CN104142685B - AGV trackless guidance method and system based on optical alignment - Google Patents
AGV trackless guidance method and system based on optical alignment Download PDFInfo
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Abstract
The present invention is suitable for automatic field, a kind of AGV trackless guidance method based on optical alignment is provided, described method includes following steps: two displacement informations of AGV car body is obtained by least two optical positioning sensors, two displacement informations are respectively as follows: S1 and S2；Go out coordinate value and the azimuth at current time by discrete motion equation calculation according to S1, S2；It is deviated control parameter according to the equation calculation of the coordinate value of the current time, azimuth and default route；Deviation control parameter input driving control system control AGV route is travelled by setting path.Technical solution provided by the invention makes AGV carry out autonomous positioning using optical positioning sensors, determines the position AGV and posture information, so that trackless guiding is done directly, the advantages of without being laid with track.
Description
Technical field
The invention belongs to automatic field more particularly to a kind of AGV trackless guidance methods and system based on optical alignment.
Background technique
Automatic guided vehicle (full name in English: Automatic Guided Vehicle, English abbreviation: AGV) system has been sent out
It transforms into as one of profession maximum in production logistics system branch.Its guidance technology can be divided mainly into two aspects, i.e. rail type
Guiding and trackless guiding.Automatic Guided Technology most basic in AGV mainly includes that magnetic cuiding, tape are led at this stage
Draw, visual guidance, las er-guidance, inertial navigation guiding and ultrasonic wave guiding etc..Wherein visual guidance technology is domestic in recent years
One of the hot spot of research of outer AGV industry, for visual sensor based on optical signal, reaction speed is fast, not vulnerable to electromagnetic interference
It is influenced with environment, it is adaptable, therefore visual guidance technology has very big development potentiality.However, being led in existing vision
Draw in method, usually all be using be layed in ground colour band or guiding band, by video camera or visual sensor adopt into
Colour band picture intelligence carry out the guiding that AGV was realized in certain processing later, this visual guidance method still falls within rail guiding,
Extraneous complex environment can all cause AGV to guide the behaviors such as the contamination wear of colour band track or guiding belt track and accidental destruction
Reliability reduces, and even resulting in AGV can not normally travel and work.
Such as the visual guidance AGV system and method for the prior art (CN102608998A) embedded system；The existing skill
Art uses DSP image processor, arm processor and FPGA to form embedded hardware system for coprocessor, is adopted by video camera
The image information in collection path guides AGV after being handled.Its technical method used needs the running route in trolley
Upper laying black or white colour band belong to rail guide mode to obtain routing information.
Such as a kind of another Global localization guidance system and side based on multisensor of the prior art (CN103064417A)
Method；The method wherein also uses visual sensor, although carrying out Global localization guiding, the existing skill based on multisensor
Art still uses guiding band to be layed on the ground of AGV car body working region to realize that AGV is guided, and still falls within rail guide mode.
In the scheme for realizing the prior art, the discovery prior art is had the following technical problems:
What the prior art providedVisual guidance technology cannot achieve trackless guiding.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of AGV trackless guidance method and system based on optical alignment, purport
Solving existing technical solutionIt providesVisual guidance technology cannot achieve the problem of trackless guiding.
In a first aspect, providing a kind of AGV trackless guidance method based on optical alignment, described method includes following steps:
Two displacement informations of AGV car body, two displacement information difference are obtained by least two optical positioning sensors
Are as follows: S1 and S2；
Go out coordinate value and the azimuth at current time by discrete motion equation calculation according to S1, S2；
It is deviated control parameter according to the equation calculation of the coordinate value of the current time, azimuth and default route；
Deviation control parameter input driving control system control AGV route is travelled by setting path.
Optionally, the discrete motion equation specifically:
Wherein, T indicates the time of adjacent double sampling, and Tn indicates the time of n-th sampling, the of S1 (Tn) Tn sampling
One displacement, second displacement of S2 (Tn) Tn sampling, t indicate current time, and x (t) indicates the X axis coordinate at current time；y
(t) Y axis coordinate of current time t is indicated, θ (t) indicates the azimuth at current time, and x (0) indicates that the X-axis of starting point (0) is sat
Mark；Y (0) indicates the Y axis coordinate of starting point (0), and θ (0) indicates the azimuth of starting point (0).
Optionally, the equation calculation according to the coordinate value of the current time, azimuth and default route deviates
Control parameter specifically:
The equation of default route specifically: ax+by+c=0；
θ=θ (t)-θ (line)；
Wherein, θ (t) indicates the azimuth at current time, and θ (line) indicates the angle of default route；MN indicates deviation control
Parameter.
Optionally, deviation control parameter input driving control system control AGV route is being pressed setting path by the method
After traveling further include:
When AGV car body needs to switch route, determine that AGV car body is being cut according to the coordinate value of the current time, azimuth
After changing in range, gone out according to the equation calculation of route after the coordinate value of the current time, azimuth and switching inclined after switching
Poor control parameter, by the deviation control parameter input driving control system control AGV route after switching by the route row after switching
It sails.
Optionally, it is described according to the coordinate value of the current time, azimuth determine AGV car body switching range in after, root
The deviation control parameter gone out after switching according to the equation calculation of route after the coordinate value of the current time, azimuth and switching is specific
Are as follows:
The equation of route after switching is specifically as follows: a'x+b'y+c'=0；
θ=θ (t)-θ (line) '；
Wherein, θ (line) ' indicates that the angle of the route after switching, MN' are the deviation control parameter after switching.
On the other hand, a kind of AGV trackless guidance system based on optical alignment is provided, the system comprises: positioning system,
Navigation system and driving control system, the positioning system include: at least two optical positioning sensors and with described at least two
The light source of the level sensors such as a optics cooperation；Wherein,
The positioning system is used to obtain two displacement informations of AGV car body, and two displacement informations are respectively as follows: S1 and S2,
And send described two displacement informations to navigation system；
Navigation system, for going out coordinate value and the azimuth at current time by discrete motion equation calculation according to S1, S2；
It is deviated control parameter according to the equation calculation of the coordinate value of the current time, azimuth and default route；Navigation system will
The deviation control parameter passes to driving control system；
The driving control system, for being travelled according to deviation control parameter control AGV route by setting path.
Optionally, the discrete motion equation specifically:
Wherein, T indicates the time of adjacent double sampling, and Tn indicates the time of n-th sampling, the of S1 (Tn) Tn sampling
One displacement, second displacement of S2 (Tn) Tn sampling, t indicate current time, and x (t) indicates the X axis coordinate at current time；y
(t) Y axis coordinate of current time t is indicated, θ (t) indicates the azimuth at current time, and x (0) indicates that the X-axis of starting point (0) is sat
Mark；Y (0) indicates the Y axis coordinate of starting point (0), and θ (0) indicates the azimuth of starting point (0).
Optionally, the navigation system is specifically used for:
The equation of default route specifically: ax+by+c=0；
θ=θ (t)-θ (line)；
Wherein, θ (t) indicates the azimuth at current time, and θ (line) indicates the angle of default route；MN indicates deviation control
Parameter.
Optionally,
When AGV car body needs to switch route, the navigation system is also used to the coordinate value according to the current time, orientation
After angle determines AGV car body in switching range, according to the equation of route after the coordinate value of the current time, azimuth and switching
Deviation control parameter after switching is inputted driving control system by the deviation control parameter after calculating switching；
Driving control system, after being also used to control AGV route by switching according to the deviation control parameter after the switching
Route running.
Optionally, the navigation system is specifically used for:
The equation of route after switching is specifically as follows: a'x+b'y+c'=0；
θ=θ (t)-θ (line) '；
Wherein, θ (line) ' indicates that the angle of the route after switching, MN' are the deviation control parameter after switching.
In embodiments of the present invention, technical solution provided by the invention carries out AGV independently using optical positioning sensors
Positioning, determines the position AGV and posture information, so that trackless guiding is done directly, the advantages of without being laid with track.
Detailed description of the invention
Fig. 1 is the AGV trackless guidance system block diagram provided by the invention based on optical alignment,
Fig. 2 is the radiation modality schematic diagram that optical positioning sensors install laser light source additional；
Fig. 3 is the schematic view of the mounting position of optical positioning sensors；
Fig. 4 is the arithmetic analysis figure for the position and attitude (x0, y0, θ 0) that optical positioning sensors position AGV；
Fig. 5 is the deviation control parameter arithmetic analysis figure of navigation coordinate in AGV driving process；
Fig. 6 is the route hand-off process schematic diagram in AGV driving process；
Fig. 7 is a kind of flow chart of the AGV trackless guidance method based on optical alignment provided by the invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The specific embodiment of the invention provides a kind of AGV trackless guidance method based on optical alignment, this method such as Fig. 7 institute
Show, includes the following steps:
101, two displacement informations of AGV car body, two displacement informations are obtained by least two optical positioning sensors
It is respectively as follows: S1 and S2；
102, go out coordinate value and the azimuth at current time by discrete motion equation calculation according to S1, S2；
103, it is deviated according to the equation calculation of the coordinate value of the current time, azimuth and default route and controls ginseng
Number；
104, deviation control parameter input driving control system control AGV route is travelled by setting path.
Optionally, above-mentioned discrete motion equation is specifically as follows:
Wherein, T indicates the time of adjacent double sampling, and Tn indicates the time of n-th sampling, the of S1 (Tn) Tn sampling
One displacement, second displacement of S2 (Tn) Tn sampling, t indicate current time, and x (t) indicates the X axis coordinate at current time；y
(t) Y axis coordinate of current time t is indicated, θ (t) indicates the azimuth at current time, and x (0) indicates that the X-axis of starting point (0) is sat
Mark；Y (0) indicates the Y axis coordinate of starting point (0), and θ (0) indicates the azimuth of starting point (0).
Optionally, above-mentioned 103 implementation method is specifically as follows: the equation of default route is specifically as follows: ax+by+c=
0；
θ=θ (t)-θ (line)；
Wherein, θ (t) indicates the azimuth at current time, and θ (line) indicates the angle of default route；MN indicates deviation control
Parameter.
Optionally, the above method can also include: after 104
When AGV car body needs to switch route, determine that AGV car body is being cut according to the coordinate value of the current time, azimuth
After changing in range, gone out according to the equation calculation of route after the coordinate value of the current time, azimuth and switching inclined after switching
Poor control parameter, by the deviation control parameter input driving control system control AGV route after switching by the route row after switching
It sails.
Its concrete implementation mode are as follows:
The equation of route after switching is specifically as follows: a'x+b'y+c'=0；
θ=θ (t)-θ (line) '；
Wherein, θ (line) ' indicates that the angle of the route after switching, MN' are the deviation control parameter after switching.
The specific embodiment of the invention also provides a kind of AGV trackless guidance system based on optical alignment, the system packet
Include: positioning system, navigation system and driving control system, the positioning system include: at least two optical positioning sensors and
The light source cooperated with level sensors such as at least two optics；Wherein,
The positioning system is used to obtain two displacement informations of AGV car body, and two displacement informations are respectively as follows: S1 and S2,
And send described two displacement informations to navigation system；
Navigation system, for going out coordinate value and the azimuth at current time by discrete motion equation calculation according to S1, S2；
It is deviated control parameter according to the equation calculation of the coordinate value of the current time, azimuth and default route；Navigation system will
The deviation control parameter passes to driving control system；
The driving control system, for being travelled according to deviation control parameter control AGV route by setting path.
Optionally, above-mentioned discrete motion equation specifically:
Wherein, T indicates the time of adjacent double sampling, and Tn indicates the time of n-th sampling, the of S1 (Tn) Tn sampling
One displacement, second displacement of S2 (Tn) Tn sampling, t indicate current time, and x (t) indicates the X axis coordinate at current time；y
(t) Y axis coordinate of current time t is indicated, θ (t) indicates the azimuth at current time, and x (0) indicates that the X-axis of starting point (0) is sat
Mark；Y (0) indicates the Y axis coordinate of starting point (0), and θ (0) indicates the azimuth of starting point (0).
Optionally, above-mentioned navigation system is specifically used for:
The equation of default route specifically: ax+by+c=0；
θ=θ (t)-θ (line)；
Wherein, θ (t) indicates the azimuth at current time, and θ (line) indicates the angle of default route；MN indicates deviation control
Parameter.
Optionally, when AGV car body needs to switch route, the navigation system is also used to the coordinate according to the current time
After value, azimuth determine AGV car body in switching range, according to the coordinate value of the current time, azimuth and the switching way of escape
The equation calculation of line goes out the deviation control parameter after switching, and the deviation control parameter after switching is inputted driving control system；
Driving control system, after being also used to control AGV route by switching according to the deviation control parameter after the switching
Route running.
Optionally, navigation system is specifically used for:
The equation of route after switching is specifically as follows: a'x+b'y+c'=0；
θ=θ (t)-θ (line) '；
Wherein, θ (line) ' indicates that the angle of the route after switching, MN' are the deviation control parameter after switching.
