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CN108363388A - A kind of AGV robot obstacle-avoiding systems based on infrared sensor - Google Patents

A kind of AGV robot obstacle-avoiding systems based on infrared sensor Download PDF

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Publication number
CN108363388A
CN108363388A CN201810039576.7A CN201810039576A CN108363388A CN 108363388 A CN108363388 A CN 108363388A CN 201810039576 A CN201810039576 A CN 201810039576A CN 108363388 A CN108363388 A CN 108363388A
Authority
CN
China
Prior art keywords
sensor
infrared
mounting device
mechanical mounting
robot obstacle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201810039576.7A
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Chinese (zh)
Inventor
束鹏飞
冯康
王恒飞
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Guozi Robot Technology Co Ltd
Original Assignee
Zhejiang Guozi Robot Technology Co Ltd
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Application filed by Zhejiang Guozi Robot Technology Co Ltd filed Critical Zhejiang Guozi Robot Technology Co Ltd
Publication of CN108363388A publication Critical patent/CN108363388A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
    • Y02B20/30—Semiconductor lamps, e.g. solid state lamps [SSL] light emitting diodes [LED] or organic LED [OLED]

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  • Mechanical Engineering (AREA)
  • Engineering & Computer Science (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Pallets (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Specific Conveyance Elements (AREA)
  • Circuit Arrangement For Electric Light Sources In General (AREA)
  • Brushes (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Assembled Shelves (AREA)
  • Studio Devices (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The AGV robot obstacle-avoiding systems based on infrared sensor that the invention discloses a kind of, including controller hardware circuit module and mechanical mounting device two parts；Wherein, controller hardware circuit module includes master controller, mcu controllers, power module, psd infrared sensors, sensing data processing circuit, further includes filter power supply module；Controller hardware circuit module is mounted on mechanical mounting device, is fixed on working robot by mechanical mounting device.The present invention is based on the infrared sensors of psd operating modes, are filtered by unique, solve the problems, such as infrared waves easily by environmental disturbances；By the way that infrared sensor is raised certain number of degrees, the mutual avoidance that working robot itself avoidance and multirobot work at the same time is realized；Multiple avoidance sensors can be installed on working robot, and use cost is very low；Installation of modular is reduced installation error, reduces the set-up time, improves efficiency, and have dustproof and waterproof effect by dedicated infrared mounting tool.

Description

A kind of AGV robot obstacle-avoiding systems based on infrared sensor
Technical field
The present invention relates to logistic storage field, more particularly to the avoidance system of anticollision when more mobile robots work together System.
Background technology
As mechanical intelligence equips the development of industry, robot type is more and more.Single robot obstacle-avoiding and multirobot Mutual avoidance, it has also become the important competition in present robot development problem.In order to control robot volume and cost, Realize its high performance avoidance mode, what present mainstream market used is mostly laser avoidance or is some avoidance sides such as ultrasonic wave Formula and the present invention have very big difference.
Such as patent:CN201710399667.7《Based on how infrared robot obstacle-avoiding device, its control method and machine People is along side control method》, the infrared sensor that uses is traditional receiving type infrared sensor, utilizes the side of more infrared detections Formula, accurately calculates obstacle distance, and the accuracy of detection of hoisting machine people reduces erroneous judgement.
For another example patent:CN201610576609.2《At the supersonic array device and ultrasound data of robot obstacle-avoiding Reason method》, the patent be mounted on robot on, use the mode of supersonic sounding to carry out avoidance, and be mainly used in single machine In terms of device people, interactional technical solution how is solved when multirobot works at the same time without providing.
But installation ultrasonic range finder sensor, the laser radar sensor mainly used in robot obstacle-avoiding scheme at present, Or the avoidances scheme such as receiving type infrared sensor, deficiency is individually present：
1, ultrasonic sensor avoidance is applied comparatively huge in robot more, and robot is enough, be mounted on from Ground or from top place farther out, use is led to not since sound wave diffusion angle is excessive in the lower place in liftoff position.And Interfere with each other that problem is more serious between ultrasound, it is difficult to accomplish mutual avoidance when multirobot works together.
2, the avoidance mode relative cost of laser radar formula is excessively high, and needs just carry out surrounding object mounted on higher position The avoidance of body.
3, the avoidance mode of traditional receiving type infrared sensor, it is very easy to be interfered by external environment.Outside is surveyed The material color of examination object requires strictly, and very easy is triggered by ambient light.And when more machine operations it is easy to appear Mutually triggering phenomenon.
Therefore, those skilled in the art is dedicated to developing a kind of AGV robot obstacle-avoiding systems based on infrared sensor, The present invention is based on the infrared sensors of psd (position sensitive detector) operating mode, are worked at the same time suitable for multirobot, and cost is very Low, the error that installation is brought can be reduced by installation of modular by installing the tooling of infrared sensor, reduced the set-up time, improved effect Rate, and installation has the effect of dustproof and waterproof.
Invention content
In view of the drawbacks described above of the prior art, the technical problem to be solved by the present invention is to how by psd infrared sensings Device is used in avoidance pattern and mounting means in the lower robot of mounting height, solves short robot obstacle-avoiding, multimachine device Mutual avoidance problem when people works together；The mutual cross-interference issue of psd sensors, traditional avoidance mode are easily done by external environment Disturb problem；Conventional obstacle avoidance apparatus needs high-order installation, requires external test object strictly, easily by ambient light triggering, cost mistake High problem；And sensor installs the problems such as error brought.
To achieve the above object, the AGV robot obstacle-avoiding systems based on infrared sensor that the present invention provides a kind of, including Controller hardware circuit module and mechanical mounting device two parts；
Wherein, the controller hardware circuit module includes master controller, mcu controllers, power module, the infrared biographies of psd Sensor, sensing data processing circuit further include filter power supply module；
The controller hardware circuit module is mounted on the mechanical mounting device, solid by the mechanical mounting device It is scheduled on working robot.
Psd infrared sensors have the characteristics that wide spectral response, fast response time, signal processing are timely, cheap, with Traditional infrared receiver sensor is compared, and solves the problems, such as, to environmental requirement harshness, solve traditional sensors to gray scale not Same object reflection is different to calculate Problem-Error so as to cause mcu, also solves in sunlight and is missed caused by infrared ingredient simultaneously Trigger phenomenon.
Further, mechanical mounting device is provided with surface slope, and psd infrared sensors are directly jacked up to certain degree upwards Number, is interfered caused by multirobot avoidance to avoid opposite sensor penetrating infrared waves.Infrared psd sensors are installed On this patent mechanical part, sensor is directly jacked up to certain number of degrees upwards using surface slope, being conducive to opposite has sensing Infrared reflecting surface is beaten to the top of sensor receiving terminal over there, this way is mutually kept away applied to multirobot when device is to penetrating Barrier is interference-free quite effectively.
Further, mechanical mounting device is fixedly mounted on the surrounding of working robot, forms catch net.
Further, multiple psd infrared sensors can be installed as required on working robot.
Further, the multiple psd infrared sensors installed in controller hardware circuit module of the present invention are between each other It is connected in series to.
Still further, the data processing circuit of sensor has additional data filtering processing.Pass through the data in sensor Processing circuit increases data filtering processing, removes tip data, and data is made more to stablize.
Filter power supply circuit solves psd sensor tests and power supply spiking problems occurs, solves psd infrared sensors to electricity Source cross-interference issue allows the property problem that psd infrared sensors interfere between each other to be resolved, realizes concatenated connection type. Less compared to the pattern in parallel input of cabling, reduces robot obstacle-avoiding cost cost.
Further, the data processing circuit of sensor can also control the switch of sensor, be provided for master controller Facilitate the interface of control.
Further, the optical filter for filtering out certain waveband infrared wave is installed, for filtering out in front of psd infrared sensors Clutter, the false triggering to sensor for overcoming natural light to bring, the optical filter only allow to launch by this sensor emission end The infrared light gone, this way can directly overcome the false triggering to sensor that natural light is brought.
Further, there are certain intervals between the card slot part and sensor of optical filter so that sensor and optical filter Between be not directly contacted with, this way had not only avoided sensor and optical filter and has generated friction, but also can come to avoid optical filter reflection The infrared light of self-electrode forms false triggering..
Still further, the psd infrared sensors of the present invention are mounted on using the infrared tooling of the installation specially developed On working robot, installing infrared tooling can be by installation of modular, when reducing the error that installation is brought, and reducing installation Between, efficiency is improved, and the installation of this modularization has the effect of dustproof and waterproof.
In the better embodiment of the present invention, the data processing circuit controller hardware circuit module of sensor includes master Controller, mcu controllers, power module, psd infrared sensors, sensing data processing circuit further include filter power supply module And data filtering processing module；Controller hardware circuit module is to carry out modularization installation by installing infrared tooling, so After will be fixed on mechanical mounting device in mounted controller hardware circuit module, which is provided with inclined-plane Sensor is directly jacked up certain number of degrees by the gradient upwards using surface slope, and being conducive to will be infrared when there is sensor on opposite to penetrating Reflecting surface beat the top of sensor receiving terminal over there, avoid interfering with each other when the mutual avoidance of multirobot.
Psd infrared sensors in the embodiment of the present invention are multiple concatenated, and front is equipped with the card slot of optical filter, card Optical filter is housed, and there are certain intervals between the card slot part and sensor of optical filter in slot so that sensor and optical filter Between be not directly contacted with.
It is provided with mounting hole on the mechanical mounting device of the present embodiment, utilizes the mounting hole, the modularization mounting tool The more AGV robot obstacle-avoiding systems of the present invention are fixed on working robot.The mechanical mounting device of the present embodiment is fixed Mounted on the surrounding of working robot, catch net is formed.
Compared with prior art, the present invention has the following technical effect that：
1, this patent is used carries out ranging using the infrared sensor of psd (position sensitive detector) operating mode, leads to Cross it is unique to sensor be filtered, it is infrared very easy by environmental disturbances to solve the problems, such as.To external test object Color or external ambient light etc. can all work normally.
2, the present invention is worked together for multirobot, sensing station is raised certain number of degrees, this way not only allows Robot can detect testee, and can will not be influenced by the infrared sensor on opposite in avoidance range, And circuit configuration switch interface, facilitate controller flexibly to control.The obstacle avoidance system that the multirobot installation present invention may be implemented is same When work, and mutually avoidance normal work.
3, this patent fully reduces use cost, can install multiple avoidance sensors as required in robot, and use Cost is very low.
4, infrared sensor is utilized in this patent, and the smaller advantage of crevice projection angle is very low to installation requirement, using big Above most robots.
The technique effect of the design of the present invention, concrete structure and generation is described further below with reference to attached drawing, with It is fully understood from the purpose of the present invention, feature and effect.
Description of the drawings
Fig. 1 is the preferred embodiment 1 of the present invention, a kind of more machines based on position sensitive detector infrared sensor The hardware circuit overview diagram of people's obstacle avoidance system；
Fig. 2 is embodiment 1, a kind of machinery of the more robot obstacle-avoiding systems based on position sensitive detector infrared sensor Component diagram；
Wherein, 1- hardware circuit modules, 11- hardware circuit master controllers, 12- hardware circuit mcu controllers, 13- hardware Circuit power module, 14- hardware circuit sensing data processing circuits, 15- hardware circuit filter power supply modules, 16-psd are infrared Sensor, 2- mechanical mounting devices, 21- mechanical mounting device bottom plates, 22- optical filters and optical filter card slot, 23- slopes pass The angle of sensor, 24- mechanical mounting device mounting holes.
Specific implementation mode
The preferred embodiment of the present invention is introduced below with reference to Figure of description, keeps its technology contents more clear and convenient for reason Solution.The present invention can be emerged from by many various forms of embodiments, and protection scope of the present invention is not limited only to text In the embodiment mentioned.
In the accompanying drawings, the identical component of structure is indicated with same numbers label, everywhere the similar component of structure or function with Like numeral label indicates.The size and thickness of each component shown in the drawings are to be arbitrarily shown, and there is no limit by the present invention The size and thickness of each component.In order to keep diagram apparent, some places suitably exaggerate the thickness of component in attached drawing.
Fig. 1 is that a kind of more AGV (merchandising machine people) robot obstacle-avoiding system based on infrared sensor of the present invention is implemented The infrared hardware circuit board of example；As shown in Figure 1, the controller hardware circuit module 1 include master controller 11, mcu controllers 12, Power module 13, psd infrared sensors 16, sensing data processing circuit 14 further include filter power supply module 15.
Fig. 2 is a kind of the red of more AGV (merchandising machine people) robot obstacle-avoiding system based on infrared sensor of the present invention Outer sensor mechanical mounting device module；As shown in Fig. 2, mechanical mounting device module 2 include mounting base 21, optical filter and its Card slot 22 is equipped with controller hardware circuit module 1 (including psd infrared sensors 16), installation in mechanical mounting device module 2 Mounting hole 24 is provided on bottom plate 21.
In the present embodiment, controller hardware circuit module 1 is to carry out modularization installation by installing infrared tooling, then Mounted controller hardware circuit module 1 is fixed on mechanical mounting device 2, which is provided with inclined-plane Sensor is directly jacked up certain number of degrees 23 by the gradient upwards using surface slope, and being conducive to will be red when there is sensor on opposite to penetrating Outer reflecting surface beats the top of sensor receiving terminal over there, avoids interfering with each other when the mutual avoidance of multirobot.
Psd infrared sensors 16 in the embodiment of the present invention be it is multiple concatenated, front be equipped with optical filter card slot and Optical filter 22, and there are certain intervals between the card slot part and sensor 16 of optical filter 22 so that sensor 16 and optical filter It is not directly contacted between 22.Device mcu hardware circuits 12 and filter power supply module 15 provide power supply to power module 13 in order to control, multiple The position signal that psd infrared sensors 16 receive feeds back to mcu controllers after the processing of sensing data processing circuit 14 12, avoidance command signal is exported to working robot via master controller 11, realizes that multirobot works at the same time mutual avoidance.
In the present embodiment, controller hardware circuit module 1 is mounted on mechanical mounting device 2 by modularization mounting tool, Form the more AGV robot obstacle-avoiding systems of the present invention.Using the mounting hole 24 on the bottom plate 21 of mechanical mounting device 2, by this System is fixedly mounted on the surrounding of working robot, forms catch net.
Surrounding object can be completely detected at a distance from oneself using the AGV robots of this system, to realize itself Avoidance and mutual barrier avoiding function.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that the ordinary skill of this field is without wound The property made labour, which according to the present invention can conceive, makes many modifications and variations.Therefore, all technician in the art Pass through the available technology of logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea Scheme, all should be in the protection domain being defined in the patent claims.

Claims (10)

1. a kind of AGV robot obstacle-avoiding systems based on infrared sensor, which is characterized in that including controller hardware circuit module With mechanical mounting device two parts；Wherein, the controller hardware circuit module includes master controller, mcu controllers, power supply mould Block, psd infrared sensors, sensing data processing circuit further include filter power supply module；The controller hardware circuit module On the mechanical mounting device, it is fixed on working robot by the mechanical mounting device.
2. AGV robot obstacle-avoidings system as described in claim 1, which is characterized in that the mechanical mounting device is provided with tiltedly The psd infrared sensors are directly jacked up certain number of degrees, to avoid opposite sensor to penetrating infrared waves by the face gradient upwards The interference caused by multirobot avoidance.
3. AGV robot obstacle-avoidings system as described in claim 1, which is characterized in that the mechanical mounting device is fixedly mounted In the surrounding of robot, catch net is formed.
4. AGV robot obstacle-avoidings system as described in claim 1, which is characterized in that installed as required on working robot There are multiple psd infrared sensors.
5. AGV robot obstacle-avoidings system as claimed in claim 4, which is characterized in that the multiple psd infrared sensors are mutual Between be connected in series to.
6. AGV robot obstacle-avoidings system as described in claim 1, which is characterized in that the data processing circuit of the sensor Have additional data filtering processing.
7. AGV robot obstacle-avoidings system as claimed in claim 6, which is characterized in that the data processing circuit of the sensor The switch of the psd infrared sensors can also be controlled, the interface just controlled for master controller provider.
8. AGV robot obstacle-avoidings system as described in claim 1, which is characterized in that installation in front of the psd infrared sensors There is the optical filter for filtering out certain waveband infrared wave, is used for filtering clutter, the false triggering to sensor for overcoming natural light to bring.
9. AGV robot obstacle-avoidings system as claimed in claim 8, which is characterized in that the card slot part of the optical filter and biography There are certain intervals between sensor so that is not directly contacted between sensor and optical filter, sensor is avoided to be generated with optical filter Friction, while the infrared light for avoiding optical filter reflection from carrying out self-electrode forms false triggering.
10. such as claim 1~9 any one of them AGV robot obstacle-avoiding systems, which is characterized in that the controller hardware Circuit module is mounted on the mechanical mounting device, is provided with mounting hole on the mechanical mounting device, is made using mounting hole The mechanical mounting device is fixed on working robot with modularization tooling.
CN201810039576.7A 2017-01-16 2018-01-16 A kind of AGV robot obstacle-avoiding systems based on infrared sensor Pending CN108363388A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201710029086 2017-01-16
CN2017100290864 2017-01-16

Publications (1)

Publication Number Publication Date
CN108363388A true CN108363388A (en) 2018-08-03

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ID=62514858

Family Applications (25)

Application Number Title Priority Date Filing Date
CN201810040589.6A Pending CN108341201A (en) 2017-01-16 2018-01-16 A kind of automatic guiding equipment transported goods for logistic storage
CN201810041802.5A Pending CN108382880A (en) 2017-01-16 2018-01-16 A kind of automatic guided vehicle and its working method with automatic loading and unloading loading system
CN201810041896.6A Pending CN108217038A (en) 2017-01-16 2018-01-16 A kind of robot and its method for carrying container
CN201810040560.8A Pending CN108340797A (en) 2017-01-16 2018-01-16 A kind of AGV rechargings device and its recharging method
CN201820069876.5U Active CN207903266U (en) 2017-01-16 2018-01-16 A kind of homing guidance equipment
CN201810041055.5A Pending CN108196549A (en) 2017-01-16 2018-01-16 One kind is used for submersible AGV laser infrared obstacle avoidance systems
CN201810040847.0A Pending CN108190337A (en) 2017-01-16 2018-01-16 A kind of homing guidance equipment and corresponding order implementation method
CN201810040610.2A Active CN108271291B (en) 2017-01-16 2018-01-16 Constant-current self-diagnosis infrared stroboscopic illuminating lamp system based on CAN bus positioning camera
CN202110062907.0A Active CN112607293B (en) 2017-01-16 2018-01-16 Safety protection method and safety protection structure of AGV robot
CN201810041483.8A Active CN108357585B (en) 2017-01-16 2018-01-16 A kind of the optoelectronic switch multiplexing method and device of material flow A GV
CN201820070470.9U Active CN207903268U (en) 2017-01-16 2018-01-16 A kind of container transfer robot
CN201810039576.7A Pending CN108363388A (en) 2017-01-16 2018-01-16 A kind of AGV robot obstacle-avoiding systems based on infrared sensor
CN201810040025.2A Active CN108321866B (en) 2017-01-16 2018-01-16 Autonomous charging device for mobile robot
CN201820068727.7U Active CN207903264U (en) 2017-01-16 2018-01-16 A kind of transport device with freight detection function
CN201810040556.1A Pending CN108381572A (en) 2017-01-16 2018-01-16 The robot prong component of device and corresponding means of defence are knocked over anticollision
CN201810041801.0A Pending CN108357846A (en) 2017-01-16 2018-01-16 A method of cargo is detected using photoelectric sensor
CN201810040588.1A Active CN108383043B (en) 2017-01-16 2018-01-16 Modular forklift type transfer robot
CN201810041852.3A Pending CN108364043A (en) 2017-01-16 2018-01-16 A kind of electronics selection label system turning Ethernet based on CAN
CN201810040559.5A Active CN108298239B (en) 2017-01-16 2018-01-16 Device for passively preventing tray from falling
CN201820070532.6U Active CN207902024U (en) 2017-01-16 2018-01-16 A kind of castor protective device
CN201810039560.6A Active CN108388243B (en) 2017-01-16 2018-01-16 Safety protection method and safety protection structure of AGV robot
CN201810040045.XA Pending CN108363389A (en) 2017-01-16 2018-01-16 A kind of ultrasonic evadible system applied to mobile robot
CN201810040042.6A Pending CN108158369A (en) 2017-01-16 2018-01-16 A kind of storage tank
CN201810041860.8A Active CN108408647B (en) 2017-01-16 2018-01-16 Telescopic fork leveling mechanism of cargo box carrying robot
CN201820069917.0U Active CN207903267U (en) 2017-01-16 2018-01-16 A kind of automated guided vehicle of detectable cargo

Family Applications Before (11)

Application Number Title Priority Date Filing Date
CN201810040589.6A Pending CN108341201A (en) 2017-01-16 2018-01-16 A kind of automatic guiding equipment transported goods for logistic storage
CN201810041802.5A Pending CN108382880A (en) 2017-01-16 2018-01-16 A kind of automatic guided vehicle and its working method with automatic loading and unloading loading system
CN201810041896.6A Pending CN108217038A (en) 2017-01-16 2018-01-16 A kind of robot and its method for carrying container
CN201810040560.8A Pending CN108340797A (en) 2017-01-16 2018-01-16 A kind of AGV rechargings device and its recharging method
CN201820069876.5U Active CN207903266U (en) 2017-01-16 2018-01-16 A kind of homing guidance equipment
CN201810041055.5A Pending CN108196549A (en) 2017-01-16 2018-01-16 One kind is used for submersible AGV laser infrared obstacle avoidance systems
CN201810040847.0A Pending CN108190337A (en) 2017-01-16 2018-01-16 A kind of homing guidance equipment and corresponding order implementation method
CN201810040610.2A Active CN108271291B (en) 2017-01-16 2018-01-16 Constant-current self-diagnosis infrared stroboscopic illuminating lamp system based on CAN bus positioning camera
CN202110062907.0A Active CN112607293B (en) 2017-01-16 2018-01-16 Safety protection method and safety protection structure of AGV robot
CN201810041483.8A Active CN108357585B (en) 2017-01-16 2018-01-16 A kind of the optoelectronic switch multiplexing method and device of material flow A GV
CN201820070470.9U Active CN207903268U (en) 2017-01-16 2018-01-16 A kind of container transfer robot

Family Applications After (13)

Application Number Title Priority Date Filing Date
CN201810040025.2A Active CN108321866B (en) 2017-01-16 2018-01-16 Autonomous charging device for mobile robot
CN201820068727.7U Active CN207903264U (en) 2017-01-16 2018-01-16 A kind of transport device with freight detection function
CN201810040556.1A Pending CN108381572A (en) 2017-01-16 2018-01-16 The robot prong component of device and corresponding means of defence are knocked over anticollision
CN201810041801.0A Pending CN108357846A (en) 2017-01-16 2018-01-16 A method of cargo is detected using photoelectric sensor
CN201810040588.1A Active CN108383043B (en) 2017-01-16 2018-01-16 Modular forklift type transfer robot
CN201810041852.3A Pending CN108364043A (en) 2017-01-16 2018-01-16 A kind of electronics selection label system turning Ethernet based on CAN
CN201810040559.5A Active CN108298239B (en) 2017-01-16 2018-01-16 Device for passively preventing tray from falling
CN201820070532.6U Active CN207902024U (en) 2017-01-16 2018-01-16 A kind of castor protective device
CN201810039560.6A Active CN108388243B (en) 2017-01-16 2018-01-16 Safety protection method and safety protection structure of AGV robot
CN201810040045.XA Pending CN108363389A (en) 2017-01-16 2018-01-16 A kind of ultrasonic evadible system applied to mobile robot
CN201810040042.6A Pending CN108158369A (en) 2017-01-16 2018-01-16 A kind of storage tank
CN201810041860.8A Active CN108408647B (en) 2017-01-16 2018-01-16 Telescopic fork leveling mechanism of cargo box carrying robot
CN201820069917.0U Active CN207903267U (en) 2017-01-16 2018-01-16 A kind of automated guided vehicle of detectable cargo

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CN (25) CN108341201A (en)

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