CN206877146U - The control device that a kind of AGV dollies precisely navigate - Google Patents
The control device that a kind of AGV dollies precisely navigate Download PDFInfo
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- CN206877146U CN206877146U CN201720525348.1U CN201720525348U CN206877146U CN 206877146 U CN206877146 U CN 206877146U CN 201720525348 U CN201720525348 U CN 201720525348U CN 206877146 U CN206877146 U CN 206877146U
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Abstract
The utility model discloses the control device that a kind of AGV dollies precisely navigate, including laser sensing instrument, CPU control units, communication unit, RFID sensor and synchronous tracing sensor device, laser sensing instrument is used to be scanned positioning to surrounding enviroment by launching laser, CPU control units are used to read laser sensing instrument, RFID sensor, the detection information of synchronous tracing sensor device, communication unit is used for and laser sensing instrument, RFID sensor and synchronous tracing sensor device are communicated, RFID sensor is used for the position for detecting RFID tag card, synchronous tracing sensor device is used for the marker for detecting the specific occasion.The utility model carries out coordinate synchronization detection and positioning by laser sensor, RFID sensor, synchronous tracing sensor device, improves precision and the intellectuality of AGV dolly laser navigations.
Description
Technical field
It the utility model is related to AGV Navigation Control technical fields, and in particular to the control dress that a kind of AGV dollies precisely navigate
Put.
Background technology
At present, popular guidance mode has a many kinds on the market, but and not all method can be answered in AGV system
With AGV dollies can generally use several guidance modes：
(1) electromagnetic guide
Metal wire is buried on the driving path of AGV dollies, and bootload frequency, its major advantage are that guide line is hidden
Cover, be not easy pollution and breakage, guiding principle is simple, is easy to control and communicates, noiseless to acousto-optic, shortcoming is very flexible, is changed
Become or extended route is cumbersome, have interference to the ferromagnetic material near guide line, electric wire laying workload is big, difficult in maintenance.
(2) directly coordinate guiding
The running region of AGV dollies is divided into some coordinate fritters with locating piece, realizes guiding by counting, its advantage is
The good reliability of guiding, environment can be had no special requirements with the modification of realizing route, shortcoming is that ground survey installation is complicated, work
Work amount is big, and guidance accuracy is low.
(3) inertial guidance
Gyroscope is housed on AGV dollies, guided according to the deviation of gyroscope, its major advantage is advanced technology,
The degree of accuracy is high, and flexibility is strong, is easy to combination and compatibility, suitable application area is wide, and shortcoming is that cost is higher, the contingency question such as maintaining
Relatively it is difficult to resolve certainly, ground is also required to magnetic block and makees auxiliary positioning.
(4) image recognition guides
Image recognition is carried out to the environment of AGV dolly running regions, realizes intelligence traveling, this is a kind of skill having great potentialities
Art, but still under study for action.
Utility model content
In view of this, the utility model mainly for current AGV dollies navigate mode it is single and not accurate the problem of, propose
The control device that a kind of AGV dollies precisely navigate.
The utility model is solved the above problems by following technological means：
The control device that a kind of AGV dollies precisely navigate is applied to AGV dolly of the traveling in specific occasion, the specific field
Conjunction is provided with least one reflective guide thing and at least one RFID tag card and has at least one marker, and the AGV is small
Car is provided with AGV carriage walking drivers；
The control device that the AGV dollies precisely navigate includes laser sensing instrument, CPU control units, communication unit, RFID
Sensor and synchronous tracing sensor device；
The laser sensing instrument is installed on the reflective guide thing for making laser be irradiated to application scenario on AGV dollies, is used for
Positioning is scanned to surrounding enviroment by launching laser, detects the laser signal reflected from reflective guide thing, and pass through
The position signalling detected is sent to CPU control units by communication unit；
One end of the CPU control units and communication unit is attached, respectively with swashing for being read by communication unit
Light sensing instrument, RFID sensor, the detection information of synchronous tracing sensor device, and control the AGV carriage walkings driver to move
Make；
The other end of the communication unit is carried out with laser sensing instrument, RFID sensor, synchronous tracing sensor device respectively
Connection, the communication unit are used to be communicated with laser sensing instrument, RFID sensor and synchronous tracing sensor device；
The RFID sensor, which is installed on AGV dollies, enables the RFID tag card to be detected by RFID sensor, uses
In the position for carrying out detecting RFID tag card by way of twireless radio-frequency communication, and detection information is reached by communication unit
CPU control units；
The synchronous tracing sensor device, which is installed on AGV dollies, enables synchronous tracing sensor device to recognize the specific occasion
Marker, for detecting the marker of the specific occasion and detection information being reached into CPU control units by communication unit.