The principle of the present invention is sketched with reference to the accompanying drawing:
Fig. 1 is system block diagram of the invention, and wherein AGV positioning system includes optical positioning sensors and position and attitude meter
It calculates, optical positioning sensors is mounted on the driving wheel platform of AGV car body according to certain mounting means, by calculating accordingly
Method calculates the equation of motion of AGV, to calculate position at any one time and the posture information of AGV.The position that will be obtained
It is uploaded in AGV route guidance system with posture information with the data format of zero point (x0, y0, θ 0), the seat of starting point
It is designated as the point that user voluntarily determines.AGV route guidance system is with establishing reference frame according to the actual conditions at scene.Based on this ginseng
Coordinate system is examined, the AGV different route equations to be travelled is set up, passes through AGV coordinate and azimuth information (x0, y0, θ 0) and road
Deviation control parameter Err is relatively calculated in line equation.This deviation control parameter Err is uploaded to driving control system.Driving
Control system can use PLC or single-chip microcontroller as main control unit, by PID closed loop control algorithm come driving motor, to reach AGV
The purpose travelled by fixed course.
Fig. 2 is the radiation modality that optical positioning sensors install laser light source additional.In order to enable optical positioning sensors to exist
The relative superiority or inferiority certain apart from ground works normally, and needs to install additional the light source in a wavelength range, and the present embodiment is red using 650nm's
Line laser.By adjusting the irradiating angle of laser head, normal work height of the adjustable optical positioning sensors apart from ground.
To guarantee AGV can under Different Ground environment normally travel.As shown in Figure 2, wherein laser head 202, optical alignment sensing
Device 201, photoreceptor camera lens 2011, AGV car body 203.
Fig. 3 is the installation site of optical positioning sensors.Two optical positioning sensors are used in the present embodiment, are provided
The installation and its resolving of position and attitude accordingly of two alignment sensors.Optical positioning sensors are mounted on AGV car body
The bottom of driving wheel platform, installation site are with two driving wheels in same axis and being equidistant to central point O, two light
Learning the distance between alignment sensor AB is L.This mounting means can guarantee that optical positioning sensors only return to y when moving
The displacement of axis direction, x-axis direction not return value.
Fig. 4 is the arithmetic analysis figure for the position and attitude (x0, y0, θ 0) that optical positioning sensors position AGV.By optical alignment
The installation site of sensor can guarantee that in motion, optical positioning sensors do not return to the shift value of its x-axis direction to AGV,
Only return to the shift value in y-axis direction.The movement of any object can all regard inertia motion as, and reference frame can be regarded as to one two
The plane coordinate system of dimension.Pass through two-dimentional inertial platform law, it is known that the real-time speed of object any two points may know that object
Posture information.The then velocity information of known AGV driving wheel platform two o'clock A and B, it can derive the movement side of AGV driving wheel
Journey is as follows:
If the coordinate of AGV any moment O point is (x0, y0), azimuth is θ 0, and the real-time speed of O point is v0, and angular speed is
ω 0, then have
If being mounted with that the A point real-time speed of optical positioning sensors is vA, the real-time speed of B point is vB, point-to-point transmission away from
From for L, then
The equation of motion of the O point of AGV driving wheel platform can be pushed over out are as follows:
In formula, [x (0), y (0), θ (0)] is coordinate and the azimuth of initial time.
Since when progress software program is write, the data for reading optical positioning sensors are periodic discrete datas,
Data obtained are the displacement informations of A, B two o'clock, and the sampling time in each period is very short, in each sampling period A, B
The arc length that two o'clock is moved is very short, so can be approximately straight-line displacement, respectively S2 and S1.If the sampling period is Tn,
In (n=1,2,3 ...), and T1=T2=T3=...=T, then the arc length displacement of n-th of two point sampling of period AB can be distinguished
It is expressed as S2 (Tn) and S1 (Tn).Then according to the equation of motion of O point, the movement conducive to programming will can be obtained after its discretization
Equation are as follows:
Wherein when using angle calculation coordinate, the value of angle is taken as to angle value and the current time of last moment
The weighted average of angle value to reduce sampling and calculates error with this.Thus the equation of motion just obtains AGV any moment
Coordinate and azimuth [x (t), y (t), θ (t)].This position and posture are uploaded in route guidance system, the control that deviates is calculated
Parameter, to control motor driven AGV traveling.
Fig. 5 is the deviation control parameter arithmetic analysis figure of navigation coordinate in AGV driving process.The present embodiment provides one directly
The arithmetic analysis of route line, it is known that the linear equation of a route Line in the reference frame of foundation is ax+by+c=0,
The azimuth of route Line is θ 1, and the coordinate of AGV and azimuth are (x0, y0, θ 0).If azimuthal angle of AGV and route
It for θ=θ 0- θ 1, is travelled in order to preferably control AGV by fixed route, selects the N point coordinate along the orientation AGV angular advance ON distance
(x1, y1) is used as control coordinate, to achieve the purpose that anticipatory control.It is vertical with the direction ON to make vertical line and route Line by N point
Meet at M point.Then the length of line segment MN is i.e. as the deviation control parameter Err to be controlled.It calculates as follows:
The distance NP of N point to route Line is
ByThe length Err of MN can be calculated.
The deviation control parameter Err that this mode calculates, it can the deviation of reflection AGV coordinate and route also reflects
The azimuth of AGV and azimuthal relativeness of route.Deviation control parameter Err is uploaded to driving control system, is passed through
The i.e. controllable AGV of PID control is travelled by fixed route.
Fig. 6 is the route hand-off process mode in AGV driving process.If when AGV is cut from route Line1 to route Line2
Change when driving, the control coordinate of AGV is (x1, y1), and switching point Q is the intersection point of route Line1 and Line2, coordinate be (x2,
y2).Since the control coordinate of AGV is not at every moment all on route track Line1, so needing when carrying out route switching
Carry out fault-tolerant processing.Using Q point as the center of circle, switching radius is that r work is justified, and is carried out when N point moves in switching circle with reference to route
Switching, i.e., need to meet simultaneously | x2-x1 |≤r and | y2-y1 | when≤r, Line2 will be switched to by Line1 with reference to route, from
And route switching can normally be carried out by guaranteeing AGV.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (8)
1. a kind of AGV trackless guidance method based on optical alignment, which is characterized in that described method includes following steps:
Two displacement informations of AGV car body are obtained by least two optical positioning sensors, two displacement informations are respectively as follows: S1
And S2；
Go out coordinate value and the azimuth at current time by discrete motion equation calculation according to S1, S2；
It is deviated control parameter according to the equation calculation of the coordinate value of the current time, azimuth and default route；
Deviation control parameter input driving control system control AGV route is travelled by setting path；
The discrete motion equation specifically:
Wherein, T indicates the time of adjacent double sampling, and Tn indicates the time of n-th sampling, first of S1 (Tn) Tn sampling
Displacement, second displacement of S2 (Tn) Tn sampling, t indicate current time, and x (t) indicates the X axis coordinate at current time；y(t)
Indicate the Y axis coordinate of current time t, θ (t) indicates the azimuth at current time, and x (0) indicates the X axis coordinate of starting point (0)；y
(0) indicate the Y axis coordinate of starting point (0), θ (0) indicates the azimuth of starting point (0), L indicate two optical positioning sensors it
Between distance.
2. the method according to claim 1, wherein the coordinate value according to the current time, azimuth with
And the equation calculation of default route deviates control parameter specifically:
The equation of default route specifically: ax+by+c=0；
θ=θ (t)-θ (line)；
Wherein, θ (t) indicates the azimuth at current time, and θ (line) indicates the angle of default route；MN indicates deviation control parameter.
3. the method according to claim 1, wherein deviation control parameter is being inputted drive control by the method
After system controls AGV route by setting path traveling further include:
When AGV car body needs to switch route, determine AGV car body in switching model according to the coordinate value of the current time, azimuth
Enclose it is interior after, according to the coordinate value of the current time, azimuth and switching after route equation calculation go out switch after deviation control
Parameter processed, by the deviation control parameter input driving control system control AGV route after switching by the route running after switching.
4. according to the method described in claim 3, it is characterized in that, described true according to the coordinate value of the current time, azimuth
After determining AGV car body in switching range, according to the equation calculation of route after the coordinate value of the current time, azimuth and switching
Deviation control parameter after switching out specifically:
The equation of route after switching is specifically as follows: y+c '=0 a ' x+b '；
θ=θ (t)-θ (line) '；
Wherein, θ (line) ' indicates that the angle of the route after switching, MN ' are the deviation control parameter after switching.
5. a kind of AGV trackless guidance system based on optical alignment, which is characterized in that the system comprises: positioning system, navigation
System and driving control system, the positioning system include: at least two optical positioning sensors and at least two light
Learn the light source of alignment sensor cooperation；Wherein,
The positioning system is used to obtain two displacement informations of AGV car body, and two displacement informations are respectively as follows: S1 and S2, and will
Described two displacement informations send navigation system to；
Navigation system, for going out coordinate value and the azimuth at current time by discrete motion equation calculation according to S1, S2；According to
The equation calculation of the coordinate value of the current time, azimuth and default route deviates control parameter；Navigation system will be described
Deviation control parameter passes to driving control system；
The driving control system, for being travelled according to deviation control parameter control AGV route by setting path；
The discrete motion equation specifically:
Wherein, T indicates the time of adjacent double sampling, and Tn indicates the time of n-th sampling, first of S1 (Tn) Tn sampling
Displacement, second displacement of S2 (Tn) Tn sampling, t indicate current time, and x (t) indicates the X axis coordinate at current time；y(t)
Indicate the Y axis coordinate of current time t, θ (t) indicates the azimuth at current time, and x (0) indicates the X axis coordinate of starting point (0)；y
(0) indicate the Y axis coordinate of starting point (0), θ (0) indicates the azimuth of starting point (0), L indicate two optical positioning sensors it
Between distance.
6. system according to claim 5, which is characterized in that the navigation system is specifically used for:
The equation of default route specifically: ax+by+c=0；
θ=θ (t)-θ (line)；
Wherein, θ (t) indicates the azimuth at current time, and θ (line) indicates the angle of default route；MN indicates deviation control parameter.
7. system according to claim 5, which is characterized in that
When AGV car body needs to switch route, it is true that the navigation system is also used to the coordinate value according to the current time, azimuth
After determining AGV car body in switching range, according to the equation calculation of route after the coordinate value of the current time, azimuth and switching
Deviation control parameter after switching is inputted driving control system by the deviation control parameter after switching out；
Driving control system is also used to according to the deviation control parameter control AGV route after the switching by the route after switching
Traveling.
8. system according to claim 7, which is characterized in that the navigation system is specifically used for:
The equation of route after switching is specifically as follows: a'x+b'y+c'=0；
θ=θ (t)-θ (line) '；
Wherein, θ (line) ' indicates that the angle of the route after switching, MN' are the deviation control parameter after switching.
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| CN105136120A (en) * | 2015-08-24 | 2015-12-09 | 陈建武 | Object displacement image detection system and method |
| CN106940183B (en) * | 2016-12-13 | 2019-08-09 | 北京卫星制造厂 | A kind of AGV accurate positioning method based on PSD ranging |
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| CN107525510B (en) * | 2017-08-30 | 2021-07-27 | 广州市井源机电设备有限公司 | Control system and method for visual navigation type AGV |
| CN109491374B (en) * | 2017-09-12 | 2022-08-09 | 杭州海康机器人技术有限公司 | Track adjusting method and device for automatic guided vehicle |
| CN109515552B (en) * | 2018-11-22 | 2021-01-01 | 安庆师范大学 | Automatic guided vehicle suitable for commodity circulation |
| CN111045404A (en) * | 2019-12-09 | 2020-04-21 | 上海交通大学 | Narrow roadway positioning stacking vehicle, positioning system and positioning method of stacking vehicle |
| CN112978239A (en) * | 2021-02-08 | 2021-06-18 | 江苏惊蛰智能科技有限公司 | Automatic guide transfer robot based on indoor infrared optical multi-curved-surface positioning technology |
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| CN102032892A (en) * | 2009-09-29 | 2011-04-27 | 通用电气公司 | Azimuth angle measurement system and method for operating the same |
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| CN102980555A (en) * | 2012-12-06 | 2013-03-20 | 紫光股份有限公司 | Method and device for detecting direction of optical imaging type wheeled mobile robot |
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| KR20050007241A (en) * | 2004-12-20 | 2005-01-17 | 부산대학교 산학협력단 | Absolute-position detection method and algorithm of spreader for the auto-landing of containers |
| CN102032892A (en) * | 2009-09-29 | 2011-04-27 | 通用电气公司 | Azimuth angle measurement system and method for operating the same |
| CN102081493A (en) * | 2009-12-01 | 2011-06-01 | 宏碁股份有限公司 | Mobile electronic device and control method of 3D (three-dimensional) operation interface thereof |
| CN102980555A (en) * | 2012-12-06 | 2013-03-20 | 紫光股份有限公司 | Method and device for detecting direction of optical imaging type wheeled mobile robot |
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