CN101559600A - Service robot grasp guidance system and method thereof - Google Patents
Service robot grasp guidance system and method thereof Download PDFInfo
- Publication number
- CN101559600A CN101559600A CNA2009100507814A CN200910050781A CN101559600A CN 101559600 A CN101559600 A CN 101559600A CN A2009100507814 A CNA2009100507814 A CN A2009100507814A CN 200910050781 A CN200910050781 A CN 200910050781A CN 101559600 A CN101559600 A CN 101559600A
- Authority
- CN
- China
- Prior art keywords
- robot
- radio
- image
- vision
- panoramic
- 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
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention provides a service robot grasp guidance system and a method thereof, and belongs to the technical field of robots. The system of the invention comprises an image collecting device, a radio-frequency induction receiving-transmitting device, and a vision and radio-frequency information confluence processing unit. The image collecting device is mounted at the head part of a robot. The vision and radio-frequency information confluence processing unit is mounted on the body of the robot and receives the panoramic visual information transmitted from the image collecting device and the radio-frequency information transmitted from the radio-frequency induction receiving-transmitting device. The method of the invention comprises the steps of mounting a passive radio-frequency tag; using a panoramic CCD camera to collect images and establishing a sequential all-dimensional image library; transmitting a command of fetching a specific article from a target position to the robot; realizing automatic location of the robot; and identifying a to-be-fetched article by a radio-frequency induction transceiver mounted at the gripper portion of the robot. The invention uses a panoramic vision to realize location and navigation of a mobile robot, identifies an article to be picked up by RFID, and provides sufficient information for the mobile robot to fetch articles.
Description
Technical field
What the present invention relates to is the system and the method thereof in a kind of Robotics field, specifically is a kind of service robot grasp guidance system and method thereof.
Background technology
Since American Devol in 1954 proposes the notion of industrial robot and applies for a patent, three phases has been experienced in the development of Robotics, the robot of phase I is the teaching reproduction pattern mechanical arm that is applied under the structured environment, there is not sensing device, can only finish set repetitive operation, can not the perception environmental information and make response; Some sensors have been equipped by the robot of second stage, such as the power sensor, can take place simply alternately with environment, but robot do not possess intelligence; Multiple sensors has been equipped by the robot of phase III, such as vision sensor, laser sensor, sonar sensor etc., and can carry out fusion treatment to the information of multiple sensors, demonstrates certain intelligence.Along with the development of robot sensing's technology and information fusion treatment technology, the trend of Robotics development is to develop into the destructuring environment from structured environment, enters family from industry.
The home services robot should possess certain human-computer interaction function usually, and autonomous locomotive function and object identification function can independently move to the assigned address point according to people's instruction, pick up specified object.Robot autonomous moving generally passed through realizing of Robot Vision.Chinese patent publication number CN 101308023A, open day on November 19th, 2008, patent name: based on the guider and the method for heterogeneous visual sense sensor system, the guider and the method based on heterogeneous visual sense sensor system in a kind of Robotics field are disclosed, device is by stereo vision sensor and full dimension vision sensor be combined into, barrier planning is kept away in global path planning and part organically combines, can realize the mobile robot under circumstances not known by the starting point autokinetic movement to given impact point.
Find by prior art documents, Chinese patent grant number CN 100352623C, authorize day on December 5th, 2007, patent name: a kind of intelligent mobile robot control device and method of automatic selection of objects, a kind of intelligent mobile robot control device and method that is used for automatic selection of objects under semi-structure environment or the destructuring environment disclosed, automatically obtain target by vision, the planning of autonomous dynamically generation pass, and movable information fed back to image processing module, constitute the control of vision closed loop moving, arrive target location and targeted attitude.But owing to illumination variation, factor such as block, relatively poor based on object identification effect in actual application of vision, recognition capability is limited, and recognition accuracy is lower.And the radio RF recognition technology of rising in recent years (RFID), utilize radiofrequency signal to realize contactless information transmission by the space coupling, automatically recognition objective object and obtain related data, identifying need not manual interventions, have been widely used in industries such as retail, logistics.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, a kind of service robot grasp guidance system and method thereof based on machine vision and the fusion of RFID heat transfer agent proposed, utilize realizing of Robot Vision mobile robot's location and navigation, utilize RFID to realize the identification of waiting to pick up article, make full use of the strong point of two kinds of sensors, get thing for mobile robot's intelligence insufficient information is provided.
The present invention is achieved by the following technical solutions:
Service robot grasp guidance system involved in the present invention comprises image collecting device, radio frequency induction R-T unit, vision and radio-frequency information fusion treatment device.Wherein: image collecting device is installed on robot head, panoramic vision information around the mobile robot who gathers is sent to vision and radio-frequency information fusion treatment device, and the radio frequency induction R-T unit sends to vision with the radio-frequency information that reads and gives radio-frequency information fusion treatment device; Vision and radio-frequency information fusion treatment device are installed on the car body of robot, link to each other with the radio frequency induction R-T unit with image collecting device respectively.
Described image collecting device comprises: panoramic CCD camera, image pick-up card.Panoramic CCD camera is installed on robot head, is used to gather mobile robot's panoramic vision information on every side, utilizes this information that robot is located for vision and radio-frequency information fusion treatment device; Image pick-up card is installed on the computer, connects panoramic CCD camera and computer, and the visual information of panoramic CCD camera collection is sent to computer.
Described radio frequency induction R-T unit comprises: RF tag and radio frequency induction transceiver
Wherein, RF tag is installed in to wait to get on the article or hold and waits to get on the article container, and described RF tag is the passive RF tag, contains information such as type of goods, size, weight.
The radio frequency induction transceiver is installed in the robot grip and installs, and is used to read wait to get on the article or hold the radio-frequency information of waiting to get the RF tag of installing on the article container.
Described vision links to each other respectively with the radio frequency induction transceiver with panoramic CCD camera with radio-frequency information fusion treatment device, and the visual information of utilizing panoramic CCD camera to provide is located robot, and guided robot moves to the assigned address point; Then utilize the radio frequency induction transceiver be installed in the robot grip to read to wait to get on the article or hold the radio-frequency information of waiting to get the radio-frequency card of installing on the article container, guidance machine people gripping finger earnest product.
Service robot grasp bootstrap technique involved in the present invention may further comprise the steps:
The first step is installed the passive RF tag waiting to get on the article or hold to wait to get on the article container, and write information such as type of goods, size, weight in label;
Second step, use panoramic CCD camera acquisition order image, and image sequence is kept on the hard disc of computer, set up sequential all-dimensional image library;
In the 3rd step, the user specifies piece image from image library, as the target location of robot, be issued to the instruction that special article is got in this position;
The 4th step, receive instruction after, robot triggers panoramic CCD camera, takes a full dimension image in current location;
The 5th step, by images match, in image library, search and the current the highest image of image similarity that encloses entirely, determined the current position of image in sequential all-dimensional image library of enclosing entirely, realized the self-align of robot;
The 6th step in sequential all-dimensional image library, was a start image with the image that searches out in the 5th step, was target image with the image of user's appointment, generated the path based on sequence image;
In the 7th step,, after robot moves to the target image position, discern article to be got with the radio frequency induction R-T unit that the robot grip is installed along the path that the 6th step generated based on sequence image.
Compared with prior art, the present invention in service robot, can give full play to the strong point of two kinds of sensors with machine vision and RFID fusion application, gets thing for mobile robot's intelligence insufficient information is provided, and has strengthened recognition capability, has improved recognition accuracy.
Description of drawings
Fig. 1 is a system architecture diagram of the present invention;
Fig. 2 is for the present invention is based on sequential all-dimensional image library flow of navigation schematic diagram.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, the service robot grasp guidance system that present embodiment relates to, by image collecting device, the radio frequency induction R-T unit, vision and radio-frequency information fusion treatment device are formed, wherein:
Described image collecting device comprises panoramic CCD camera, image pick-up card.Panoramic CCD camera is selected SONY RPU-C2512 panoramic shooting head for use, 200 everything elements, 24 RGBs, be installed on robot head, 1.52 meters on camera lens apart from ground, be used to gather mobile robot's panoramic vision information on every side, utilize this information that robot is located for vision and radio-frequency information fusion treatment device;
Described radio frequency induction transceiver is selected HID MIFARE RFID card reader for use, and reading/writing distance is 6 to 10 centimetres, is installed on the robot grip, links to each other with computer by USB interface.
Described vision and radio-frequency information fusion treatment device are selected HP Compaq nw8240 notebook computer for use, this computer links to each other respectively with the radio frequency induction R-T unit with panoramic CCD camera, the visual information of utilizing panoramic CCD camera to provide is located robot, and guided robot moves to the assigned address point; Then utilize the radio frequency induction R-T unit be installed in the robot grip to read to wait to get on the article or hold the radio-frequency information of waiting to get the radio-frequency card of installing on the article container, guidance machine people gripping finger earnest product.
As shown in Figure 2, the appointment clothes is an example explanation service robot grasp bootstrap technique to present embodiment in the wardrobe to grasp.Fig. 2 is a common family schematic layout pattern, comprises common furniture and electrical equipment such as dining table, sofa, TV, wardrobe 1, wardrobe 2, refrigerator.The described service robot grasp bootstrap technique of present embodiment may further comprise the steps:
The first step is installed the passive RF tag, and write clothes kind, weight information in label on the clothes hanger of five clothes in wardrobe 1;
Second step, artificial mobile robot in the room, with 1 to 2 meter be step-length, gather multiple image.In the present embodiment, respectively robot is moved to A shown in Figure 2, B, C, D, E, F, G, H, I, J point, use SONY RPU-C2512 panoramic CCD camera to gather a secondary full dimension image at each point, and image is kept on the hard disc of computer called after " A.jpg ", " B.jpg ", " C.jpg ", " D.jpg ", " E.jpg ", " F.jpg ", " G.jpg ", " H.jpg ", " I.jpg ", " J.jpg " respectively with the jpeg format order.Image " A.jpg " has just constituted sequential all-dimensional image library to " J.jpg ", and robot is a Reference Map with this image library in follow-up extracting task.
In the 3rd step, the user specifies piece image from image library, is " H.jpg " that takes before wardrobe 1 in this example, as the target location of robot, is issued to the instruction that special article is got in this position;
The 4th step, receive instruction after, robot triggers panoramic CCD camera, in current location, S point promptly shown in Figure 2 is taken one and is tieed up image entirely;
The 5th step, extract the SIFT characteristic point of S point photographic images, and with image library in the characteristic point of all images mate, in image library, search and the highest image of present image similarity, be in this example " D.jpg ", thereby determined the position of present image in sequential all-dimensional image library, realized the self-align of robot;
The 6th step, in sequential all-dimensional image library,, promptly tie up image " D.jpg " entirely and be start image with the image that searches out in the 5th step, with the image of user's appointment, promptly tieing up image " H.jpg " entirely is target image, generates the path based on sequence image;
In the 7th step, along the path based on sequence image that the 6th step generated, robot moves to the target image position, promptly ties up the position of image " H.jpg " entirely, discerns article to be got with the radio frequency induction R-T unit that the robot grip is installed.
Present embodiment will be tieed up vision sensor entirely and combine with RFID, full dimension vision sensor is used for the coarse positioning and the navigation of robot, RFID is used to grasp the identification of thing, makes full use of the strong point of two kinds of sensors, and the realization service robot is finished common extracting task under indoor environment.
Claims (8)
1, a kind of service robot grasp guidance system, it is characterized in that, comprise image collecting device, the radio frequency induction R-T unit, vision and radio-frequency information fusion treatment device, wherein: image collecting device is installed on robot head, and the panoramic vision information around the mobile robot who gathers is sent to vision and radio-frequency information fusion treatment device, and the radio frequency induction R-T unit sends to vision with the radio-frequency information that reads and gives radio-frequency information fusion treatment device; Vision and radio-frequency information fusion treatment device are installed on the car body of robot, link to each other with the radio frequency induction R-T unit with image collecting device respectively.
2, service robot grasp guidance system according to claim 1, it is characterized in that, described image collecting device, comprise panoramic CCD camera, image pick-up card, wherein: panoramic CCD camera is installed on robot head, is connected with radio-frequency information fusion treatment device with vision, panoramic vision information with around the mobile robot who gathers sends to vision and radio-frequency information fusion treatment device; Image pick-up card is installed on the computer, connects panoramic CCD camera and computer, and the visual information of panoramic CCD camera collection is sent to computer.
3, service robot grasp guidance system according to claim 1, it is characterized in that, described radio frequency induction R-T unit, comprise: RF tag and radio frequency induction transceiver, wherein RF tag is installed in to wait to get on the article or hold and waits to get on the article container, and the radio frequency induction transceiver is installed in the robot grip, is connected with radio-frequency information fusion treatment device with vision, read the radio-frequency information of RF tag, and information is sent to vision and radio-frequency information fusion treatment device.
4, service robot grasp guidance system according to claim 1 is characterized in that, described vision and radio-frequency information fusion treatment device, and the visual information of utilizing panoramic CCD camera to provide is located robot, and guided robot moves to the assigned address point; The radio frequency induction transceiver that utilization is installed in the robot grip reads to be waited to get on the article or holds the radio-frequency information of waiting to get the radio-frequency card of installing on the article container, guidance machine people gripping finger earnest product.
5, service robot grasp guidance system according to claim 1 is characterized in that, described RF tag is the passive RF tag, contains type of goods, size, weight information.
6, a kind of service robot grasp bootstrap technique is characterized in that, may further comprise the steps:
The first step is installed the passive RF tag waiting to get on the article or hold to wait to get on the article container, and write type of goods, size, weight information in label;
In second step, set up sequential all-dimensional image library;
The 3rd step, from sequential all-dimensional image library, specify piece image, as the target location of robot, be issued to the instruction that special article is got in this position;
The 4th step, after robot receives instruction, trigger panoramic CCD camera, take a full dimension image in current location;
In the 5th step,, realize the self-align of robot by images match;
The 6th step in sequential all-dimensional image library, was a start image with the image that searches out in the 5th step, was target image with the image of user's appointment, generated the path based on sequence image;
In the 7th step, along the path based on sequence image that the 6th step generated, robot moves to the target image position, discerns article to be got with the radio frequency induction transceiver that the robot grip is installed.
7, service robot grasp bootstrap technique according to claim 6 is characterized in that, the described sequential all-dimensional image library of setting up is meant and uses panoramic CCD camera acquisition order image, and image sequence is kept on the hard disc of computer.
8, service robot grasp bootstrap technique according to claim 6, it is characterized in that, the described images match of passing through, realize the self-align of robot, be meant in sequential all-dimensional image library and search and the current the highest image of image similarity that encloses entirely, determine the position of present image in sequential all-dimensional image library.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2009100507814A CN101559600A (en) | 2009-05-07 | 2009-05-07 | Service robot grasp guidance system and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2009100507814A CN101559600A (en) | 2009-05-07 | 2009-05-07 | Service robot grasp guidance system and method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101559600A true CN101559600A (en) | 2009-10-21 |
Family
ID=41218660
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2009100507814A Pending CN101559600A (en) | 2009-05-07 | 2009-05-07 | Service robot grasp guidance system and method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101559600A (en) |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102323817A (en) * | 2011-06-07 | 2012-01-18 | 上海大学 | Service robot control platform system and multimode intelligent interaction and intelligent behavior realizing method thereof |
| CN102848388A (en) * | 2012-04-05 | 2013-01-02 | 上海大学 | Service robot locating and grabbing method based on multiple sensors |
| CN102902271A (en) * | 2012-10-23 | 2013-01-30 | 上海大学 | Binocular vision-based robot target identifying and gripping system and method |
| CN102914303A (en) * | 2012-10-11 | 2013-02-06 | 江苏科技大学 | Navigation information acquisition method and intelligent space system with multiple mobile robots |
| CN103707305A (en) * | 2013-12-31 | 2014-04-09 | 上海交通大学 | Service robot grabbing system based on cloud information library and control method thereof |
| CN103745620A (en) * | 2014-01-24 | 2014-04-23 | 成都万先自动化科技有限责任公司 | Substitution service robot |
| CN103792948A (en) * | 2013-09-16 | 2014-05-14 | 弗徕威数码科技（上海）有限公司 | Intelligent service robot for hotel and ward |
| CN103869814A (en) * | 2012-12-17 | 2014-06-18 | 联想(北京)有限公司 | Terminal positioning and navigation method and mobile terminal |
| CN104626169A (en) * | 2014-12-24 | 2015-05-20 | 四川长虹电器股份有限公司 | Robot part grabbing method based on vision and mechanical comprehensive positioning |
| CN105858565A (en) * | 2016-06-01 | 2016-08-17 | 浙江万昇光电科技有限公司 | Intelligent LED (Light Emitting Diode) street lamp maintaining mechanical arm |
| CN106054829A (en) * | 2016-05-27 | 2016-10-26 | 山东建筑大学 | Domestic water carriage service robot system and motion method thereof |
| CN106372552A (en) * | 2016-08-29 | 2017-02-01 | 北京理工大学 | Human body target identification and positioning method |
| CN107065861A (en) * | 2017-02-24 | 2017-08-18 | 珠海金萝卜智动科技有限公司 | Robot collection intelligence is carried, is loaded and unloaded on integral method and apparatus |
| CN107571263A (en) * | 2017-07-19 | 2018-01-12 | 江汉大学 | It is a kind of to pick up the robot for dragging for function with looking for something |
| CN108873899A (en) * | 2018-06-27 | 2018-11-23 | 杨扬 | The barrier-avoiding method of dust-collecting robot and the method for establishing grating map |
| CN109196434A (en) * | 2016-09-26 | 2019-01-11 | X开发有限责任公司 | Identification information for warehouse navigation |
| CN109389130A (en) * | 2018-09-26 | 2019-02-26 | 重庆巴奥科技有限公司 | The random distribution of article grabs fusion method in a kind of visual identification process |
| CN111319044A (en) * | 2020-03-04 | 2020-06-23 | 达闼科技（北京）有限公司 | Article grabbing method and device, readable storage medium and grabbing robot |
| CN113361527A (en) * | 2021-08-09 | 2021-09-07 | 浙江华睿科技股份有限公司 | Multi-target object identification and positioning method and device, electronic equipment and storage medium |
| CN113673925A (en) * | 2021-07-30 | 2021-11-19 | 广州佳帆计算机有限公司 | Method, device and equipment for verifying delivery of goods and storage medium |
| WO2022089548A1 (en) * | 2020-10-30 | 2022-05-05 | 神顶科技（南京）有限公司 | Service robot and control method therefor, and mobile robot and control method therefor |
| CN114435827A (en) * | 2021-12-24 | 2022-05-06 | 北京无线电测量研究所 | Wisdom warehouse system |
-
2009
- 2009-05-07 CN CNA2009100507814A patent/CN101559600A/en active Pending
Cited By (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102323817A (en) * | 2011-06-07 | 2012-01-18 | 上海大学 | Service robot control platform system and multimode intelligent interaction and intelligent behavior realizing method thereof |
| CN102848388A (en) * | 2012-04-05 | 2013-01-02 | 上海大学 | Service robot locating and grabbing method based on multiple sensors |
| CN102914303B (en) * | 2012-10-11 | 2015-01-21 | 江苏科技大学 | Navigation information acquisition method and intelligent space system with multiple mobile robots |
| CN102914303A (en) * | 2012-10-11 | 2013-02-06 | 江苏科技大学 | Navigation information acquisition method and intelligent space system with multiple mobile robots |
| CN102902271A (en) * | 2012-10-23 | 2013-01-30 | 上海大学 | Binocular vision-based robot target identifying and gripping system and method |
| CN103869814B (en) * | 2012-12-17 | 2017-04-19 | 联想(北京)有限公司 | Terminal positioning and navigation method and mobile terminal |
| CN103869814A (en) * | 2012-12-17 | 2014-06-18 | 联想(北京)有限公司 | Terminal positioning and navigation method and mobile terminal |
| CN103792948A (en) * | 2013-09-16 | 2014-05-14 | 弗徕威数码科技（上海）有限公司 | Intelligent service robot for hotel and ward |
| CN103707305A (en) * | 2013-12-31 | 2014-04-09 | 上海交通大学 | Service robot grabbing system based on cloud information library and control method thereof |
| CN103707305B (en) * | 2013-12-31 | 2016-02-10 | 上海交通大学 | A kind of service robot grasp system based on cloud information bank and control method thereof |
| CN103745620A (en) * | 2014-01-24 | 2014-04-23 | 成都万先自动化科技有限责任公司 | Substitution service robot |
| CN104626169A (en) * | 2014-12-24 | 2015-05-20 | 四川长虹电器股份有限公司 | Robot part grabbing method based on vision and mechanical comprehensive positioning |
| CN106054829B (en) * | 2016-05-27 | 2018-12-21 | 山东建筑大学 | Family send the method for operating of water service robot system |
| CN106054829A (en) * | 2016-05-27 | 2016-10-26 | 山东建筑大学 | Domestic water carriage service robot system and motion method thereof |
| CN105858565A (en) * | 2016-06-01 | 2016-08-17 | 浙江万昇光电科技有限公司 | Intelligent LED (Light Emitting Diode) street lamp maintaining mechanical arm |
| CN106372552B (en) * | 2016-08-29 | 2019-03-26 | 北京理工大学 | Human body target recognition positioning method |
| CN106372552A (en) * | 2016-08-29 | 2017-02-01 | 北京理工大学 | Human body target identification and positioning method |
| CN109196434A (en) * | 2016-09-26 | 2019-01-11 | X开发有限责任公司 | Identification information for warehouse navigation |
| CN107065861A (en) * | 2017-02-24 | 2017-08-18 | 珠海金萝卜智动科技有限公司 | Robot collection intelligence is carried, is loaded and unloaded on integral method and apparatus |
| CN107571263A (en) * | 2017-07-19 | 2018-01-12 | 江汉大学 | It is a kind of to pick up the robot for dragging for function with looking for something |
| CN107571263B (en) * | 2017-07-19 | 2019-07-23 | 江汉大学 | It is a kind of with the robot for picking up fishing function that looks for something |
| CN108873899A (en) * | 2018-06-27 | 2018-11-23 | 杨扬 | The barrier-avoiding method of dust-collecting robot and the method for establishing grating map |
| CN108873899B (en) * | 2018-06-27 | 2022-03-25 | 杨扬 | Obstacle avoidance method of dust collection robot |
| CN109389130A (en) * | 2018-09-26 | 2019-02-26 | 重庆巴奥科技有限公司 | The random distribution of article grabs fusion method in a kind of visual identification process |
| CN109389130B (en) * | 2018-09-26 | 2021-11-19 | 常州海图电子科技有限公司 | Method for grabbing and fusing irregularly distributed articles in visual identification process |
| CN111319044A (en) * | 2020-03-04 | 2020-06-23 | 达闼科技（北京）有限公司 | Article grabbing method and device, readable storage medium and grabbing robot |
| WO2022089548A1 (en) * | 2020-10-30 | 2022-05-05 | 神顶科技（南京）有限公司 | Service robot and control method therefor, and mobile robot and control method therefor |
| CN113673925A (en) * | 2021-07-30 | 2021-11-19 | 广州佳帆计算机有限公司 | Method, device and equipment for verifying delivery of goods and storage medium |
| CN113361527A (en) * | 2021-08-09 | 2021-09-07 | 浙江华睿科技股份有限公司 | Multi-target object identification and positioning method and device, electronic equipment and storage medium |
| CN113361527B (en) * | 2021-08-09 | 2021-11-19 | 浙江华睿科技股份有限公司 | Multi-target object identification and positioning method and device, electronic equipment and storage medium |
| CN114435827A (en) * | 2021-12-24 | 2022-05-06 | 北京无线电测量研究所 | Wisdom warehouse system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101559600A (en) | Service robot grasp guidance system and method thereof | |
| CN106552772B (en) | Visual identifying system and the classification sorting system for using the visual identifying system | |
| CN101890720B (en) | Article holding system, robot, and method of controlling robot | |
| CN109089082A (en) | A kind of image capturing system based on thermal characteristics image | |
| CN109512155B (en) | Label-based clothing intelligent storage and distribution system | |
| CN102955476A (en) | Automatic guided vehicle (AGV) path planning method based on radio frequency identification (RFID) technology | |
| CN102062609B (en) | Intelligent navigation system and method for taking and putting articles | |
| JP2005320074A (en) | Device and program for retrieving/collecting articles | |
| WO2016032693A1 (en) | Apparatus and method for performing an item picking process | |
| WO2006013829A1 (en) | Robot for carrying goods, system for carrying goods and method for carrying goods | |
| CN201835671U (en) | Intelligent fingerprint management cabinet | |
| CN104616524A (en) | RFID based vehicle finding method for parking lot | |
| CN205969038U (en) | Intelligent robot system | |
| CN205028304U (en) | A robot for two -dimensional code scanning | |
| JP2017174359A (en) | Information management system | |
| CN107423927A (en) | A kind of RFID intelligent storages seek goods system and method | |
| CN106325306B (en) | A kind of camera assembly apparatus of robot and its shooting and tracking | |
| CN202583831U (en) | High-efficiency material transfer device intelligent control system based on RFID identification technology | |
| CN205692124U (en) | Man-machine interactive system | |
| CN109272628A (en) | Unmanned convenience store's control system | |
| CN210043470U (en) | Three-dimensional pickup device | |
| CN107784306A (en) | A kind of automatic shopping car based on OpenCV | |
| CN204731793U (en) | The automatic binding system of a kind of bar code RFID | |
| CN109461268A (en) | A kind of library's self-care system based on Internet of Things | |
| CN202221573U (en) | Personal belongings management system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Open date: 20091021 |