Further, the other end of the communication unit includes serial communication port, ethernet communication port and CAN
COM1.
Further, the other end of the communication unit is by serial communication protocol and serial communication port, with laser
Sense instrument is attached；
The other end of the communication unit or by ethernet communication protocol and ethernet communication port, with laser sensing instrument
Device is attached；
The other end of the communication unit or by CAN communication protocol and CAN COM1, with laser sensing
Instrument is attached.
Further, the other end of the communication unit is passed by serial communication protocol and serial communication port with RFID
Sensor is attached；
The other end of the communication unit or by ethernet communication protocol and ethernet communication port, with RFID sensor
It is attached；
The other end of the communication unit or by CAN communication protocol and CAN COM1, is sensed with RFID
Device is attached.
Further, the other end of the communication unit is by serial communication protocol and serial communication port, with it is synchronous with
Track sensor is attached；
The other end of the communication unit or by ethernet communication protocol and ethernet communication port, is passed with synchronized tracking
Sensor is attached；
The other end of the communication unit or by CAN communication protocol and CAN COM1, with synchronized tracking
Sensor is attached.
Further, the synchronous tracing sensor device is the synchronous tracing sensor device using two-dimensional visual sensor.
Compared with prior art, the beneficial effects of the utility model are as follows：
The utility model by laser sensor, RFID sensor, synchronous tracing sensor device carry out coordinate synchronization detection with
Positioning, improves precision and the intellectuality of AGV dolly laser navigations.
Brief description of the drawings
, below will be to needed for embodiment description in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
The accompanying drawing to be used is briefly described, it should be apparent that, drawings in the following description are only some realities of the present utility model
Example is applied, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is the structural representation for the control device that a kind of AGV dollies that the utility model is related to precisely navigate；
Fig. 2 is the structural representation for the control system that a kind of AGV dollies that the utility model is related to precisely navigate；
Fig. 3 is the structural representation for the communication control module that the utility model is related to；
Fig. 4 is the structural representation for the velocity feedback module that the utility model is related to；
Fig. 5 is the structural representation for the data interaction module that the utility model is related to；
Fig. 6 is the workflow diagram for the control method that a kind of AGV dollies that the utility model is related to precisely navigate；
Fig. 7 is the workflow of step S4 in the control method that a kind of AGV dollies that the utility model is related to precisely navigate
Figure；
Fig. 8 is analysis and the workflow diagram of calculating process for the positional information that the utility model is related to；
Fig. 9 is analysis and the workflow diagram of calculating process for the movable information that the utility model is related to；
Figure 10 is the workflow diagram of the derivation for the accurate navigation information that the utility model is related to；
Figure 11 is the coordinate diagram on inertial navigation alignment system dead reckoning principle that the utility model is related to；
Figure 12 is the structural representation for the control device that a kind of AGV dollies of the utility model precisely navigate.
Embodiment
To enable above-mentioned purpose of the present utility model, feature and advantage more obvious understandable, below in conjunction with accompanying drawing and
The technical solution of the utility model is described in detail specific embodiment.It is pointed out that described embodiment is only
Only it is the utility model part of the embodiment, rather than whole embodiments, based on the embodiment in the utility model, this area
The every other embodiment that those of ordinary skill is obtained under the premise of creative work is not made, belongs to the utility model
The scope of protection.
As shown in figure 1, the control device that a kind of AGV dollies precisely navigate, applied to traveling with least one reflective
Guide the AGV dollies of the application scenario of thing, including communication control module, laser sensing instrument, velocity feedback module, data acquisition
Module, data resolution module and State logic control module：
The communication control module is adopted with laser sensing instrument, velocity feedback module, State logic control device, data respectively
Collection module is attached, and for communications status to be checked or corrected with mode of operation, laser sensing instrument is detected
With control, movable information, control information and location information are read out, handled with sending；
The laser sensing instrument is installed on the reflective guide thing for making laser be irradiated to application scenario on AGV dollies, is used for
Positioning is scanned to surrounding enviroment by launching laser, detects the laser signal reflected from reflective guide thing, and pass through
The position signalling detected is sent to data acquisition module by communication control module；
The velocity feedback module is used for linear speed, angular speed, angle and the direction for detecting AGV moving of car, and
The motor message detected is sent to by data acquisition module by communication control module；
The data acquisition module to position with motor message for being received, frame analysis encapsulates with data and will encapsulate
Good navigation data is transferred to data resolution module, is used to enter data resolution module and the order of State logic control module again
Row receives, frame analysis encapsulates with data；
The data resolution module is used to navigation data is analyzed and calculated, so as to draw accurate navigation information and incite somebody to action
Accurate navigation information is transferred to data interaction module；
The State logic control module is carried out with communication control module, data acquisition module, data resolution module respectively
Communication connection, for the mode of operation of management system program, and command communication control module, data acquisition module and data parse
Module enters the mode of operation specified；
The State logic control module is responsible for the mode of operation of system program, and the mode of operation includes navigation mould
Formula, initialization pattern, standby mode；
Under initialization pattern, a kind of state initialization of AGV dollies and the workflow of equipment self-inspection, state are performed
Logic control module electric initial stage on AGV dollies, read the parameter of communication control module, main control device to AGV dollies and
Ancillary equipment carries out initial work according to certain sequential, sets the original state parameter and the equipment method of operation of AGV dollies
Deng, after the completion of initialization, to important module carry out self-test one by one, using communication or I0 feedback mode check that all modules are
It is no working properly, under initialization pattern, find the failure of important module Initialize installation or self-test not by when, send alarm
Information, and normal navigation pattern is rejected for entry into, being solved after attendant can normal operation after problem eliminates alarm；
In stand-by mode, the workflow that a kind of operation of AGV dollies low-power consumption prepares is performed, due to AGV dollies one
As use battery, electricity control ensures continuation of the journey and an important function, reached in AGV on certain time after electricity but not
When carrying out production operation, State logic control module can control AGV dollies to enter standby mode, and AGV dollies enter standby mode
When can close high current consuming apparatus, AGV dollies is entered energy saver mode, and AGV dollies can be waken up by button or PERCOM peripheral communication,
After receiving extraneous order, normal production operation is carried out, under navigation pattern, performs the control that a kind of AGV dollies precisely navigate
The workflow of method；
The data interaction module be used for communicated with monitoring outlay, and by data resolution module output it is accurate
Navigation information is sent to monitoring outlay.
As shown in figure 3, communication control module include CPU control units, ethernet communication unit, serial communication unit and
CAN communication unit；
The CPU control units respectively with ethernet communication unit, serial communication unit, CAN communication unit, state
Logic control module, data acquisition module, velocity feedback module are attached, and for reading, processing data and send control
Signal；
The laser sensing instrument is led to ethernet communication unit or serial communication unit or CAN communication unit
Letter connection；
The ethernet communication unit includes multiple COM1s, can be attached with instruments such as laser sensing instruments；
The serial communication unit includes multiple COM1s, can be attached with instruments such as laser sensing instruments；
The CAN communication unit includes multiple COM1s, can be attached with instruments such as laser sensing instruments.
As shown in figure 4, velocity feedback module includes speed encoder, angular speed encoder；
The speed encoder is in the walking mechanism of AGV dollies, for detecting AGV dollies linear speed and motion side
To；
The angular speed encoder located at AGV dollies steering mechanism on, for detect AGV dollies turning angular speed,
Angle is with turning to.
As shown in figure 5, the data interaction module includes WIFI communication units, bluetooth-communication unit, radio frequency units；
The WIFI communication units be used to realizing communication between different AGV dollies by WIFI communication protocols or realize and
Monitoring outlay is communicated；
The bluetooth-communication unit be used to realizing communication between different AGV dollies by Bluetooth communication protocol or realize and
Monitoring outlay is communicated；
The radio frequency units be used to realizing communication between different AGV dollies by wireless communication protocol or realize and
Monitoring outlay is communicated.
As shown in Fig. 2 the control system that a kind of AGV dollies precisely navigate, including：AGV dollies as described above are precisely led
Control device, host computer, the AGV carriage walking drivers of boat；
The control device that the AGV dollies precisely navigate is communicatively coupled by data interaction module and host computer, is led to
Communication control module is crossed to be communicatively coupled with AGV carriage walking drivers；
The host computer is using computer or tablet personal computer or mobile phone or wireless handheld controller or is installed on AGV dollies
Device for embedded control host computer, the control device for precisely being navigated to the AGV dollies is scheduled and monitors；
Operator realizes simple control, and realize basic quick behaviour using the APP control functions of mobile phone or tablet personal computer
Make (including start, stop, the prompt operation such as left-right rotation)；
The AGV carriage walkings driver is installed on AGV dollies, for driving AGV carriage walkings with turning to, according to logical
Believe the motor message of control module and AGV carriage walkings and stable direction are made using pid algorithm；
The steering-engine and movable motor of the AGV carriage walkings driver driving AGV dollies.
As shown in fig. 6, the control method that a kind of AGV dollies precisely navigate, comprises the following steps：
Step S1, State logic control module make system program enter navigation pattern；
Step S2, under navigation pattern, laser sensing instrument carries out laser scanning to application scenario so as to obtain position letter
Number；
Step S3, velocity feedback module are detected to the motion state of AGV dollies so as to obtain motor message；
Step S4, data acquisition module are handled position and motor message, and the position after processing and motion are believed
Breath is sent to data resolution module；
Step S5, data resolution module is analyzed and calculated to position and movable information, and so as to derive, precisely navigation is believed
Breath；
Accurate navigation information is sent to host computer by step S6, data interaction module；
Step S7, host computer create motion maps according to accurate navigation information, plan the movement locus of AGV dollies.
As shown in fig. 7, step S4 comprises the following steps：
Step S41, data acquisition module are filtered processing to position signalling using limit filtration method；
Step S42, data acquisition module, which to position signalling disappear, trembles processing, so as to obtain stable position signalling.
In step S5, as shown in fig. 7, the analysis of the positional information comprises the following steps with calculating process：
Step S511, data resolution module launch laser sensing instrument time of laser, angle and from reflective guides
The range information that thing reflects is analyzed；
Step S512, the coordinate position at the laser rotary center of laser sensing instrument is calculated by data resolution module
With deviation angle.
In step S5, as shown in figure 9, the analysis of the movable information comprises the following steps with calculating process：
Step S521, data resolution module calculate AGV real-time speed and motion according to the output quantity of speed encoder
Direction；
Step S522, mileage information of the AGV dollies in effective time interval is obtained, calculate program time loss and miss
Difference；
Step S523, data resolution module calculated according to the output quantity of angular speed encoder AGV real-time angle of turn,
Angular speed and steering；
In step S5, as shown in Figure 10, the derivation of accurate navigation information comprises the following steps：
Step S531, the analysis of integrated data parsing module and result of calculation；
Step S532, mathematical modeling corresponding to foundation simultaneously use Kalman filtering algorithm, obtain AGV dynamic bit confidence
Breath；
Using Kalman filtering algorithm, the problems such as time error, inertial error, measurement error etc. can be eliminated, Kalman
Filtering is a kind of characteristic established the linear minimum-variance estimation algorithm in time domain space, have horizon state recursion, is applicable
In carrying out state estimation to Multidimensional Processes (steady, non-stationary) or track prejudges, the utility model with stochastic linear from
It is theoretical foundation to dissipate Kalman filtering, is combined optimization with actual physics motion model, realizes AGV real-time accurate motion bit
Appearance positions；
The derivation of accurate navigation information uses dynamic track and localization technology, i.e., is combined using laser navigation with inertial navigation
Mode, based on Kalman filtering algorithm, consider the exploitation of the Elements research such as time error, machine error, measurement error
A kind of dynamic track and localization technology；
Inertial navigation alignment system dead reckoning principle is as shown in figure 11, it is known that the initial point A elements of a fix (X0, Y0),
Navigation measurement angle θ 0 and photoelectric rotary coder measurement mileage S0 can calculate system subsequent time and estimate in the coordinate of B points
Value.Wherein, S0=KS1, S1 are to drive the girth of steering wheel diameter calculating (in the walking that i.e. encoder rotates a circle according to AGV
Journey), K is that the sampling pulse of rotary photoelectric displacement transducer counts (wheel, which often rotates a circle, carries out pulsatile once sampling), and S0 is then
In cycle effective time calculated for algorithm, AGV actual travel mileage.θ 1 represents AGV and cartesian product reference frame (Y
Direction of principal axis) corner dimension, this value by laser ranging gathered data and angular encoder sampling COMPREHENSIVE CALCULATING obtain, therefore,
On the premise of known AGV initial positions (X0, Y0), it can solve to obtain AGV in X, the row of Y direction by the computational methods
Sail displacement.
As shown in figure 12, it is small that the control device that a kind of AGV dollies precisely navigate is applied to AGV of the traveling in specific occasion
Car, the specific occasion are provided with least one reflective guide thing and at least one RFID tag card and have at least one mark
Thing, the AGV dollies are provided with AGV carriage walking drivers；
The control device that the AGV dollies precisely navigate includes laser sensing instrument, CPU control units, communication unit, RFID
Sensor and synchronous tracing sensor device；
The laser sensing instrument is installed on the reflective guide thing for making laser be irradiated to application scenario on AGV dollies, is used for
Positioning is scanned to surrounding enviroment by launching laser, detects the laser signal reflected from reflective guide thing, and pass through
The position signalling detected is sent to CPU control units by communication unit；
One end of the CPU control units and communication unit is attached, respectively with swashing for being read by communication unit
Light sensing instrument, RFID sensor, the detection information of synchronous tracing sensor device, and control the AGV carriage walkings driver to move
Make；
The other end of the communication unit is carried out with laser sensing instrument, RFID sensor, synchronous tracing sensor device respectively
Connection, the communication unit are used to be communicated with laser sensing instrument, RFID sensor and synchronous tracing sensor device；
The RFID sensor, which is installed on AGV dollies, enables the RFID tag card to be detected by RFID sensor, uses
In the position for carrying out detecting RFID tag card by way of twireless radio-frequency communication, and detection information is reached by communication unit
CPU control units；
The synchronous tracing sensor device, which is installed on AGV dollies, enables synchronous tracing sensor device to recognize the specific occasion
Marker, for detecting the marker of the specific occasion and detection information being reached into CPU control units by communication unit.
The other end of the communication unit includes serial communication port, ethernet communication port and CAN COM1.
The other end of the communication unit is carried out by serial communication protocol and serial communication port with laser sensing instrument
Connection；
The other end of the communication unit or by ethernet communication protocol and ethernet communication port, with laser sensing instrument
Device is attached；
The other end of the communication unit or by CAN communication protocol and CAN COM1, with laser sensing
Instrument is attached.
The other end of the communication unit is connected by serial communication protocol and serial communication port with RFID sensor
Connect；
The other end of the communication unit or by ethernet communication protocol and ethernet communication port, with RFID sensor
It is attached；
The other end of the communication unit or by CAN communication protocol and CAN COM1, is sensed with RFID
Device is attached.
The other end of the communication unit is entered by serial communication protocol and serial communication port with synchronous tracing sensor device
Row connection；
The other end of the communication unit or by ethernet communication protocol and ethernet communication port, is passed with synchronized tracking
Sensor is attached；
The other end of the communication unit or by CAN communication protocol and CAN COM1, with synchronized tracking
Sensor is attached.
The synchronous tracing sensor device is the synchronous tracing sensor device using two-dimensional visual sensor, preferably SICK companies
Model VSPP-3F1122 two-dimensional visual sensor；
The marker identified by synchronous tracing sensor device is affixed on the production line machine of application scenario (workshop), marker
Constantly moved with the running of production line machine, AGV dollies are detected by synchronous tracing sensor device to marker, Ke Yitong
Cross and move the modes of AGV dollies and track marker.
Embodiment described above only expresses several embodiments of the present utility model, and its description is more specific and detailed,
But therefore it can not be interpreted as the limitation to the utility model patent scope.It should be pointed out that for the common of this area
For technical staff, without departing from the concept of the premise utility, various modifications and improvements can be made, these all belong to
In the scope of protection of the utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (6)
- A kind of 1. control device that AGV dollies precisely navigate, applied to AGV dolly of the traveling in specific occasion, the specific field Conjunction is provided with least one reflective guide thing and at least one RFID tag card and has at least one marker, and the AGV is small Car is provided with AGV carriage walking drivers, it is characterised in that the control device that the AGV dollies precisely navigate includes：Laser sensing instrument, the reflective guide thing for making laser be irradiated to application scenario on AGV dollies is installed on, for passing through transmitting Laser is scanned positioning to surrounding enviroment, detects the laser signal reflected from reflective guide thing, and pass through communication unit The position signalling detected is sent to CPU control units；CPU control units, be attached with one end of communication unit, respectively with for pass through communication unit read laser sensing instrument Device, RFID sensor, the detection information of synchronous tracing sensor device, and control the AGV carriage walkings driver to act；Communication unit, its other end are attached with laser sensing instrument, RFID sensor, synchronous tracing sensor device respectively, are used Communicated in laser sensing instrument, RFID sensor and synchronous tracing sensor device；RFID sensor, being installed on AGV dollies enables the RFID tag card to be detected by RFID sensor, for passing through nothing The mode of line radio communication detect the position of RFID tag card, and detection information is reached into CPU controls by communication unit Unit；Synchronous tracing sensor device, it is installed on the mark for enabling synchronous tracing sensor device recognize the specific occasion on AGV dollies Thing, for detecting the marker of the specific occasion and detection information being reached into CPU control units by communication unit.
- 2. the control device that AGV dollies according to claim 1 precisely navigate, it is characterised in that communication unit it is another End includes serial communication port, ethernet communication port and CAN COM1.
- 3. the control device that AGV dollies according to claim 2 precisely navigate, it is characterised in that communication unit it is another End passes through serial communication protocol and serial communication port, is attached with laser sensing instrument；The other end of the communication unit or by ethernet communication protocol and ethernet communication port, enters with laser sensing instrument Row connection；The other end of the communication unit or by CAN communication protocol and CAN COM1, with laser sensing instrument It is attached.
- 4. the control device that AGV dollies according to claim 2 precisely navigate, it is characterised in that communication unit it is another End passes through serial communication protocol and serial communication port, is attached with RFID sensor；The other end of the communication unit or by ethernet communication protocol and ethernet communication port, is carried out with RFID sensor Connection；The other end of the communication unit or by CAN communication protocol and CAN COM1, enters with RFID sensor Row connection.
- 5. the control device that AGV dollies according to claim 2 precisely navigate, it is characterised in that communication unit it is another End passes through serial communication protocol and serial communication port, is attached with synchronous tracing sensor device；The other end of the communication unit or by ethernet communication protocol and ethernet communication port, with synchronous tracing sensor device It is attached；The other end of the communication unit or by CAN communication protocol and CAN COM1, with synchronous tracing sensor Device is attached.
- 6. the control device that AGV dollies according to claim 1 precisely navigate, it is characterised in that synchronous tracing sensor device For using the synchronous tracing sensor device of two-dimensional visual sensor.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108549386A (en) * | 2018-05-22 | 2018-09-18 | 汇专科技集团股份有限公司 | AGV trolleies managing and control system and method |
| CN108614980A (en) * | 2018-04-16 | 2018-10-02 | 西南科技大学 | A kind of the dynamic object positioning system and method for combining RFID and laser intelligence |
| CN108994834A (en) * | 2018-08-13 | 2018-12-14 | 上海理工大学 | Unmanned fortune object system based on machine vision |
| CN110626441A (en) * | 2019-08-30 | 2019-12-31 | 南京蹑波物联网科技有限公司 | Vibration reduction type intelligent unmanned transport vehicle and transport method thereof |
| CN110794734A (en) * | 2019-10-31 | 2020-02-14 | 成都四威高科技产业园有限公司 | An optical communication transfer AGV vehicle electronic control system |
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2017
- 2017-05-11 CN CN201720525348.1U patent/CN206877146U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108614980A (en) * | 2018-04-16 | 2018-10-02 | 西南科技大学 | A kind of the dynamic object positioning system and method for combining RFID and laser intelligence |
| CN108549386A (en) * | 2018-05-22 | 2018-09-18 | 汇专科技集团股份有限公司 | AGV trolleies managing and control system and method |
| CN108994834A (en) * | 2018-08-13 | 2018-12-14 | 上海理工大学 | Unmanned fortune object system based on machine vision |
| CN110626441A (en) * | 2019-08-30 | 2019-12-31 | 南京蹑波物联网科技有限公司 | Vibration reduction type intelligent unmanned transport vehicle and transport method thereof |
| CN110794734A (en) * | 2019-10-31 | 2020-02-14 | 成都四威高科技产业园有限公司 | An optical communication transfer AGV vehicle electronic control system |
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