CN207473406U - A kind of intelligent carriage tracking system with Quick Response Code site location information - Google Patents
A kind of intelligent carriage tracking system with Quick Response Code site location information Download PDFInfo
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- CN207473406U CN207473406U CN201721205242.XU CN201721205242U CN207473406U CN 207473406 U CN207473406 U CN 207473406U CN 201721205242 U CN201721205242 U CN 201721205242U CN 207473406 U CN207473406 U CN 207473406U
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- intelligent carriage
- quick response
- response code
- location information
- camera lens
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Abstract
The utility model is related to smart machine control fields, and in particular to a kind of intelligent carriage tracking system with Quick Response Code site location information.The above-mentioned technical purpose of the utility model technical scheme is that：A kind of intelligent carriage tracking system with Quick Response Code site location information, include intelligent carriage, the intelligent carriage includes running gear, driving device, power supply unit, also include main navigation device, the main navigation device sets track joint strip on the ground comprising note, it is sticked on the track joint strip and includes the center label of coordinate information, the identification camera lens for track joint strip described in scanning recognition and the center label is additionally provided on the intelligent carriage.The purpose of this utility model is to provide a kind of intelligent carriage tracking system with Quick Response Code site location information, and using tracking device as leading boat, reliability is high, and using Quick Response Code coordinate system, flexibility is strong, and whole system cost is controllable, conducive to popularization.
Description
Technical field
The utility model is related to smart machine control fields, and in particular to a kind of intelligence with Quick Response Code site location information
It can trolley tracking system.
Background technology
With the development of logistic storage industry and the maturation of automatic technology, AGV equipment is live in industrial automation, automatically
Metaplasia producing line has obtained a large amount of utilization.AGV Automated Guided Vehicle, imply that " automated guided vehicle ", are
Refer to and magnetically or optically wait homing guidances device equipped with electricity, it can travel along defined guide path, with safeguard protection and
The transport vehicle of various transfer functions, AGV belong to wheeled mobile robot.
In the research and development of AGV and in use, main comprising mechanical assembly and communication assembly, mechanical assembly includes the walking of trolley
Device, transfer, lifting device etc., and the assembly that communicates is then to know transport task that system distributes by communication network,
And own location information is perceived according to multiple indoor location technology, so as to formulate the path planning voluntarily transported by calculating,
And transport task is performed, so as to complete the work of the material handling on automatic production line.In AGV at the scene, such as indoor warehouse
When carrying out transport task, need to obtain the location data of itself constantly, so as to perceive own location information, be formulated by calculating
The path planning voluntarily transported completes transport task, and therefore, the positioning of AGV and navigation module make research and development and the design focal point of AGV
One of.
In the prior art, location technology, especially indoor positioning technologies, the technology usually navigated using ground trace
Scheme.Since in city, GPS signal is weak, positioning is unreliable, and ground trace reliability is high.But such technical solution
Defect is equally existed, this kind of navigation mechanism can only limit walkings of the AGV in route, be suitable for fixed-site and fixed mesh
Target tasks carrying pattern is unfavorable for flexibility manufacturing site location and the electric business storage field having high requirements to business change
Application.
Therefore, people research and develop other airmanship schemes, are based especially on the AGV system of laser navigation,
But the AGV system based on laser navigation, it is to rely on laser linear array radar or lasing area battle array radar, by measuring AGV equipment
With the distance of marker or fixed barrier, the cartographic model based on AGV visual angles is built, then appointing according to system assignments
Business performs relative motion action.In order to there is good positioning to itself at any time, the laser thunder in AGV system is needed
Enough marker or the fixed barriers that can be scanned at any time to 3 points or more of Danone.Therefore in factory or electric business
Under the more spacious environment such as storage, the measurement distance of laser radar is usually required that more than rice, and horizontal resolution is higher
The more wide better, horizontal field of view the better, meets the laser radar of this technology requirement easily in even 50,000 yuan or more of members up to ten thousand
Cost, it is expensive, it is difficult to extensive universal.
Utility model content
The purpose of this utility model is to provide a kind of intelligent carriage tracking system with Quick Response Code site location information, makes
By the use of tracking device as leading boat, reliability is high, and using Quick Response Code coordinate system, flexibility is strong, and whole system cost is controllable, profit
In popularization.
The above-mentioned technical purpose of the utility model technical scheme is that：One kind carries Quick Response Code station
The intelligent carriage tracking system of dot position information, comprising intelligent carriage, the intelligent carriage include running gear, driving device,
Power supply unit, also comprising main navigation device, the main navigation device sets track joint strip on the ground, the track patch comprising note
It is sticked on item and includes the center label of coordinate information, be additionally provided on the intelligent carriage for track joint strip described in scanning recognition
With the identification camera lens of the center label.
As the preferred of the utility model, inertial navigation unit, the inertial navigation dress are additionally provided on the intelligent carriage
It puts comprising inertial navigation sensors, the inertial navigation sensors are passed for three-axis gyroscope or three axis accelerometer or three axis earth magnetism
Sensor.
As the preferred of the utility model,：The track joint strip includes a plurality of track horizontal stripe and a plurality of track vertical bar, a plurality of
The track horizontal stripe and a plurality of track vertical bar are mutually perpendicular to, and the center label note is located at the track horizontal stripe and the rail
The cross-point locations of mark vertical bar.
As the preferred of the utility model, the center label is two-dimension code label.
In the technical program, the track joint strip is as main navigation device, the reliability navigated using tracking, system
Middle AGV, i.e., the movement of described intelligent carriage and tasks carrying accordingly even when track construction is deviated, but are passed through based on tracking
It crosses after this deviation point, influence face will not be accumulated to subsequent navigation effect, perform very reliable.And on the other hand, institute
Center label is stated, i.e. Quick Response Code coordinate system becomes the supplement of navigation scheme.The system brought using Quick Response Code coordinate system
Flexibility is performed, the Quick Response Code with coordinate information will be pasted in space coordinate point, by the identification mirror of the intelligent carriage
Head recognizes.It should be noted that in the present case, the identification camera lens only needs to identify the coordinate information of Quick Response Code, and need
The off-centring and angle offset information that the nonrecognition Quick Response Code is brought, therefore Quick Response Code is pasted and safeguards greatly to relax and is wanted
It asks, so as to reduce system implementation and maintenance difficulties.
In the technical program, entire sky is sticked in the way of coordinate line with optics trace bar or magnetic track item
Between, orthogonal track horizontal stripe and track vertical bar are formed, and the Quick Response Code with coordinate information is sticked in track crosspoint, i.e.,
Center label, it is entire although construction work amount increased to indicate the specific space coordinate in the AGV equipment crosspoint
The construction work of system is very more to required precision reduction, does not propose special construction precision requirement.
The intelligent carriage is obtained except through the track joint strip and the center label outside the elements of a fix, also by used
Property navigation device obtain data.Specifically, inertial navigation sensors built in the intelligent carriage, as gyroscope, accelerometer,
Magnetic etc. under either Quick Response Code has damaged or loss situation in ground trace, can keep kinematic parameter, resume waiting for catching
It catches good track or Quick Response Code occurs, so as to further reduce the maintenance difficulties of system operation, improve System Fault Tolerance rate.
As the preferred of the utility model, the intelligent carriage bottom surface is equipped with the identification camera lens and for for the identification
Camera lens provides the light compensating lamp of light filling light.
As the preferred of the utility model, the light compensating lamp is multiple, positioned at the outside of the identification camera lens.
As the preferred of the utility model, lens, the lens packet are equipped with below the identification camera lens and the light compensating lamp
Frosted portion containing transmittance section and on the outside of the transmittance section.
As the preferred of the utility model, the intelligent carriage bottom surface is additionally provided with cleaning device, and the cleaning device includes
There is the elastic base made of elastic material, be arranged on the elastic base and tilt the oblique scraper plate of extension and be located at the bullet
Hairbrush on property pedestal.
When the intelligent carriage when moving, need using it is described identification camera lens scanning ground the track horizontal stripe and institute
Center label is stated, but since the identification camera lens is often arranged on the bottom surface of the intelligent carriage, light is bad, in order to obtain
Preferable visual field visual angle needs to carry out light filling using the light compensating lamp.
Generally, the light compensating lamp could be provided as it is multiple, be located at it is described identification camera lens outside.In this case, ad hoc institute
State lens.The middle part of the lens is transmittance section, and the lower section of camera lens is identified described in face so that the identification camera lens obtains transparent
The clearly visual field.And the outside of the transmittance section be frosted portion, the lower section of light compensating lamp described in face so that periphery one enclose it is described
Light compensating lamp, i.e. LED light through the point light source for becoming irreflexive ambient light rather than direct projection after ground glass, avoid due to
It is reflective in the center label and the track joint strip, so as to influence the picture catching of the identification camera lens.
After the intelligent carriage is moved through the track joint strip and the center label, the cleaning device can be automatic right
Joint strip and label are cleaned.Specifically, the oblique scraper plate strikes off dirt, the hairbrush is to the ash on joint strip and label
Dirt is dusted, so as to promote discrimination of the identification camera lens for the track joint strip and the center label.
As the preferred of the utility model, the intelligent carriage is equipped with the identification camera lens, is set below the identification camera lens
There is slidable dust guard.
As the preferred of the utility model, the dust guard includes fixed frame, is slidably connected on the fixed frame
Sliding panel and the rectangular channel being opened on the sliding panel are equipped with strainer in the rectangular channel.
As the preferred of the utility model, the intelligent carriage is equipped with installing plate, described to identify camera lens and for drying
Blower be all located on the installing plate.
As the preferred of the utility model, the sliding panel is at least two pieces, in the opposite side of two pieces of sliding panels
On for the connection inserted sheet that is fixedly secured to one another.
As the preferred of the utility model, the connection inserted sheet include for by the distinguished and admirable rebound of the blower to described
The rebound of identification camera lens raises up portion, and the rebound portion that raises up extends by gradually being tilted upward far from the sliding panel direction.
As the preferred of the utility model, the sliding panel is equipped with and convex body is collided made of elastic material, described to touch
It is hemispherical to hit convex body.
The components such as running gear, lifting device, driving device, the power supply unit of the intelligent carriage are all and in the prior art
It is identical, excessive improvement can not be done.In the present case, identification camera lens is used to identify the center label and the track joint strip.Institute
Sliding panel is stated horizontal on the fixed frame to slide, when the intelligent carriage is in walking states, the sliding panel slips off,
And when stationary state, the sliding panel can be caused to close.Multiple rectangular channels are offered on the sliding panel, wherein setting
There is strainer, play the role of protection camera lens, filter dust.And multiple collision convex bodys are equipped in the side of the sliding panel,
The collision convex body has two effects, on the one hand, it is gentle that protection is played when two opposite sliding panels close
The effect of punching.On the other hand, as soon as the collision convex body is also a sensing component, when sense touch when the sliding panel stop
It slides.
Connection inserted sheet and matching slot are additionally provided in the side of the sliding panel, when the sliding panel closes,
The connection inserted sheet enters the slot, completes to fix.
Rebound on the connection inserted sheet raises up portion, also the effect there are a wind-force rebound, when on the blower
Wind-force blowout when, collide the rebound and raise up portion, wind path can spring back, blow to the identification camera lens, help the cleaning of camera lens.
In conclusion the utility model has the advantages that：
1. the movement of intelligent carriage in system, i.e. AGV and tasks carrying are based on tracking, accordingly even when track construction is
Deviation, but by after this deviation point, influence face will not be accumulated to subsequent navigation effect, perform reliable.
2nd, by scanning the center label on ground, current location information is obtained.
3rd, kinematic parameter/attitude information that system is known by inertial navigation unit merges spatial orientation information, is melted
Hop algorithm is high so as to perceive the complete positioning of equipment of itself and its attitude information, degree of flexibility.
4th, lens can be handled the light source of light compensating lamp, avoid the picture catching of light reflections affect identification camera lens.
5th, cleaning device can automatically clean the track joint strip of process and center label.
Description of the drawings：
Fig. 1 is the arrangement schematic diagram of track joint strip and center label in embodiment 1；
Fig. 2 is the scheme of installation of each component on intelligent carriage；
Fig. 3 is the enlarged drawing at Fig. 2A；
Fig. 4 is the schematic diagram that camera lens and cleaning device are identified in embodiment 2.
In figure：
1st, main navigation device, 11, track horizontal stripe, 12, track vertical bar, 2, center label, 3, installing plate, 4, identification camera lens,
41st, light compensating lamp, 42, lens, 421, frosted portion, 422, transmittance section, 5, dust guard, 51, fixed frame, 52, sliding panel, 53, square
Shape slot, 6, blower, 7, collision convex body, 8, connection inserted sheet, 81, rebound raise up portion, 9, cleaning device, 91, elastic base, 92,
Oblique scraper plate, 93, hairbrush.
Specific embodiment
The utility model is described in further detail below in conjunction with attached drawing.
This specific embodiment is only explanation to the utility model, is not the limitation to the utility model, ability
Field technique personnel can as needed make the present embodiment the modification of no creative contribution after this specification is read, but
As long as it is all protected in the right of the utility model by Patent Law.
Embodiment 1, as shown in Figure 1, a kind of intelligent carriage tracking system with Quick Response Code site location information, includes intelligence
Energy trolley, intelligent carriage include running gear, driving device, power supply unit, and also comprising main navigation device 1, main navigation device 1 wraps
Track joint strip on the ground is set containing note, is sticked on the joint strip of track and includes the center label 2 of coordinate information, on intelligent carriage also
Equipped with the identification camera lens 4 for scanning recognition track joint strip and center label 2, inertial navigation unit is additionally provided on intelligent carriage.
Inertial navigation unit includes inertial navigation sensors, and inertial navigation sensors are three-axis gyroscope or three axis accelerometer or three axis
Geomagnetic sensor.Track joint strip includes a plurality of track horizontal stripe 11 and a plurality of track vertical bar 12, a plurality of track horizontal stripe 11 and a plurality of rail
Mark vertical bar 12 is mutually perpendicular to, and label 2 note in center is located at the cross-point locations of track horizontal stripe 11 and track vertical bar 12.Center label 2
For two-dimension code label.
In the technical program, track joint strip is as main navigation device, the reliability navigated using tracking, in system
The movement of AGV, i.e. intelligent carriage and tasks carrying are based on tracking, accordingly even when track construction is deviated, but by this
After deviation point, influence face will not be accumulated to subsequent navigation effect, perform very reliable.And on the other hand, center label,
I.e. Quick Response Code coordinate system becomes the supplement of navigation scheme.Flexibility is performed using the system that Quick Response Code coordinate system is brought,
The Quick Response Code with coordinate information will be pasted in space coordinate point, recognized by the identification camera lens of intelligent carriage.Need what is illustrated
It is that in the present case, identification camera lens only needs to identify the coordinate information of Quick Response Code, and the center that the nonrecognition Quick Response Code is needed to bring
Offset and angle offset information, therefore to Quick Response Code paste and safeguard greatly relax requirement, so as to reduce system implement and
Maintenance difficulties.
In the technical program, entire sky is sticked in the way of coordinate line with optics trace bar or magnetic track item
Between, orthogonal track horizontal stripe 11 and track vertical bar 12 are formed, and the two dimension with coordinate information is sticked in track crosspoint
Code, i.e. center label 2, to indicate the specific space coordinate in the AGV equipment crosspoint, although construction work amount increased,
But the construction work of whole system is very more to required precision reduction, does not propose special construction precision requirement.
Intelligent carriage is obtained except through track joint strip and center label 2 outside the elements of a fix, also passes through inertial navigation unit
Obtain data.Specifically, inertial navigation sensors built in intelligent carriage, such as gyroscope, accelerometer, earth magnetism, so as on ground
Either Quick Response Code has under damaged or loss situation for face track, can keep kinematic parameter, resume waiting for capturing good track
Or Quick Response Code occurs, and so as to further reduce the maintenance difficulties of system operation, improves System Fault Tolerance rate.
Intelligent carriage is equipped with identification camera lens 4, and 4 lower section of identification camera lens is equipped with slidable dust guard 5.Dust guard 5 wraps
Containing fixed frame 51, the sliding panel being slidably connected on fixed frame 51 52 and the rectangular channel 53 being opened on sliding panel 52, rectangular channel
Strainer is equipped in 53.Intelligent carriage is equipped with installing plate 3, identifies camera lens 4 and is all located at installing plate 3 for the blower 6 of blowing
On.Sliding panel 52 is at least two pieces, the connection inserted sheet 8 on the opposite side of two pieces of sliding panels 52 for being fixedly secured to one another.
Connection inserted sheet 8 is included for the distinguished and admirable rebound of blower 6 to be raised up portion 81 to the rebound of identification camera lens 4, rebound raise up portion 81 by
Extension is gradually tilted upward far from 52 direction of sliding panel.Sliding panel 52 is equipped with collides convex body 7 made of elastic material, touches
It is hemispherical to hit convex body 7.The components such as running gear, lifting device, driving device, the power supply unit of intelligent carriage all with existing skill
It is identical in art, excessive improvement can not be done.In the present case, identification camera lens 4 is used to identify center label 2 and track joint strip.It slides
Plate 52 horizontal on fixed frame 51 can slide, and when intelligent carriage is in walking states, sliding panel 52 slips off, and in stationary state
When, sliding panel 52 can be caused to close.Multiple rectangular channels 53 are offered on sliding panel 52, are provided with strainer, play guarantor
Goggle head filters the effect of dust.And multiple collision convex bodys 7 are equipped in the side of sliding panel 52, collision convex body 7 has two works
With, on the one hand, play the role of protection and buffering when two opposite sliding panels 52 close.On the other hand, it collides convex
As soon as body 7 be also sensing a component, when sense touch when sliding panel 52 stop slip.
Connection inserted sheet 8 and matching slot are additionally provided in the side of sliding panel 52, when sliding panel 52 closes, connection
Inserted sheet 8 enters slot, completes to fix.Rebound on connection inserted sheet 8 raises up portion 81, also the effect there are a wind-force rebound,
It when the wind-force blowout on blower 6, collides rebound and raises up portion 81, wind path can be sprung back, and blowed to identification camera lens 4, helped camera lens
Cleaning.
Embodiment 2, as shown in figure 4, intelligent carriage bottom surface is equipped with identification camera lens 4 and for providing light filling for identification camera lens 4
The light compensating lamp 41 of light.Light compensating lamp 41 is multiple, positioned at the outside of identification camera lens 4.Identification camera lens 4 and 41 lower section of light compensating lamp are equipped with
Lens 42, lens 42 include transmittance section 422 and positioned at the frosted portions 421 in 422 outside of transmittance section.
Intelligent carriage bottom surface is additionally provided with cleaning device 9, and cleaning device 9 includes the elastic base made of elastic material
91st, it is arranged on elastic base 91 and tilts the oblique scraper plate 92 of extension and the hairbrush 93 being located on elastic base 91.
When intelligent carriage when moving, need to scan the track horizontal stripe of ground and center label using identification camera lens 4, still
Since identification camera lens 4 is often arranged on the bottom surface of intelligent carriage, light is bad, in order to obtain preferable visual field visual angle, needs to make
Light filling is carried out with light compensating lamp 41.
Generally, light compensating lamp 41 could be provided as it is multiple, be located at identification camera lens 4 outside.In this case, ad hoc lens 42.
The middle part of lens 42 is transmittance section 422, and face identifies the lower section of camera lens 4 so that identification camera lens 4 obtains the transparent clearly visual field.
And the outside of transmittance section 422 be frosted portion 421, the lower section of face light compensating lamp 41 so that periphery one enclose light compensating lamp 41, i.e. LED
Lamp is avoided through the point light source for becoming irreflexive ambient light rather than direct projection after ground glass due in 2 He of center label
Track joint strip is reflective, so as to influence to identify the picture catching of camera lens 4.
After intelligent carriage is moved through track joint strip and center label 2, cleaning device 9 can automatically carry out joint strip and label
Cleaning.Specifically, tiltedly scraper plate 92 strikes off dirt, hairbrush 93 is dusted the dust on joint strip and label, so as to carry
Rise discrimination of the identification camera lens 4 for track joint strip and center label.
Claims (10)
1. a kind of intelligent carriage tracking system with Quick Response Code site location information, comprising intelligent carriage, the intelligent carriage
Include running gear, driving device, power supply unit, which is characterized in that also comprising main navigation device（1）, the main navigation device
（1）Track joint strip on the ground is set comprising note, is sticked on the track joint strip and includes the center label of coordinate information（2）,
It is additionally provided on the intelligent carriage for track joint strip described in scanning recognition and the center label（2）Identification camera lens（4）.
2. a kind of intelligent carriage tracking system with Quick Response Code site location information according to claim 1, feature
It is：Inertial navigation unit is additionally provided on the intelligent carriage, the inertial navigation unit includes inertial navigation sensors, described
Inertial navigation sensors are three-axis gyroscope or three axis accelerometer or three axis geomagnetic sensors.
3. a kind of intelligent carriage tracking system with Quick Response Code site location information according to claim 1, feature
It is：The track joint strip includes a plurality of track horizontal stripe（11）With a plurality of track vertical bar（12）, a plurality of track horizontal stripe（11）
With a plurality of track vertical bar（12）It is mutually perpendicular to, the center label（2）Note is located at the track horizontal stripe（11）With the rail
Mark vertical bar（12）Cross-point locations.
4. a kind of intelligent carriage tracking system with Quick Response Code site location information according to claim 3, feature
It is：The center label（2）For two-dimension code label.
5. a kind of intelligent carriage tracing system with Quick Response Code site location information according to claims 1 or 2 or 3 or 4
System, it is characterised in that:The intelligent carriage bottom surface is equipped with the identification camera lens（4）With for for the identification camera lens（4）It provides
The light compensating lamp of light filling light（41）.
6. a kind of intelligent carriage tracking system with Quick Response Code site location information according to claim 5, feature
It is:The light compensating lamp（41）To be multiple, positioned at the identification camera lens（4）Outside.
7. a kind of intelligent carriage tracking system with Quick Response Code site location information according to claim 6, feature
It is:The identification camera lens（4）With the light compensating lamp（41）Lower section is equipped with lens（42）, the lens（42）Include transmittance section
（422）With positioned at the transmittance section（422）The frosted portion in outside（421）.
8. a kind of intelligent carriage tracing system with Quick Response Code site location information according to claims 1 or 2 or 3 or 4
System, it is characterised in that:The intelligent carriage bottom surface is additionally provided with cleaning device（9）, the cleaning device（9）Include by elastic material
Elastic base made of material（91）, be arranged on the elastic base（91）Oblique scraper plate that is upper and tilting extension（92）It is described with being located at
Elastic base（91）On hairbrush（93）.
9. a kind of intelligent carriage tracking system with Quick Response Code site location information according to claim 8, feature
It is：The intelligent carriage is equipped with the identification camera lens（4）, the identification camera lens（4）Lower section is equipped with slidable dust guard
（5）.
10. a kind of intelligent carriage tracking system with Quick Response Code site location information according to claim 9, feature
It is：The dust guard（5）Include fixed frame（51）, be slidably connected at the fixed frame（51）On sliding panel（52）With open
It is located at the sliding panel（52）On rectangular channel（53）, the rectangular channel（53）In be equipped with strainer, the intelligent carriage is equipped with
Installing plate（3）, the identification camera lens（4）With the blower for blowing（6）All it is located at the installing plate（3）On, the slip
Plate（52）At least two pieces, in two pieces of sliding panels（52）Connection inserted sheet on opposite side for being fixedly secured to one another
（8）, the connection inserted sheet（8）Comprising for by the blower（6）Distinguished and admirable rebound to the identification camera lens（4）Rebound on
Raise portion（81）, the portion that raises up that rebounds（81）By far from the sliding panel（52）Direction gradually tilts extension, the cunning upward
Movable plate（52）It is equipped with and convex body is collided made of elastic material（7）, the collision convex body（7）It is hemispherical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721205242.XU CN207473406U (en) | 2017-09-20 | 2017-09-20 | A kind of intelligent carriage tracking system with Quick Response Code site location information |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721205242.XU CN207473406U (en) | 2017-09-20 | 2017-09-20 | A kind of intelligent carriage tracking system with Quick Response Code site location information |
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| Publication Number | Publication Date |
|---|---|
| CN207473406U true CN207473406U (en) | 2018-06-08 |
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ID=62269278
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|---|---|---|---|
| CN201721205242.XU Expired - Fee Related CN207473406U (en) | 2017-09-20 | 2017-09-20 | A kind of intelligent carriage tracking system with Quick Response Code site location information |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107562059A (en) * | 2017-09-20 | 2018-01-09 | 浙江映美智能装备科技有限公司 | A kind of intelligent carriage tracking system with Quick Response Code site location information |
| CN108646754A (en) * | 2018-06-30 | 2018-10-12 | 汤苏扬 | A kind of intelligent carriage control system |
| CN109375626A (en) * | 2018-11-20 | 2019-02-22 | 深圳市海柔创新科技有限公司 | Alignment code is sticked method, apparatus, computer equipment and storage medium |
| CN111562780A (en) * | 2019-02-13 | 2020-08-21 | 北京京东尚科信息技术有限公司 | Method and device for setting running track of carrying equipment |
| WO2023005301A1 (en) * | 2021-07-28 | 2023-02-02 | 广东奥普特科技股份有限公司 | Agv forklift intelligent guide device, agv forklift intelligent guide method and agv forklift intelligent guide system |
-
2017
- 2017-09-20 CN CN201721205242.XU patent/CN207473406U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107562059A (en) * | 2017-09-20 | 2018-01-09 | 浙江映美智能装备科技有限公司 | A kind of intelligent carriage tracking system with Quick Response Code site location information |
| CN108646754A (en) * | 2018-06-30 | 2018-10-12 | 汤苏扬 | A kind of intelligent carriage control system |
| CN108646754B (en) * | 2018-06-30 | 2021-03-30 | 汤苏扬 | Intelligent vehicle control system |
| CN109375626A (en) * | 2018-11-20 | 2019-02-22 | 深圳市海柔创新科技有限公司 | Alignment code is sticked method, apparatus, computer equipment and storage medium |
| CN109375626B (en) * | 2018-11-20 | 2021-08-24 | 深圳市海柔创新科技有限公司 | Positioning code pasting method and device, computer equipment and storage medium |
| CN111562780A (en) * | 2019-02-13 | 2020-08-21 | 北京京东尚科信息技术有限公司 | Method and device for setting running track of carrying equipment |
| WO2023005301A1 (en) * | 2021-07-28 | 2023-02-02 | 广东奥普特科技股份有限公司 | Agv forklift intelligent guide device, agv forklift intelligent guide method and agv forklift intelligent guide system |
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