a proximity sensor or a photoelectric sensor;
under the condition that the auxiliary positioning sensor is a proximity sensor, the auxiliary positioning block is a metal plate;
and under the condition that the auxiliary positioning sensor is a photoelectric sensor, the auxiliary positioning block is a mirror reflection plate.
7. The automated guided vehicle assistant positioning method of any one of claims 1-3,
the target site is a loading platform or a discharging platform of the automatic guided transport vehicle;
the arrangement position of the auxiliary positioning block is determined by the overall dimension of the body of the automatic guide transport vehicle and the installation position of the auxiliary positioning sensor.
8. An onboard controller, comprising:
the auxiliary positioning signal acquisition module is used for detecting auxiliary positioning blocks on the ground of the target place by using at least two auxiliary positioning sensors on the body of the automatic guided transport vehicle, which are close to one side of the target place, under the condition that the laser navigation sensor feeds back that the automatic guided transport vehicle reaches the target place;
the steering wheel control module is used for adjusting the rotation direction of the steering wheel according to the detection signals of the at least two auxiliary positioning sensors;
and the parking control module is used for controlling the automatic guided vehicle to stop under the condition that the at least two auxiliary positioning sensors detect the auxiliary positioning blocks on the ground of the target site.
9. The on-board controller of claim 8, wherein the on-board controller is configured to perform operations to implement the automated guided vehicle assisted positioning method of any of claims 1-7.
10. An onboard controller, comprising:
a memory to store instructions;
a processor for executing the instructions to cause the onboard controller to perform operations to implement the automated guided vehicle assisted positioning method of any of claims 1-7.
11. An automated guided vehicle comprising an auxiliary positioning sensor and an on-board controller according to any of claims 8-10.
12. An automated guided vehicle assisted positioning system, comprising two assisted positioning blocks pre-buried in the ground of a target site, and an automated guided vehicle according to claim 11.
13. A computer-readable storage medium storing computer instructions which, when executed by a processor, implement the automated guided vehicle assisted positioning method of any of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910241334.0A CN111766856B (en) | 2019-03-28 | 2019-03-28 | Automatic guiding transport vehicle, auxiliary positioning method and system thereof and vehicle-mounted controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910241334.0A CN111766856B (en) | 2019-03-28 | 2019-03-28 | Automatic guiding transport vehicle, auxiliary positioning method and system thereof and vehicle-mounted controller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111766856A true CN111766856A (en) | 2020-10-13 |
| CN111766856B CN111766856B (en) | 2024-06-21 |
Family
ID=72718681
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910241334.0A Active CN111766856B (en) | 2019-03-28 | 2019-03-28 | Automatic guiding transport vehicle, auxiliary positioning method and system thereof and vehicle-mounted controller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111766856B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114397883A (en) * | 2021-11-11 | 2022-04-26 | 安徽昌永得机械有限公司 | Control system of multi-axis heavy-load AGV (automatic guided vehicle) trolley of all directions |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102402224A (en) * | 2010-09-03 | 2012-04-04 | 株式会社日立工业设备技术 | Automatic guided vehicle and method for drive control of the same |
| CN103383570A (en) * | 2013-06-25 | 2013-11-06 | 天奇自动化工程股份有限公司 | Automatic guided vehicle capable of moving in all directions |
| CN105929829A (en) * | 2016-06-15 | 2016-09-07 | 丁尧 | AGV car and control method thereof |
| CN106843218A (en) * | 2017-02-16 | 2017-06-13 | 上海理工大学 | Workshop homing guidance device dispatching method |
| CN106940183A (en) * | 2016-12-13 | 2017-07-11 | 北京卫星制造厂 | A kind of AGV accurate positioning methods based on PSD rangings |
| CN107229281A (en) * | 2017-06-28 | 2017-10-03 | 成都传奇兄弟信息技术有限公司 | A kind of guidance method of AGV dollies, intelligence manufacture production line and logistics system |
| CN108489479A (en) * | 2017-12-29 | 2018-09-04 | 合肥中导机器人科技有限公司 | Laser navigation accurate positioning method, robot navigation method and laser navigation system |
| CN109100767A (en) * | 2017-06-20 | 2018-12-28 | 青岛新松机器人自动化有限公司 | A kind of navigation positioning system of automated guided vehicle AGV |
| CN109144068A (en) * | 2018-09-25 | 2019-01-04 | 杭叉集团股份有限公司 | The automatically controlled mode and control device of three-dimensional shift-forward type navigation switching AGV fork truck |
| CN109205208A (en) * | 2018-07-30 | 2019-01-15 | 广东嘉腾机器人自动化有限公司 | A kind of interconnection method of AGV docking platform |
| CN208607531U (en) * | 2018-09-06 | 2019-03-15 | 北京东械科技有限公司 | Communication device and system for automated guided vehicle |
-
2019
- 2019-03-28 CN CN201910241334.0A patent/CN111766856B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102402224A (en) * | 2010-09-03 | 2012-04-04 | 株式会社日立工业设备技术 | Automatic guided vehicle and method for drive control of the same |
| CN103383570A (en) * | 2013-06-25 | 2013-11-06 | 天奇自动化工程股份有限公司 | Automatic guided vehicle capable of moving in all directions |
| CN105929829A (en) * | 2016-06-15 | 2016-09-07 | 丁尧 | AGV car and control method thereof |
| CN106940183A (en) * | 2016-12-13 | 2017-07-11 | 北京卫星制造厂 | A kind of AGV accurate positioning methods based on PSD rangings |
| CN106843218A (en) * | 2017-02-16 | 2017-06-13 | 上海理工大学 | Workshop homing guidance device dispatching method |
| CN109100767A (en) * | 2017-06-20 | 2018-12-28 | 青岛新松机器人自动化有限公司 | A kind of navigation positioning system of automated guided vehicle AGV |
| CN107229281A (en) * | 2017-06-28 | 2017-10-03 | 成都传奇兄弟信息技术有限公司 | A kind of guidance method of AGV dollies, intelligence manufacture production line and logistics system |
| CN108489479A (en) * | 2017-12-29 | 2018-09-04 | 合肥中导机器人科技有限公司 | Laser navigation accurate positioning method, robot navigation method and laser navigation system |
| CN109205208A (en) * | 2018-07-30 | 2019-01-15 | 广东嘉腾机器人自动化有限公司 | A kind of interconnection method of AGV docking platform |
| CN208607531U (en) * | 2018-09-06 | 2019-03-15 | 北京东械科技有限公司 | Communication device and system for automated guided vehicle |
| CN109144068A (en) * | 2018-09-25 | 2019-01-04 | 杭叉集团股份有限公司 | The automatically controlled mode and control device of three-dimensional shift-forward type navigation switching AGV fork truck |
Non-Patent Citations (1)
| Title |
|---|
| 陈顺平, 梅德庆, 陈子辰: "激光导引AGV的自动引导***设计", 工程设计学报, no. 05, 30 October 2003 (2003-10-30), pages 40 - 43 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114397883A (en) * | 2021-11-11 | 2022-04-26 | 安徽昌永得机械有限公司 | Control system of multi-axis heavy-load AGV (automatic guided vehicle) trolley of all directions |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111766856B (en) | 2024-06-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20200254925A1 (en) | Visually Indicating Vehicle Caution Regions | |
| JP6492024B2 (en) | Moving body | |
| US20210179403A1 (en) | Omnidirectional Cart Transport Mechanism | |
| KR20180123628A (en) | Article transport vehicle | |
| WO2014156501A1 (en) | Automatic guided vehicle | |
| CN101090840A (en) | Automatic transport loading system and method | |
| CN101795923A (en) | Automatic transport loading system and method | |
| CN107814153A (en) | A kind of AGV vehicles of high-precision off-position fork device and its off-position method | |
| CN107161917B (en) | Method for controlling an industrial truck during the picking of goods | |
| KR20170024003A (en) | Driverless transport vehicle and method for operating a driverless transport vehicle | |
| KR20200077395A (en) | Automobile manufacturing method | |
| CN113534804A (en) | Automatic loading method | |
| CN115516398A (en) | Method for controlling an automated guided vehicle and control system suitable for carrying out said method | |
| CN116745226A (en) | Transport vehicle and method for transporting a load unit to a vehicle | |
| JP2023071149A (en) | Conveyance system and conveyance control method | |
| CN112666934A (en) | Control system, scheduling system and control method for automobile carrying AGV | |
| CN111766856A (en) | Automatic guide transport vehicle, auxiliary positioning method and system thereof and vehicle-mounted controller | |
| WO1982003283A1 (en) | Movement controller for moving body | |
| CN109213173A (en) | A kind of AGV passes in and out the Anti-bumping protection method of interaction bracket | |
| JP2021144363A (en) | Autonomous traveling device, autonomous traveling control method, and autonomous traveling control program | |
| CN114265374B (en) | AGV (automatic guided vehicle) cargo access system and method for van truck | |
| US20210294349A1 (en) | Computation device, vehicle, material handling system, computation method, and program | |
| CN115303695A (en) | Shuttle vehicle control device and control method thereof | |
| US20230350408A1 (en) | Independent robot safety system using a safety rated plc | |
| CN209889855U (en) | Parking control and loading and unloading control system of transport tool, transport tool and vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210303 Address after: 6 / F, 76 Zhichun Road, Haidian District, Beijing 100086 Applicant after: Beijing Jingdong Zhenshi Information Technology Co.,Ltd. Address before: 101, 1st floor, building 2, yard 20, Suzhou street, Haidian District, Beijing 100080 Applicant before: Beijing Jingbangda Trading Co.,Ltd. Effective date of registration: 20210303 Address after: 101, 1st floor, building 2, yard 20, Suzhou street, Haidian District, Beijing 100080 Applicant after: Beijing Jingbangda Trading Co.,Ltd. Address before: 100086 8th Floor, 76 Zhichun Road, Haidian District, Beijing Applicant before: BEIJING JINGDONG SHANGKE INFORMATION TECHNOLOGY Co.,Ltd. Applicant before: BEIJING JINGDONG CENTURY TRADING Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |