CN206848813U - Intelligent carriage logistics system - Google Patents
Intelligent carriage logistics system Download PDFInfo
- Publication number
- CN206848813U CN206848813U CN201720688209.0U CN201720688209U CN206848813U CN 206848813 U CN206848813 U CN 206848813U CN 201720688209 U CN201720688209 U CN 201720688209U CN 206848813 U CN206848813 U CN 206848813U
- Authority
- CN
- China
- Prior art keywords
- coding
- mcu
- logistics system
- vehicle body
- route
- 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.)
- Active
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The utility model discloses intelligent carriage logistics system, including multiple codings, loading dolly, upper computer control system and at least one charging station that each transceiver station, the path operation that is arranged between each transceiver station take；Do not repeated between each coding；The loading dolly is AGV dollies, including scanning device, MCU and wireless communication module, output end the connection MCU, MCU of scanning device output end connection wireless communication module；The upper computer control system includes wireless communication module；The charging station is arranged at by each transceiver station or sets path to run band between each transceiver station, and path operation takes setting coding.The utility model coding stands path, loading dolly is used as by the use of AGV dollies, dolly being capable of scanning encoding, upper computer control system is sent to by wireless communication module, it is possible thereby to position of the loading dolly in logistics system is obtained in real time, charging station is set in systems, it is ensured that system longtime running, system Construction cost are low.
Description
Technical field
It the utility model is related to a kind of intelligent carriage logistics system.
Background technology
With the reach of science and the continuous improvement of demand, hospital all begins to use logistics system.Most commonly seen is gas
Animal is flowed and the box logistics of track, but defect is individually present：(1) Pneumatic logistic be by the turnover cabin similar to capsule shape, by
The limitation of aerodynamic force size and the size of Pneumatic pipe, turnover cabin is all smaller, can only transmit small article, such as one
A little blood samples etc；(2) Turnover Box of the box logistics of track is bigger, can transmit large article, but need in smallpox
The track of laying transmission roller composition in plate, laying cost is very high, and track maintenance inconvenience, transmission noise are big.Therefore it is urgent
A kind of new logistics system is needed, larger heavier article can be transmitted, and laying cost is low, it is stable.
Utility model content
The purpose of this utility model is to provide a kind of energy and transmits larger heavier article, and laying cost is low, and operation is steady
Fixed intelligent carriage logistics system.
The technical scheme for realizing the utility model purpose is intelligent carriage logistics system, including each transceiver station diffusing reflection swashs
Multiple coding diffusing reflections that optical sensor, the path being arranged between each transceiver station diffusing reflection laser sensor operation take swash
Optical sensor, loading dolly diffusing reflection laser sensor, upper computer control system diffusing reflection laser sensor and at least one fill
Power station point diffusing reflection laser sensor；Do not repeated between each coding diffusing reflection laser sensor；The loading dolly is unrestrained anti-
It is AGV dollies to penetrate laser sensor, including scanning device, MCU and wireless communication module, output end the connection MCU, MCU of scanning device
Output end connection wireless communication module；The upper computer control system diffusing reflection laser sensor includes wireless communication module；
The charging station diffusing reflection laser sensor be arranged at by each transceiver station diffusing reflection laser sensor or with each transmitting-receiving station
Path is set to run band between point diffusing reflection laser sensor, path operation takes setting coding diffusing reflection laser sensor；Institute
The scanning device for stating loading dolly diffusing reflection laser sensor is arranged on body bottom center；The scanning device diffusing reflection laser sensing
Device includes two-dimensional code scanning instrument or RFID sensor or two-dimensional code scanning instrument and RFID sensors；The coding diffusing reflection laser
Sensor is Quick Response Code or RFID or Quick Response Code and RFID.
Including the parallel two-way line being arranged between two website diffusing reflection laser sensors；The parallel two-way line it is every
Spaced set encodes diffusing reflection laser sensor on bar route；Each coding diffusing reflection of one route of the parallel two-way line
Laser sensor represents continuous odd number, and each coding diffusing reflection laser sensor of another route represents continuous even number.
The loading dolly diffusing reflection laser sensor includes vehicle body diffusing reflection laser sensor, left wheel diffusing reflection laser
Sensor, right wheel diffusing reflection laser sensor, avoidance detector diffusing reflection laser sensor, objective table diffusing reflection laser sensing
Device, elevating lever diffusing reflection laser sensor, scanning device diffusing reflection laser sensor, MCU, jacking motor, motor, gyro
Instrument, odometer, wireless communication module and battery；The left wheel diffusing reflection laser sensor and right wheel diffusing reflection laser sensing
Device is driven by motor, is arranged on vehicle body diffusing reflection laser sensor bottom；The avoidance detector diffusing reflection laser sensing
Device and scanning device diffusing reflection laser sensor, which are located on the same side of vehicle body diffusing reflection laser sensor, to be set；The objective table
Diffusing reflection laser sensor is arranged on the top of elevating lever diffusing reflection laser sensor, positioned at vehicle body diffusing reflection laser sensor
Top, elevating lever diffusing reflection laser sensor are driven by jacking motor, and objective table diffusing reflection laser sensor is in unrisen shape
Under state, positioned at the upper surface of vehicle body diffusing reflection laser sensor；The MCU and battery are arranged on vehicle body diffusing reflection laser sensor
It is internal；The avoidance detector diffusing reflection laser sensor, scanning device diffusing reflection laser sensor, gyroscope, odometer and electricity
The output end connection MCU in pond, the wireless communication module and MCU two-way communication links, the output end connection jacking of the MCU
Motor and motor；It is unrestrained that the width of the loading dolly diffusing reflection laser sensor is less than two neighboring coding on a route
The distance between reflection laser sensor.
Intelligent carriage logistics system also includes the single file route being arranged between two website diffusing reflection laser sensors, should
Single file route does not repeat to set with parallel two-way line；The first-class spacing of single file route sets coding diffusing reflection laser sensor,
Each coding diffusing reflection laser sensor represents continuous odd number and either continuous even number or arranged according to natural number.
At least one avoidance island diffusing reflection laser sensor is set on the single file route；The avoidance island diffusing reflection laser
Sensor is that can at least park an amount to a parallel area that waits of lateral spread, the size in the area that waits on single file circuit
Dolly.
Every route is setting the position setting pit of the coding diffusing reflection laser sensor；The coding is unrestrained anti-
Penetrate laser sensor printing or be pasted onto on pit, coding diffusing reflection laser sensor upper surface flushes with ground.
Each website diffusing reflection laser sensor carries a standby charge point.
The avoidance detector diffusing reflection laser sensor includes laser sensor, ultrasonic sensor, infrared sensor
One or any two kinds or three kinds；The laser sensor is diffusing reflection laser sensor.
Two universal wheels that intelligent carriage logistics system also includes being arranged on vehicle body diffusing reflection laser sensor bottom are unrestrained anti-
Penetrate laser sensor；It is unrestrained anti-that the left wheel diffusing reflection laser sensor and right wheel diffusing reflection laser sensor are arranged on vehicle body
Penetrate the center on the left and right side of laser sensor bottom；Described two universal wheel diffusing reflection laser sensors are arranged on vehicle body diffusing reflection
The center on laser sensor bottom other two side.The motor has two, is divided into left motor and right motor, drives respectively
Left wheel diffusing reflection laser sensor and right wheel diffusing reflection laser sensor.
The objective table diffusing reflection laser sensor upper surface sets at least one pressure sensor diffusing reflection laser sensing
Device；The output end connection MCU of the pressure sensor diffusing reflection laser sensor；The objective table diffusing reflection laser sensor
The edge of upper surface sets a circle protecting border diffusing reflection laser sensor；The protecting border diffusing reflection laser sensor can on
Lower movement；A sucker diffusing reflection laser sensing is set up in the middle part of the upper surface of the objective table diffusing reflection laser sensor
Device.
Above-mentioned technical proposal is employed, the utility model has following positive effect：(1) the utility model encodes
Delegated path, by the use of AGV dollies as loading dolly, dolly can scanning encoding, host computer is sent to by wireless communication module
Control system, it is possible thereby to obtain position of the loading dolly in logistics system in real time, you can realize that dolly transports the mesh of goods
, charging station is set in systems, it is ensured that system longtime running, system Construction cost is low, and logistics transmission effect is good.
(2) parallel two-way line of the present utility model uses an odd number route, an even number route, as soon as odd even converts,
Know that dolly sideslip easily adjusts the navigation of dolly to another road, backstage can, the utility model also sets up single file
Route, it is suitable for the small region of transmitting-receiving amount, further reduces cost, in order to avoid being collided during meeting, is set in single file route
Avoid island.
(3) loading dolly of the present utility model uses the principle of AGV dollies, and gyroscope is used to detect trolley travelling direction,
Odometer is used for the counting of carriers speed of service, and these information all can be sent to PC control system by wireless communication module
System, so as to calculate the displacement of dolly, trolley travelling to article receiving position bottom, objective table liter for upper computer control system
Rise, article is jacked out, then transport, it is scientific and reasonable for structure, and the lifting capacity of dolly can be adjusted as needed.
(4) encoding setting of the present utility model will not thus have projection on the ground, be advantageous to dolly in pit
Smooth operation.
(5) the utility model is small due to the distance between adjacent individual coding on less than one route of width of loading dolly
The judgement of car present position is very accurate.
(6) the utility model controls two wheels in left and right respectively using two motors, can be adjusted according to carrying out practically situation
The speed of vehicle wheel, turned to control.
(7) the utility model sets pressure sensor on objective table, after article is placed on objective table, it is possible to anti-
Feedback signal, so as to control moving of car or control protecting border to rise, to ensure that article is not fallen out in the process of running.
(8) sucker is set up in the middle part of the upper surface of the utility model objective table, article can be held, further
Ensure the safety of article.
(9) avoidance detector of the present utility model can be avoidance detector, infrared sensor, and ultrasonic sensor is appointed
One or two kinds of or three kinds, detection of the infrared sensor to people is very accurate, and avoidance detector detection range is big, and ultrasonic wave passes
Sensor can be used as auxiliary.
(10) avoidance detector of the present utility model is diffusing reflection laser sensor, and effective detection range ensures up to 4m
Enough braking distances, and to personnel and equipment by good Effect on Detecting.
(11) the utility model carries a standby charge point in each website, is served only for that state of activation dolly is standby to be filled
Electricity, namely dolly charge when website is waited in line and sent, and are not used in warning electricity charging, can so reduce dolly over long distances
Operation charging, saves energy consumption and time, extends the dolly working time.
Brief description of the drawings
In order that content of the present utility model is easier to be clearly understood, below according to specific embodiment and combine attached
Figure, is described in further detail to the utility model, wherein
Fig. 1 is schematic diagram of the present utility model.
Fig. 2 is the utility model loading dolly and the block diagram of upper computer control system.
Fig. 3 is network service block diagram of the present utility model.
Fig. 4 is the structural representation of loading dolly of the present utility model.
Fig. 5 is the schematic diagram that the lifting platform of loading dolly of the present utility model rises.
In accompanying drawing marked as：
Website 1, coding 2, loading dolly 3, vehicle body 3-1, left wheel 3-2, right wheel 3-3, avoidance detector 3-4, loading
Platform 3-5, elevating lever 3-6, scanning device 3-7, pressure sensor 3-8, protecting border 3-9, sucker 3-10, upper computer control system 4,
Charging station 5, avoid island 6, radio transceiver station 7.
Embodiment
(embodiment 1)
See Fig. 1 to Fig. 3, the intelligent carriage logistics system of the present embodiment, including each transceiver station 1, it is arranged at each transmitting-receiving station
Multiple codings 2, loading dolly 3, upper computer control system 4 and at least one charging station that path operation between point 1 takes
5；Do not repeated between each coding 2；Loading dolly 3 is AGV dollies, including scanning device, MCU and wireless communication module, scanning device
Output end connects MCU, MCU output end connection wireless communication module；Upper computer control system 4 includes wireless communication module；Fill
Power station point 5 is arranged at each side of transceiver station 1 or sets path to run band between each transceiver station 1, and path operation, which takes, to be set
Put coding 2, coding can be that Quick Response Code can also be RFID codes, or the combination of the two, can select as needed.Transport in path
Row band includes parallel two-way line and single file route；Parallel two-way line is arranged between two websites 1, and single file route is also disposed at two
Between individual website 1, single file route does not repeat to set with parallel two-way line.In practice, can be by transport hub section (the big station of transmitting-receiving amount
Point) between parallel two-way line is set, between the small website of transmitting-receiving amount set single file route.On every route of parallel two-way line
Spaced set coding 2；Each coding 2 of one route of parallel two-way line represents continuous odd number, each volume of another route
Code 2 represents continuous even number.The first-class spacing of single file route sets coding 2, and each coding 2 represents continuous odd number or continuous even
Number arranges according to natural number.At least one avoidance island 6 is set on single file route.It is to lateral on single file circuit to avoid island 6
The parallel area that waits extended, the size in the area that waits can at least park an amount dolly.Every route is described in setting
The position of coding 2 sets pit；The printing of coding 2 is pasted onto on pit, and 2 upper surfaces of coding flush with ground.Loading dolly 3
Width be less than two neighboring coding the distance between 2 on route.As shown in figure 3, in loading dolly 3 and PC control
Radio transceiver station 7 is set between system 4, it is contemplated that such as when hospital arranges the system, is typically located at the ceiling of hospital
In, plus wall of some buildings etc., it is wirelessly transferred if only using one-level, it may appear that many problems, therefore this implementation
Example sets multiple radio transceiver stations 7, and each radio transceiver station 7 covers a number of loading dolly 3, such communication response below
Faster, accuracy rate is also higher, for example WiFi communication can be used with radio transceiver station 7, and loading dolly 3 uses ZigBee communication,
It is exactly to use WiFi+ZigBee group-net communications, WiFi area coverages are big, and easily transmission blocks, though ZigBee area coverages are small,
But response is fast.
See Fig. 4 to Fig. 5, loading dolly 3 includes vehicle body 3-1, left wheel 3-2, right wheel 3-3, avoidance detector 3-4, load
Thing platform 3-5, elevating lever 3-6, scanning device 3-7, MCU, jacking motor, motor, gyroscope, odometer, wireless communication module
And battery；Left wheel 3-2 and right wheel 3-3 are driven by motor, are arranged on vehicle body 3-1 bottoms, while bottom sets 2 ten thousand
To wheel 3-11；Avoidance detector 3-4 is located on a vehicle body 3-1 side；Objective table 3-5 is arranged on elevating lever 3-6 top
End, positioned at vehicle body 3-1 top, elevating lever 3-6 is driven by jacking motor, and objective table 3-5 is located under unrisen state
Vehicle body 3-1 upper surface；Scanning device 3-7 is arranged on the center of vehicle body 3-1 bottoms, is Quick Response Code scanning device or RFID sensor
Or the two has concurrently.MCU and battery are arranged on inside vehicle body 3-1；Avoidance detector 3-4, scanning device 3-7, gyroscope, odometer
Connect MCU with the output end of battery, wireless communication module and MCU two-way communication links, MCU output end connection jacking motor and
Motor；The width of loading dolly 3 is less than two neighboring coding the distance between 2 on a route.Avoidance detector 3-4 bags
Include laser sensor, ultrasonic sensor, one or any two kinds or three kinds of infrared sensor, laser sensor is unrestrained
Reflection laser sensor.Motor has two, is divided into left motor and right motor, drives left wheel 3-2 and right wheel 3- respectively
3.Objective table 3-5 upper surfaces set at least one pressure sensor 3-8；Pressure sensor 3-8 output end connection MCU；Loading
The edge of platform 3-5 upper surface sets a circle protecting border 3-9；Protecting border 3-9 can be moved up and down；Objective table 3-5 upper table
A sucker 3-10 is set up in the middle part of face.Loading dolly 3 runs to article receiving position bottom, and objective table rises, by thing
Product jack out, then transport.
There is the AGV loadings dolly 3 equipped with coding scanning device in dolly logistics system, the dolly can identify foregoing each
Coding 2, it can also be avoided automatically near boss and avoidance island 6.The coding that loading dolly 3 is swept to is sent by wireless communication module
To upper computer control system, the running route of loading dolly 3 can in upper computer control system is indicated with string number, non-
Often convenient identification, and because the width of loading dolly 3 is less than the distance between adjacent 2 codings, dolly institute on a route
It is very accurate to locate the judgement of position, gyroscope is used to detect trolley travelling direction, and odometer is used for the counting of carriers speed of service, this
A little information all can be sent to upper computer control system by wireless communication module, so as to be calculated for upper computer control system
The displacement of dolly, so as to control the navigation of dolly by upper computer control system 4.The battery of loading dolly 3 uses chargeable lithium
Battery, when electricity is less than warning value (the system is traditionally arranged to be 20% or 30%), loading dolly 3 is according to host computer control
System 4 processed carries out automatic charging for the nearest idle charging station 5 of its distribution.The intelligent carriage logistics system road of the present embodiment
Footpath laying cost is very low, and positional information monitors promptly and accurately.
Particular embodiments described above, the purpose of this utility model, technical scheme and beneficial effect are carried out to enter one
Step describes in detail, should be understood that and the foregoing is only specific embodiment of the utility model, is not limited to this
Utility model, it is all within the spirit and principles of the utility model, any modification, equivalent substitution and improvements done etc., it all should wrap
It is contained within the scope of protection of the utility model.
Claims (10)
1. intelligent carriage logistics system, it is characterised in that：Including each transceiver station (1), it is arranged between each transceiver station (1)
Multiple codings (2), loading dolly (3), upper computer control system (4) and at least one charging station (5) that path operation takes；
Do not repeated between each coding (2)；The loading dolly (3) is AGV dollies, including scanning device, MCU and radio communication mold
Block, output end the connection MCU, MCU of scanning device output end connection wireless communication module；Upper computer control system (4) bag
Include wireless communication module；The charging station (5) is arranged at each transceiver station (1) side or set between each transceiver station (1)
Path operation band is put, path operation takes setting coding (2)；The scanning device of the loading dolly (3) is arranged in body bottom
The heart；The scanning device includes two-dimensional code scanning instrument or RFID sensor or two-dimensional code scanning instrument and RFID sensor；The coding
(2) it is Quick Response Code or RFID or Quick Response Code and RFID.
2. intelligent carriage logistics system according to claim 1, it is characterised in that：Including be arranged on two websites (1) it
Between parallel two-way line；Spaced set coding (2) on every route of the parallel two-way line；The one of the parallel two-way line
Each coding (2) of bar route represents continuous odd number, and each coding (2) of another route represents continuous even number.
3. intelligent carriage logistics system according to claim 2, it is characterised in that：The loading dolly (3) includes vehicle body
(3-1), left wheel (3-2), right wheel (3-3), avoidance detector (3-4), objective table (3-5), elevating lever (3-6), scanning device
(3-7), MCU, jacking motor, motor, gyroscope, odometer, wireless communication module and battery；The left wheel (3-2)
Driven with right wheel (3-3) by motor, be arranged on vehicle body (3-1) bottom；The avoidance detector (3-4) and scanning device
(3-7), which is located on the same side of vehicle body (3-1), to be set；The objective table (3-5) is arranged on elevating lever (3-6) top, position
In vehicle body (3-1) top, elevating lever (3-6) is driven by jacking motor, and objective table (3-5) is located under unrisen state
The upper surface of vehicle body (3-1)；It is internal that the MCU and battery are arranged on vehicle body (3-1)；The avoidance detector (3-4), scanning device
(3-7), gyroscope, odometer and the output end of battery connect MCU, the wireless communication module and MCU two-way communication links, institute
State MCU output end connection jacking motor and motor；The width of the loading dolly (3) is less than adjacent two on a route
The distance between individual coding (2).
4. intelligent carriage logistics system according to claim 3, it is characterised in that：Also include being arranged on two websites (1)
Between single file route, the single file route not with parallel two-way line repeat set；The first-class spacing of single file route sets coding
(2), respectively coding (2) represents continuous odd number and either continuous even number or arranged according to natural number.
5. intelligent carriage logistics system according to claim 4, it is characterised in that：At least one is set on the single file route
It is individual to avoid island (6)；Described avoid island (6) are to a parallel area that waits of lateral spread, the area that waits on single file circuit
Size can at least park an amount dolly.
6. intelligent carriage logistics system according to claim 5, it is characterised in that：Every route is setting the volume
The position of code (2) sets pit；Coding (2) printing is pasted onto on pit, and coding (2) upper surface flushes with ground.
7. intelligent carriage logistics system according to claim 6, it is characterised in that：Each transceiver station (1) is certainly
One standby charge point of band.
8. intelligent carriage logistics system according to claim 7, it is characterised in that：The avoidance detector (3-4) includes
Laser sensor, ultrasonic sensor, one or any two kinds or three kinds of infrared sensor；The laser sensor is
Diffusing reflection laser sensor.
9. intelligent carriage logistics system according to claim 8, it is characterised in that：Also include being arranged on vehicle body (3-1) bottom
Two universal wheels (3-11) in portion；The left wheel (3-2) and right wheel (3-3) are arranged on the left and right side of vehicle body (3-1) bottom
Center；Described two universal wheels (3-11) are arranged on the center on vehicle body (3-1) bottom other two side；The motor has
Two, it is divided into left motor and right motor, drives left wheel (3-2) and right wheel (3-3) respectively.
10. intelligent carriage logistics system according to claim 9, it is characterised in that：Objective table (3-5) upper surface is set
Put at least one pressure sensor (3-8)；The output end connection MCU of the pressure sensor (3-8)；The objective table (3-5)
Upper surface edge set one circle protecting border (3-9)；The protecting border (3-9) can move up and down；Objective table (the 3-
5) sucker (3-10) is set up in the middle part of upper surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720688209.0U CN206848813U (en) | 2017-06-13 | 2017-06-13 | Intelligent carriage logistics system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720688209.0U CN206848813U (en) | 2017-06-13 | 2017-06-13 | Intelligent carriage logistics system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206848813U true CN206848813U (en) | 2018-01-05 |
Family
ID=60800347
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720688209.0U Active CN206848813U (en) | 2017-06-13 | 2017-06-13 | Intelligent carriage logistics system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206848813U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107037815A (en) * | 2017-06-13 | 2017-08-11 | 江苏振邦医用智能装备有限公司 | Intelligent carriage logistics system |
| CN108860365A (en) * | 2018-06-28 | 2018-11-23 | 山东蓬翔汽车有限公司 | A kind of large-scale, inside and outside AGV of transhipment over long distances of heavy supplies room |
| CN109002044A (en) * | 2018-08-29 | 2018-12-14 | 广州市君望机器人自动化有限公司 | Robot queuing strategy, device, background server and storage medium |
-
2017
- 2017-06-13 CN CN201720688209.0U patent/CN206848813U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107037815A (en) * | 2017-06-13 | 2017-08-11 | 江苏振邦医用智能装备有限公司 | Intelligent carriage logistics system |
| CN107037815B (en) * | 2017-06-13 | 2024-05-14 | 江苏振邦医用智能装备有限公司 | Intelligent trolley logistics system |
| CN108860365A (en) * | 2018-06-28 | 2018-11-23 | 山东蓬翔汽车有限公司 | A kind of large-scale, inside and outside AGV of transhipment over long distances of heavy supplies room |
| CN109002044A (en) * | 2018-08-29 | 2018-12-14 | 广州市君望机器人自动化有限公司 | Robot queuing strategy, device, background server and storage medium |
| CN109002044B (en) * | 2018-08-29 | 2021-10-22 | 广州市君望机器人自动化有限公司 | Robot queuing method and device, background server and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107037815A (en) | Intelligent carriage logistics system | |
| CN107161644B (en) | The control method of intelligent carriage logistics system | |
| US10612261B2 (en) | AGV comb-type transfer robot | |
| CN206848813U (en) | Intelligent carriage logistics system | |
| CN106708027A (en) | On-line graphical real-time navigation and control system of unmanned navigation intelligent electric flat vehicle | |
| CN102616703B (en) | Track-free intelligent moving device of goods shelf warehouse | |
| CN109146361A (en) | A kind of unmanned goods stock of wisdom formula, shared system and business model | |
| CN207908968U (en) | A kind of intelligent loading trolley of trolley logistics system | |
| CN102990640B (en) | Intelligent transportation robot of electric power storehouse | |
| CN109508926A (en) | A kind of logistics system and working method of dangerous material transfer house | |
| CN106314594A (en) | Storage and transfer robot used for modern logistics industry | |
| CN208522506U (en) | Self-propelling device and wireless charging system based on self-propelling device | |
| GB2613745A (en) | Self-propelled airside dolly, baggage handling system, baggage handling facility, and related apparatus and methods | |
| CN206296920U (en) | A kind of supermarket shopping guide robot | |
| CN201397390Y (en) | Localization and navigation system of automatic truck for container | |
| CN106845889A (en) | A kind of intelligent trackless self-aiming transport vehicle material transportation information management system | |
| CN204960438U (en) | Automatic plane garage system based on wheeled year car device | |
| CN108263441B (en) | A kind of pipeline transportation vehicle control | |
| CN107499410A (en) | Express delivery transfer cart and intelligent logistics system can be combined | |
| CN104895375B (en) | A kind of automatic plane garage system based on wheeled load car device | |
| CN210502432U (en) | Trailer loading and unloading goods detection terminal | |
| CN107963086A (en) | A kind of traffic control method and pipeline | |
| CN203077270U (en) | Electric power storeroom intelligent transfer robot | |
| CN208165139U (en) | Automated vehicle support carries transport vehicle | |
| CN206552709U (en) | Motor dolly |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |