CN113031618A - Hospital logistics transport AGV control system and control method - Google Patents
Hospital logistics transport AGV control system and control method Download PDFInfo
- Publication number
- CN113031618A CN113031618A CN202110287292.1A CN202110287292A CN113031618A CN 113031618 A CN113031618 A CN 113031618A CN 202110287292 A CN202110287292 A CN 202110287292A CN 113031618 A CN113031618 A CN 113031618A
- Authority
- CN
- China
- Prior art keywords
- agv
- module
- control center
- agv control
- trolley
- 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
Links
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000001514 detection method Methods 0.000 claims abstract description 12
- 230000008054 signal transmission Effects 0.000 claims abstract description 5
- 238000013500 data storage Methods 0.000 claims description 5
- 230000011664 signaling Effects 0.000 claims description 3
- 238000011161 development Methods 0.000 abstract description 3
- 238000013461 design Methods 0.000 description 15
- 238000005516 engineering process Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005562 fading Methods 0.000 description 1
- 239000011229 interlayer Substances 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs to the technical field of logistics transportation and discloses an AGV control system and a control method for hospital logistics transportation, which comprises an AGV control center, wherein the AGV control center is connected with a plurality of AGV trolleys, each AGV trolley is provided with a light reflecting plate detection module, a charging module, a station module, a voice module and a signal transmission module, the AGV control center is connected with an upper computer, the upper computer is connected with a lifting machine, the lifting machine is provided with a signal receiving module, the AGV control center is connected with a handheld terminal, the handheld terminal is used for creating tasks and transmitting signals to the AGV control center, the AGV trolleys detect whether a carrying box is loaded or not according to the light reflecting plate detection module, the AGV trolleys run to the position of the lifting machine and send door opening signals to the lifting machine through the signal transmission module, after the AGV trolleys move to the proper position of the lifting machine, door closing signals, the intelligent transportation system has the advantages of strong intelligence, manpower saving and high transportation efficiency, and is suitable for social development.
Description
Technical Field
The invention belongs to the technical field of logistics carrying, and particularly relates to an AGV control system and an AGV control method for logistics carrying in a hospital.
Background
With the development and progress of science and technology, the requirements of people for things are changed from old thinking that people can use things as things to be quite fine and smooth, and only with the continuous progress or innovation conception, a new form is generated to improve the added value of the product, so that people can live under the test of intense market competition. The logistics technology of hospitals in China is in a starting stage, the original logistics transmission team is huge, the logistics conveying mode of most transport tools is fading out, a modern hospital logistics system is gradually introduced, and the AGV is taken as the prior art, is provided with an automatic navigation device such as an electromagnetic or optical or two-dimensional code, can run along a specified navigation path, and has the functions of safety protection and various load transferring. The industrial application does not need a driver's transport vehicle, and a rechargeable storage battery is used as a power source of the industrial application. However, the prior art is complex in operation, large in occupied area and not intelligent in use.
Disclosure of Invention
In view of the problems raised by the above background art, the present invention is directed to: aims to provide a hospital logistics transport AGV control system and a control method.
In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:
the utility model provides a hospital's commodity circulation transport AGV control system, includes AGV control center, AGV control center is connected with many AGV dollies, reflector panel detection module, the module of charging, station module, speech module and signalling module are installed to the AGV dolly, AGV control center is connected with the host computer, the host computer is connected with the lifting machine, the lifting machine is equipped with signal receiving module, AGV control center is connected with handheld terminal.
Further, the handheld terminal has a site login function, and due to the design, the handheld terminal logs in and binds sites through different user names, so that the regional division is facilitated.
Further inject, the host computer is connected with the data storage module, and such design records the operation record, is convenient for follow-up trace back.
Further, the AGV is provided with a fault avoidance module, and in such a design, when a certain AGV is in fault and stops at a certain point position, the scheduling software can realize and plan to switch the section into a single path form (to complete an avoidance function).
Further limiting, the AGV trolley is provided with a fire-fighting linkage module, and in the design, after the fire signal is simulated, the AGV control center controls the AGV trolley to stop standby at a set point position; and then the fireproof rolling door descends after S, so that the fire-fighting linkage function is realized.
Further limiting, the AGV control center has the functions of displaying the fault type, the fault position, the task sequence number, the starting station, the target station, the creating time, the starting time, the finishing time, the trolley number and the task state of the AGV trolley, and the AGV trolley is monitored in the whole process through the design.
A hospital logistics transport AGV control method comprises the following steps:
s1: the method comprises the steps that a task is created through a handheld terminal, a signal is sent to an AGV control center, and the AGV control center automatically calls a nearest AGV to move to a specified position to load a carrying box according to the task;
s2: the AGV trolley detects whether a carrying box is loaded or not according to the reflector detection module, when no carrying box exists, an alarm is sent out through the voice module, information feedback is sent to an AGV control center, the fact that the carrying box is loaded is determined, the AGV trolley runs to the position of the elevator, and a door opening signal is sent to the elevator through the signal transmitting module;
s3: after moving to a proper position of the elevator, the AGV sends a door closing signal, and then exits the elevator after arriving at a specified floor;
s4: when the destination is reached, the staff unload the cargo.
Further inject, when loading case takes place the loading case circumstances of dropping at the transportation, AGV dolly stop operation to send out the warning through voice module, the normal operating of transport is guaranteed to such design.
Further inject, after reaching the destination, the AGV dolly sends voice prompt through voice module, reports to the police and eliminates after taking away loading case, and such design guarantees the normal operating of transport.
Further inject, when a plurality of AGV dolly only has a single channel route, AGV control center gives the back to AGV dolly and waits for the order, and such design prevents AGV dolly collision each other, prevents moreover that the problem emergence of the wrong report trouble appears when the AGV dolly stops for a long time.
The invention has the following beneficial effects:
1. the invention can realize high automation of medicine conveying in hospitals, thereby greatly improving the efficiency;
2. the technology is convenient and simple to operate, does not occupy a personnel channel, medical personnel can learn to use the system by simple training, the recovery is easy, the fault occurs, the server can transmit corresponding fault information to the WeChat client, and maintenance personnel can conveniently know, recover the fault and recover the use;
3. the invention has strong intellectualization, saves manpower, has high transportation efficiency and is suitable for social development.
Drawings
The invention is further illustrated by the non-limiting examples given in the accompanying drawings;
FIG. 1 is a circuit diagram of an AGV control system for logistics transportation in a hospital according to an embodiment of the present invention;
the main element symbols are as follows:
AGV control center 1, AGV dolly 2, reflector panel detection module 3, charging module 4, station module 5, voice module 6, signalling module 7, host computer 8, lifting machine 9, signal reception module 10, hand-held terminal 11, data storage module 12, trouble dodge module 13, fire control linkage module 14.
Detailed Description
In order that those skilled in the art can better understand the present invention, the following technical solutions are further described with reference to the accompanying drawings and examples.
As shown in fig. 1, the system for controlling AGV for carrying logistics in hospital comprises an AGV control center 1, wherein the AGV control center 1 is connected with a plurality of AGV trolleys 2, each AGV trolley 2 is provided with a reflector detection module 3, a charging module 4, a station module 5, a voice module 6 and a signal transmitting module 7, the AGV control center 1 is connected with an upper computer 8, the upper computer 8 is connected with a lifting machine 9, the lifting machine 9 is provided with a signal receiving module 10, and the AGV control center 1 is connected with a handheld terminal 11.
A hospital logistics transport AGV control method comprises the following steps:
s1: a task is created through the handheld terminal 11, a signal is sent to the AGV control center 1, and the AGV control center 1 automatically calls the nearest AGV trolley 2 to a specified position to load a carrying box according to the task;
s2: the AGV trolley 2 detects whether a carrying box is loaded or not according to the reflector detection module 3, when no carrying box exists, an alarm is sent out through the voice module 6, information feedback is sent to the AGV control center 1, the fact that the carrying box is loaded is determined, the AGV trolley 2 runs to the position of the lifting machine 9, and a door opening signal is sent to the lifting machine 9 through the signal transmission module 7;
s3: after moving to a proper position of a hoist 9, the AGV trolley 2 sends a door closing signal, and then the AGV trolley is driven out of the hoist 9 after reaching a specified floor;
s4: when the destination is reached, the staff unload the cargo.
In this embodiment, when a hospital logistics transport AGV control system and control method are used, the handheld terminal 11 selects the transmitted station number, selects the destination station name, and confirms the creation task. The signal is sent to an AGV control center 1, the AGV control center 1 automatically calls a nearest AGV trolley 2 to a specified position to load a carrying box according to the task, when a reflector detection module 3 on a station module 5 detects that no carrying box exists on a preselected station, the system generates alarm reminding, and the AGV trolley 2 conveys the carrying box to a specified station and can automatically detect the vacant station on the station and unload the station; when all stations have carrying boxes, the AGV trolley 2 can send voice prompt when reaching the designated position, at the moment, a person takes away the carrying boxes on the AGV trolley 2 and gives an alarm to eliminate, the AGV trolley 2 can return to the standby area without receiving a command, when the AGV trolley 2 reaches the position, the voice module 6 carries out voice prompt, the person clears the station in time, and when the AGV trolley 2 conveys the carrying boxes to the designated station, when all stations have the carrying boxes, the worker can directly take away the carrying boxes from the AGV trolley 2, the AGV trolley 2 returns to the standby point, and when only one single-channel path exists and the trolley 2 does not drive away or is about to drive away, the AGV control center 1 can detect whether a task is inside the hoister 9 to convey the station or not, if the task exists, the AGV control center 1 gives a command to the AGV trolley 2 after the command, and after the AGV trolley 2 inside the hoister 9 arrives at the station, follow-up AGC dolly gets into in proper order, prevents AGV dolly 2 collision each other, prevents moreover that the problem emergence station that appears the wrong report trouble when AGV dolly 2 stops for a long time from sending to, and the handheld terminal 11 that uses possesses the website login function, logs in through the user name of difference and binds the website. And further, task release is carried out in a mode of: selecting a station of the station where a carrying box already exists according to an interface, selecting a station to be allocated, clicking a release task, popping up a dialog box to confirm the task, releasing the task to the AGV control center 1 after clicking confirmation, and displaying the state of the carrying box in the station in real time by the handheld terminal 11 or the AGV control center 1: there is the case to show the case icon, and no case shows red, and the default has 8 stations, and other unopened stations are not optional. And (3) task state monitoring: and displaying tasks related to the site, wherein the tasks comprise the tasks which are sent by the site and sent to the site, and the tasks comprise a serial number, a starting site, an ending site, a distribution time and a predicted time, and the predicted time is displayed in real time. The upper computer displays the running state, running position, currently executed tasks and historical tasks of each AGV trolley 2 in real time, and the floor and information of the AGV trolley 2 in the elevator 9. The tasks are prompted and the status of the AGV cart 2 is displayed by the corresponding color. After the AGV trolley 2 receives a task, an optimal path needs to be automatically planned, and meanwhile, the real-time position of the AGV trolley is displayed, wherein the position comprises an interlayer lifting machine 9 and the position of a horizontal channel; the system displays the idle AGV cart 2 position and number. Fault alarm reminding and position display, fault type: when the AGV trolley 2 has a fault, the AGV control center 1 needs to display the fault type and fault position of the AGV trolley 2 and reminds through a voice module 6, an axonometric diagram mode is adopted for monitoring the preferred position, the AGV trolley 2 is represented by green, yellow or red points, the state of the AGV trolley 2 comprises a task in, charging, standby and offline, a task monitoring interface comprises a task number, an initial station, a target station, creation time, start time, completion time, a trolley number and a task state, the task state uses red to represent the fault, the fault content comprises the trolley, the position and the reason, yellow indicates that the prompt waiting time is overtime, the display prompt content comprises the trolley, the position and the reason, the retention time of the AGV in the cage is increased to be overtime, the AGV waits at the door is overtime, green indicates normal, the state is well-known and is easy to distinguish, when the AGV trolley 2 travels, if the reflector detection module 3 detects that a carrying box, that is, the existence of carrying case can not be detected by the reflector detection module 3 on the AGV dolly 2, the AGV dolly 2 stops at once, and give an alarm, and when the AGV dolly 2 travels to before the lifting machine 9, signal transmission module 7 transmits signal to the signal receiving module 10, make the automatically-controlled door of lifting machine 9 open, when the automatically-controlled door feeds back to AGV control center 1 system after opening in place, AGV dolly 2 starts through this door, close after passing through completely, and send calling signal after AGV dolly 2 arrives the preset place, corresponding floor is arrived after lifting machine 9 receives the signal, after opening in place, AGV dolly 2 travels out of lifting machine 9, reach appointed point and send lifting machine 9 closing signal, in AGV dolly 2 comes out of lifting machine 9 in-process, if there is AGV dolly to want to get into lifting machine 9 to the face, AGV dolly 2 is dodged to AGV control by AGV control center 1. When the electric quantity of AGV dolly 2 itself is not enough to reach and predetermines the critical, AGV control center 1 automatic sending order charges for AGV dolly 2 by oneself, and AGV dolly 2 withdraws from the electric potential of charging after the completion of charging, walks to the region of awaiting orders, and AGV control center 1 can set up the critical, example of charging according to the time quantum: the charging critical value at night is 90%, when the transmission task is heavy in the morning, the charging critical value is 20% or 30%, if a fault occurs in the use process, the AGV control center 1 sends corresponding fault information to the handheld terminal 11, and maintenance personnel can conveniently process and recover the fault information.
Preferably, the handheld terminal 11 has a site login function, and such a design binds sites through different user names, so as to facilitate area division, and actually, a mode of area management may be considered according to specific situations.
Preferably further inject, host computer 8 is connected with data storage module 12, and such design records the operation record, and the follow-up tracing of being convenient for, in fact, also can consider the selection of data storage module 12 according to particular case.
Preferably, the AGV trolley 2 is provided with a fault avoidance module 13, and in such a design, when a certain AGV trolley 2 breaks down and stops at a certain point position, the scheduling software can realize and plan to switch the section into a single path form to complete an avoidance function, and in fact, an avoidance mode can be considered according to specific conditions.
Preferably, the AGV trolley 2 is provided with a fire-fighting linkage module 14, and in the design, after the fire simulation signal occurs, the AGV control center 1 controls the AGV trolley 2 to stop standby at a set point position; then the 30S back fire prevention rolling slats door descends, realizes the fire control linkage function, in fact, also can consider the function that AGV dolly 2 possesses according to particular case.
Preferably, the AGV control center 1 has a function of displaying the fault type, fault position, task number, starting station, target station, creation time, start time, completion time, cart number and task state of the AGV cart 2, and by such a design, the AGV cart 2 is monitored in the whole process, and in fact, the monitored information can be considered according to specific conditions.
Preferably, when the loading box falls off in the transportation process, the AGV trolley 2 stops running and gives an alarm through the voice module 6, and by means of the design, normal running of carrying is guaranteed, and in fact, the alarm mode can be considered according to specific conditions.
After the AGV reaches the destination preferentially, the AGV trolley 2 sends out voice prompt through the voice module 6 until the loading box is taken away, and then the alarm is eliminated.
When preferred plural number AGV dolly 2 only has a single channel route, AGV control center 1 gives the back to AGV dolly 2 and waits for the order, and such design prevents AGV dolly collision each other, prevents moreover that the problem of the wrong report trouble from taking place when AGV dolly 2 stops for a long time, in fact, also can consider the measure of preventing wrong report and not colliding with according to particular case.
The foregoing embodiments are merely illustrative of the principles of the present invention and its efficacy, and are not to be construed as limiting the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. The utility model provides a hospital's commodity circulation transport AGV control system which characterized in that: including AGV control center (1), AGV control center (1) is connected with many AGV dollies (2), reflector panel detection module (3), charging module (4), station module (5), voice module (6) and signalling module (7) are installed in AGV dolly (2), AGV control center (1) is connected with host computer (8), host computer (8) are connected with lifting machine (9), lifting machine (9) are equipped with signal reception module (10), AGV control center (1) is connected with handheld terminal (11).
2. The AGV control system for logistics handling of a hospital according to claim 1, wherein: the handheld terminal (11) has a site login function.
3. The AGV control system for logistics handling of a hospital according to claim 2, wherein: the upper computer (8) is connected with a data storage module (12).
4. The AGV control system for logistics handling of a hospital according to claim 3, wherein: and the AGV trolley (2) is provided with a fault avoiding module (13).
5. The AGV control system for logistics handling of a hospital according to claim 4, wherein: the AGV trolley (2) is provided with a fire-fighting linkage module (14).
6. The AGV control system for logistics handling of a hospital according to claim 5, wherein: the AGV control center (1) has the functions of displaying the fault type, the fault position, the task sequence number, the starting station, the target station, the creating time, the starting time, the finishing time, the trolley number and the task state of the AGV trolley (2).
7. A hospital logistics transport AGV control method is characterized by comprising the following steps:
s1: the method comprises the steps that a task is created through a handheld terminal (11), a signal is sent to an AGV control center (1), and the AGV control center (1) automatically calls a nearest AGV trolley (2) to a specified position to load a carrying box according to the task;
s2: the AGV trolley (2) detects whether a carrying box is loaded or not according to the reflector detection module (3), when no carrying box exists, an alarm is sent out through the voice module (6), information feedback is sent to the AGV control center (1), the fact that the carrying box is loaded is determined, the AGV trolley (2) runs to the position of the lifting machine (9), and a door opening signal is sent to the lifting machine (9) through the signal transmission module (7);
s3: after moving to a proper position of a hoist (9), the AGV trolley (2) sends a door closing signal, and exits from the hoist (9) after arriving at a specified floor;
s4: when the destination is reached, the staff unload the cargo.
8. The AGV control method for logistics transportation of a hospital according to claim 7, wherein: when the loading box falls off in the transportation process, the AGV trolley (2) stops running and gives an alarm through the voice module (6).
9. The AGV control method for logistics transportation of a hospital according to claim 8, wherein: after the destination is reached, the AGV trolley (2) sends out voice prompt through the voice module (6), and the alarm is eliminated until the loading box is taken away.
10. The AGV control method for logistics transportation of a hospital according to claim 9, wherein: when the plurality of AGV dollies (2) only have a single channel route, the AGV control center (1) gives the back to AGV dolly (2) and waits for the order.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110287292.1A CN113031618A (en) | 2021-03-17 | 2021-03-17 | Hospital logistics transport AGV control system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110287292.1A CN113031618A (en) | 2021-03-17 | 2021-03-17 | Hospital logistics transport AGV control system and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113031618A true CN113031618A (en) | 2021-06-25 |
Family
ID=76471306
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110287292.1A Pending CN113031618A (en) | 2021-03-17 | 2021-03-17 | Hospital logistics transport AGV control system and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113031618A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113771988A (en) * | 2021-08-27 | 2021-12-10 | 南华大学 | Medical treatment shelter removes loading platform |
| CN114260925A (en) * | 2022-03-03 | 2022-04-01 | 北京云迹科技股份有限公司 | Conveying method and device of mobile robot |
| CN114415681A (en) * | 2022-01-15 | 2022-04-29 | 深圳市皓智天科技有限公司 | Base station type AGU trolley positioning system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206619021U (en) * | 2016-11-17 | 2017-11-07 | 菏泽学院 | A kind of intelligent fire dolly |
| CN109685441A (en) * | 2019-03-20 | 2019-04-26 | 江苏振邦医用智能装备有限公司 | It is a kind of to automate medical logistics delivery system and its control method |
| JP2020187457A (en) * | 2019-05-13 | 2020-11-19 | 村田機械株式会社 | In-hospital transportation system and control method |
-
2021
- 2021-03-17 CN CN202110287292.1A patent/CN113031618A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206619021U (en) * | 2016-11-17 | 2017-11-07 | 菏泽学院 | A kind of intelligent fire dolly |
| CN109685441A (en) * | 2019-03-20 | 2019-04-26 | 江苏振邦医用智能装备有限公司 | It is a kind of to automate medical logistics delivery system and its control method |
| JP2020187457A (en) * | 2019-05-13 | 2020-11-19 | 村田機械株式会社 | In-hospital transportation system and control method |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113771988A (en) * | 2021-08-27 | 2021-12-10 | 南华大学 | Medical treatment shelter removes loading platform |
| CN114415681A (en) * | 2022-01-15 | 2022-04-29 | 深圳市皓智天科技有限公司 | Base station type AGU trolley positioning system |
| CN114260925A (en) * | 2022-03-03 | 2022-04-01 | 北京云迹科技股份有限公司 | Conveying method and device of mobile robot |
| CN114260925B (en) * | 2022-03-03 | 2022-05-31 | 北京云迹科技股份有限公司 | Conveying method and device of mobile robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113031618A (en) | Hospital logistics transport AGV control system and control method | |
| AU2019290096B2 (en) | Robot scheduling and robot path control method, server and storage medium | |
| CN102707718B (en) | Automatic guidance system controls the communication means of industrial vehicle | |
| CN207158711U (en) | A kind of laser navigation is from electrical forklift | |
| US6502011B2 (en) | Method and apparatus for presenting and managing information in an automated parking structure | |
| CN110262355B (en) | Smart mine management system and method based on smart mine management and control platform | |
| CN109052077B (en) | Robot calling landing method and device based on Internet of things | |
| CN108436907A (en) | A kind of Intelligent transfer robot trolley and its management method | |
| CN102692899A (en) | Integration of an autonomous industrial vehicle into an asset management system | |
| CN111017069A (en) | Distribution robot, control method, device and system thereof, and storage medium | |
| CN104050729A (en) | System and Method for Gathering Video Data Related to Operation of an Autonomous Industrial Vehicle | |
| CN105023409A (en) | Data transmission system for automated material handling system | |
| CN109572526A (en) | A kind of intelligent sharing bicycle transfer car(buggy) | |
| CN110667877A (en) | Airport luggage self-service consignment vehicle set and intelligent control method thereof | |
| WO2024094180A1 (en) | Control method and apparatus for handheld terminal of tower crane, and handheld terminal and storage medium | |
| JP2020187457A (en) | In-hospital transportation system and control method | |
| CN209396786U (en) | A kind of automation stacking multifunctional crane carbon assembly line | |
| CN110065859B (en) | Goods elevator goods receiving and delivering method, device, equipment and storage medium | |
| CN206210112U (en) | A kind of multi-storied garage goes out to be put in storage the trigger mechanism of mode | |
| CN114610028A (en) | Intelligent delivery AGV trolley for hospital and delivery method thereof | |
| JP5761569B2 (en) | Goods transport equipment | |
| CN114442527A (en) | Intelligent elevator and digital management and control system | |
| CN110844790A (en) | Intelligent loading and unloading control system for railway station container | |
| CN205563246U (en) | Automatic transportation by lighter system of material | |
| CN112183925B (en) | Management method and system for intelligent robot connection logistics workstation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |