CN102902990A - Driving positioning device and driving positioning method based on radio frequency identification technology - Google Patents
Driving positioning device and driving positioning method based on radio frequency identification technology Download PDFInfo
- Publication number
- CN102902990A CN102902990A CN2011102146269A CN201110214626A CN102902990A CN 102902990 A CN102902990 A CN 102902990A CN 2011102146269 A CN2011102146269 A CN 2011102146269A CN 201110214626 A CN201110214626 A CN 201110214626A CN 102902990 A CN102902990 A CN 102902990A
- Authority
- CN
- China
- Prior art keywords
- cart
- frequency identification
- electronic tag
- dolly
- driving
- 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
- Control And Safety Of Cranes (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the field of driving control, in particular to a driving positioning device and a driving positioning method. The driving positioning device based on radio frequency identification technology comprises a radio frequency identification antenna, radio frequency identification reader and writer, an electronic tag and a master control computer. The radio frequency identification reader and writer are fixedly installed on a carriage and a trolley respectively. The master control computer is connected with the radio frequency identification antenna through the radio frequency identification reader and writer. The electronic tag is installed on a driving track and the carriage. The driving positioning method based on the radio frequency identification technology includes: defining a space coordinates system, setting the electronic tag at the position matching with the coordinates system, writing position data information in the electronic tag in advance, and allowing the radio frequency identification antenna to read the electronic tag to achieve automatic driving positioning. The driving positioning method is a non-contact positioning technology. Wear and errors caused by mechanical devices are avoided. By writing relevant information in the electronic tag, the positioning function can be realized, and current material stacking and driving status information can also be reflected.
Description
Technical field
The present invention relates to the control field of driving a vehicle, relate in particular to a kind of overhead traveling crane positioning device and method.
Background technology
Widely apply the machineries such as driving, overhead traveling crane or overhead travelling crane to carry out transport operation in places such as enterprise warehouse, harbour, goods yards, the loading and unloading of material, goods and the transfer between the buttress position all need to carry out location recognition and control.At present, the localization method of driving, overhead traveling crane has a lot, artificial discriminance for example, by on the wall of driving traffic direction or crossbeam be the auxiliary driving of character marking operating personnel and judge the suspender position, this method precision is not high, and the lifting particular location also needs the moving operation personnel to judge adjustment, and labor intensity of operating staff is higher in addition, error in judgement occurs easily, logistics operation is caused have a strong impact on.In driving, overhead traveling crane automatic positioning technology, mainly use equipment and the methods such as laser range sensor, rotary encoder, positioning and communicating cable (Gray bus) in addition, these apparatus and method respectively have its characteristics and relative merits, are applicable to different application scenarios.
At present, except artificial cognition, the location technology of driving, overhead traveling crane common are the apparatus and method such as laser range sensor, rotary encoder, positioning and communicating cable (Gray bus).The driving localization method of existing employing laser range sensor, normally in appropriate location, Crane Rail two ends a laser range sensor is being installed respectively, and at the driving car body double-face reflecting panel is installed, extract laser sensor measurement data and check and correction by data collecting card, just can draw the location parameter of driving; This kind method needs laser sensor and the corresponding data collecting card of supporting long distance and high precision, and cost compare is expensive, and is not suitable for site environment and exists in the comparatively abominable situation such as smog, dust and use.An existing other class is based on driving, the overhead traveling crane localization method of rotary encoder, normally on the axle with rotary encoder road wheel is installed, road wheel is pressed against on the Crane Rail with elastic mechanism, along with driving movement in orbit, thus driven rotary scrambler rotation record road location data message; This method is owing to use machinery to press structure, so easy because wear and tear, skid and bring data deviation, maintenance workload is larger.
Summary of the invention
Technical matters to be solved by this invention provides a kind of overhead traveling crane positioning device method based on REID, this overhead traveling crane positioning device and method are passed through REID, electronic tag is fixedly mounted on certain position, and in label the storage corresponding location address information, near RFID antenna moves to this electronic tag, just can read the location address information in the electronic tag, thereby realize positioning function.
The present invention is achieved in that a kind of overhead traveling crane positioning device based on REID, comprise Crane Rail, cart, dolly, suspender and support, described Crane Rail is fixed on the support, Crane Rail is the track girder that pair of parallel arranges, described cart is erected at and follows Car Track on the Crane Rail and carry out straight reciprocating motion, described dolly is installed on the cart, dolly carries out straight reciprocating motion at cart, moving of car direction and cart direction of motion are perpendicular, the plane that the direction of motion of dolly and cart consists of is parallel to the ground, described suspender is installed on the dolly, suspender direction of motion is perpendicular to the ground, this overhead traveling crane positioning device also comprises RFID antenna, radio-frequency identification reader/writer, electronic tag and main control computer, described radio-frequency identification reader/writer has two, two radio-frequency identification reader/writers are fixedly mounted on respectively on cart and the dolly, described main control computer links to each other with RFID antenna by radio-frequency identification reader/writer, described electronic tag is equidistantly arranged and is installed on Crane Rail and the cart, the radio-frequency identification reader/writer that is installed on the cart matches with electronic tag on the Crane Rail, and the radio-frequency identification reader/writer that is installed on the dolly matches with electronic tag on the cart.
Described suspender is Electromagnetic slings for lifting loads, C type suspender, sucker suspender or suspension hook.
Described support is the column of the parallel equidistant arrangement of two rows.
A kind of driving localization method based on REID may further comprise the steps:
The space coordinates of step 1, definition driving running orbit;
Step 3, at the inner in advance writing position data message of electronic tag, position data is corresponding with space coordinates;
Described main control computer also links to each other with man-machine interface, shows location parameter and the running state information of current driving by man-machine interface.
When described step 1 defines the space coordinates of driving running orbit, that the information of material stacking is corresponding with space coordinates.
The volume coordinate of definition driving running orbit is in the described step 1, to a bit be defined as true origin on track crossbeam one end, cart, dolly and suspender are in the motion reference position at this point, the direct of travel of cart is X-direction, the direct of travel of dolly is Y direction, and the direction that suspender falls is Z-direction.
The overhead traveling crane positioning device and the method that the present invention is based on REID are a kind of contactless location technologies, wearing and tearing and the error of having avoided mechanical hook-up to bring; This technology is by being fixedly mounted on electronic tag certain position, and in label the storage corresponding location address information, near RFID antenna moves to this electronic tag, just can read the location address information in the electronic tag, thereby realization positioning function, and can by directive property and the emissive power of control radio wave transmission, the location recognition precision be controlled within the acceptable scope; By in electronic tag, writing relevant information, not only positioning function can be realized simultaneously, but also current material stacking and driving states information can be reflected; With respect to traditional localization method, its equipment installation is simple, reliable, maintenance workload is low, has widely promotional value and meaning.
Description of drawings
Fig. 1 is the REID system chart;
Fig. 2 is the perspective view that the present invention is based on the overhead traveling crane positioning device of REID;
Fig. 3 is the structure schematic top plan view that the present invention is based on the overhead traveling crane positioning device of REID;
Fig. 4 is the X section enlarged diagram of Fig. 3.
Among the figure: 1 Crane Rail, 2 carts, 3 dollies, 4 suspenders, 5 supports, 6 RFID antenna, 7 radio-frequency identification reader/writers, 8 electronic tags, 9 material stackings.
Embodiment
Below in conjunction with specific embodiment, further set forth the present invention.Should be understood that these embodiment only to be used for explanation the present invention and be not used in and limit the scope of the invention.Should be understood that in addition those skilled in the art can make various changes or modifications the present invention after the content of having read the present invention's statement, these equivalent form of values fall within the application's appended claims limited range equally.
RFID is REID (Radio Frequency Identification), is one and utilizes radiofrequency signal to realize that by Space Coupling non-contact type information transmission and the information of passing through to transmit reach the technology of identifying purpose.As shown in Figure 1, the most basic radio-frequency recognition system is comprised of electronic tag, radio-frequency identification reader/writer, RFID antenna and main control computer four parts.The electronic tag inside chip can be stored certain data message, the radiobeam that it is launched take RFID antenna is as the energy, after the instruction that receives read write line, data memory area is carried out data storage or read operation, and the data transmission of storage inside can be gone out, received by RFID antenna, and carry out data by main control computer and process and control, main control computer is with after man-machine interface is connected, and conveniently observes operation.
Such as Fig. 2,3, shown in 4, a kind of overhead traveling crane positioning device based on REID, comprise Crane Rail 1, cart 2, dolly 3, suspender 4 and support 5, described Crane Rail 1 is fixed on the support 5, the track girder that Crane Rail 1 arranges for pair of parallel, described cart 2 is erected at and follows Car Track 1 on the Crane Rail 1 and carry out straight reciprocating motion, described dolly 3 is installed on the cart 2, dolly 3 carries out straight reciprocating motion at cart 2, dolly 3 direction of motion and cart 2 direction of motion are perpendicular, dolly 3 is parallel to the ground with the plane of the direction of motion formation of cart 2, described suspender 4 is installed on the dolly 3, suspender 4 direction of motion are perpendicular to the ground, this overhead traveling crane positioning device also comprises RFID antenna 6, radio-frequency identification reader/writer 7, electronic tag 8 and main control computer, described radio-frequency identification reader/writer 7 has two, two radio-frequency identification reader/writers 7 are fixedly mounted on respectively on cart 2 and the dolly 3, described main control computer links to each other with RFID antenna 6 by radio-frequency identification reader/writer 7, described electronic tag 8 is equidistantly arranged and is installed on Crane Rail 1 and the cart 2, the radio-frequency identification reader/writer 7 that is installed on the cart 2 matches with electronic tag 8 on the Crane Rail 1, and the radio-frequency identification reader/writer 7 that is installed on the dolly 3 matches with electronic tag 8 on the cart 2.
In the present embodiment, described suspender 4 is Electromagnetic slings for lifting loads, C type suspender, sucker suspender or suspension hook; Described support 5 is the column of the parallel equidistant arrangement of two rows.
Because the transmitting-receiving of radio frequency identification data is undertaken by radiowave, do not have absolute orientating function, therefore need to use RFID antenna 6 to improve directive property, RFID antenna 6 is preferably the linear polarity format antenna, by regulating emissive power, the installation interval distance of control electronic tag 8 and the distance of RFID antenna 6 and electronic tag 8 etc. are strengthened the directive property of information in radio frequency transmission, improve its positioning function.Equal the spacing of electronic tag based on the precision of the overhead traveling crane positioning device of REID, in actual job, the spacing between the electronic tag is subject to the impact of some factors, can not determine arbitrarily.At first be the physical size that is subject to electronic tag, excessively closely can cause label to interfere; Next is that the signal interference can occur the electronic tag hypotelorism, and namely RFID antenna 6 is read two pieces of electronic tags simultaneously in a certain position, affects the realization of positioning function; Again because the driving travel distance is distant, and the label spacing is crossed and closely can be caused the electronic tag number too huge, can improve equipment cost like this, increased the difficulty that electronic tag is installed and demarcated.So the installing space of electronic tag will and be produced actual requirement and determine in conjunction with the operation field actual environment.
A kind of driving localization method based on REID may further comprise the steps:
The space coordinates of step 1, definition driving running orbit; To a bit be defined as true origin on track crossbeam 1 one ends, cart 2, dolly 3 and suspender 4 are in the motion reference position at this point, the direct of travel of cart 2 is X-direction, the direct of travel of dolly 3 is Y direction, the direction that suspender 4 falls is Z-direction, and then material stacking 9 locus just represent with the coordinate figure in this coordinate system.
Step 3, at the inner in advance writing position data messages of electronic tag 8, position data is corresponding with space coordinates;
Claims (7)
1. overhead traveling crane positioning device based on REID, comprise Crane Rail (1), cart (2), dolly (3), suspender (4) and support (5), described Crane Rail (1) is fixed on the support (5), the track girder that Crane Rail (1) arranges for pair of parallel, described cart (2) is erected at and follows Car Track (1) on the Crane Rail (1) and carry out straight reciprocating motion, described dolly (3) is installed on the cart (2), dolly (3) carries out straight reciprocating motion at cart (2), dolly (3) direction of motion and cart (2) direction of motion are perpendicular, dolly (3) is parallel to the ground with the plane of the direction of motion formation of cart (2), described suspender (4) is installed on the dolly (3), suspender (4) direction of motion is perpendicular to the ground, it is characterized in that: this overhead traveling crane positioning device also comprises RFID antenna (6), radio-frequency identification reader/writer (7), electronic tag (8) and main control computer, described radio-frequency identification reader/writer (7) has two, two radio-frequency identification reader/writers (7) are fixedly mounted on respectively on cart (2) and the dolly (3), described main control computer links to each other with RFID antenna (6) by radio-frequency identification reader/writer (7), described electronic tag (8) is equidistantly arranged and is installed on Crane Rail (1) and the cart (2), the radio-frequency identification reader/writer (7) that is installed on the cart (2) matches with electronic tag (8) on the Crane Rail (1), and the radio-frequency identification reader/writer (7) that is installed on the dolly (3) matches with electronic tag (8) on the cart (2).
2. the overhead traveling crane positioning device based on REID as claimed in claim 1 is characterized in that: described suspender (4) is Electromagnetic slings for lifting loads, C type suspender, sucker suspender or suspension hook.
3. the overhead traveling crane positioning device based on REID as claimed in claim 1 or 2 is characterized in that: described support (5) is the column of the parallel equidistant arrangement of two rows.
4. the driving localization method based on REID is characterized in that, may further comprise the steps:
The space coordinates of step 1, definition driving running orbit;
Step 2, the position spaced set one row's electronic tag (8) that matches with the direct of travel of cart (2) on track crossbeam (1) are at the upper position spaced set that matches with the direct of travel of dolly (3) the one row's electronic tag (8) of cart (2);
Step 3, at the inner in advance writing position data message of electronic tag (8), position data is corresponding with space coordinates;
Step 4, on cart (2) and dolly (3), a radio-frequency identification reader/writer (7) is installed respectively, RFID antenna (6) on the radio-frequency identification reader/writer (7) reads close one piece of electronic tag (8) in turn, radio-frequency identification reader/writer (7) sends the position data that reads to main control computer and processes, thereby determine the current location information of cart, the corresponding space coordinates of dolly, realize the automatic location to driving.
5. as claimed in claim 4 based on the driving localization method of REID, it is characterized in that: described main control computer also links to each other with man-machine interface, shows location parameter and the running state information of current driving by man-machine interface.
6. as claimed in claim 4 based on the driving localization method of REID, it is characterized in that: when described step 1 defines the space coordinates of driving running orbit, that the information of material stacking (9) is corresponding with space coordinates.
7. such as the described driving localization method based on REID of any claim in the claim 4 ~ 6, it is characterized in that: the volume coordinate of definition driving running orbit is in the described step 1, to a bit be defined as true origin on track crossbeam (1) one end, cart (2), dolly (3) and suspender (4) are in the motion reference position at this point, the direct of travel of cart (2) is X-direction, the direct of travel of dolly (3) is Y direction, and the direction that suspender (4) falls is Z-direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011102146269A CN102902990A (en) | 2011-07-29 | 2011-07-29 | Driving positioning device and driving positioning method based on radio frequency identification technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011102146269A CN102902990A (en) | 2011-07-29 | 2011-07-29 | Driving positioning device and driving positioning method based on radio frequency identification technology |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102902990A true CN102902990A (en) | 2013-01-30 |
Family
ID=47575211
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011102146269A Pending CN102902990A (en) | 2011-07-29 | 2011-07-29 | Driving positioning device and driving positioning method based on radio frequency identification technology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102902990A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104020750A (en) * | 2014-06-23 | 2014-09-03 | 济钢集团有限公司 | Steelmaking input-output monitoring system |
| CN104123630A (en) * | 2014-07-23 | 2014-10-29 | 北京物资学院 | Cargo dispatching system and method based on portal crane |
| CN105197800A (en) * | 2015-09-30 | 2015-12-30 | 西安宝德自动化股份有限公司 | Crane wireless positioning control system and crane wireless positioning control method based on UWB (ultra-wide bandwidth) |
| CN105967041A (en) * | 2016-07-14 | 2016-09-28 | 苏州浦灵达自动化科技有限公司 | Magnetic absorption type positioning lifting appliance capable of positioning center automatically |
| CN106115197A (en) * | 2016-07-04 | 2016-11-16 | 长沙长泰智能装备有限公司 | Shuttle alignment system and control method |
| CN107462238A (en) * | 2017-07-28 | 2017-12-12 | 杭州高达软件系统股份有限公司 | A kind of vehicular behavior analysis system and method |
| CN107580691A (en) * | 2015-05-06 | 2018-01-12 | 克朗设备公司 | For identifying that the industrial vehicle of ranked label occurs for failure |
| CN109592565A (en) * | 2018-11-16 | 2019-04-09 | 安徽理工大学 | A kind of coal washery sedimentation basin coal slime grab claw plane positioning system |
| CN110273711A (en) * | 2019-07-09 | 2019-09-24 | 通号电缆集团有限公司 | It is a kind of to leak the on-line monitoring method and system that cable suspender falls off |
| CN110356977A (en) * | 2019-06-17 | 2019-10-22 | 江苏甬金金属科技有限公司 | A kind of cold rolling mill automatic hanging coil of strip method |
| CN111865368A (en) * | 2020-07-15 | 2020-10-30 | 无锡圣普信息科技有限公司 | Electric vehicle illegal identification and evidence obtaining method based on NFC |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101197000A (en) * | 2007-11-30 | 2008-06-11 | 江苏天奇物流系统工程股份有限公司 | Position recognition method and device using radio frequency recognizing technology |
| CN201194080Y (en) * | 2007-12-29 | 2009-02-11 | 安阳钢铁股份有限公司 | Steel-making logistic information automatic tracking metering collecting system |
| CN201201618Y (en) * | 2008-02-03 | 2009-03-04 | 鼎升资讯科技股份有限公司 | Railcar wireless radio frequency positioning control apparatus |
| CN201673403U (en) * | 2010-06-18 | 2010-12-15 | 河南省郑起起重设备有限公司 | BPS travelling automatic location system |
| CN101973488A (en) * | 2010-08-31 | 2011-02-16 | 东南大学 | Traveling crane position tracking device based on radio frequency identification |
| CN201885890U (en) * | 2010-06-25 | 2011-06-29 | 清华大学 | Automatic coal sampling and ash content detecting device |
-
2011
- 2011-07-29 CN CN2011102146269A patent/CN102902990A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101197000A (en) * | 2007-11-30 | 2008-06-11 | 江苏天奇物流系统工程股份有限公司 | Position recognition method and device using radio frequency recognizing technology |
| CN201194080Y (en) * | 2007-12-29 | 2009-02-11 | 安阳钢铁股份有限公司 | Steel-making logistic information automatic tracking metering collecting system |
| CN201201618Y (en) * | 2008-02-03 | 2009-03-04 | 鼎升资讯科技股份有限公司 | Railcar wireless radio frequency positioning control apparatus |
| CN201673403U (en) * | 2010-06-18 | 2010-12-15 | 河南省郑起起重设备有限公司 | BPS travelling automatic location system |
| CN201885890U (en) * | 2010-06-25 | 2011-06-29 | 清华大学 | Automatic coal sampling and ash content detecting device |
| CN101973488A (en) * | 2010-08-31 | 2011-02-16 | 东南大学 | Traveling crane position tracking device based on radio frequency identification |
Non-Patent Citations (1)
| Title |
|---|
| 赵敏等: "基于RFID技术的行车定位系统在钢厂的应用", 《自动化仪表》, vol. 30, no. 11, 30 November 2009 (2009-11-30), pages 26 - 33 * |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104020750A (en) * | 2014-06-23 | 2014-09-03 | 济钢集团有限公司 | Steelmaking input-output monitoring system |
| CN104123630A (en) * | 2014-07-23 | 2014-10-29 | 北京物资学院 | Cargo dispatching system and method based on portal crane |
| CN107580691A (en) * | 2015-05-06 | 2018-01-12 | 克朗设备公司 | For identifying that the industrial vehicle of ranked label occurs for failure |
| CN107580691B (en) * | 2015-05-06 | 2021-03-19 | 克朗设备公司 | Industrial vehicle for identifying fault occurrence sequenced tag |
| CN105197800A (en) * | 2015-09-30 | 2015-12-30 | 西安宝德自动化股份有限公司 | Crane wireless positioning control system and crane wireless positioning control method based on UWB (ultra-wide bandwidth) |
| CN106115197A (en) * | 2016-07-04 | 2016-11-16 | 长沙长泰智能装备有限公司 | Shuttle alignment system and control method |
| CN105967041A (en) * | 2016-07-14 | 2016-09-28 | 苏州浦灵达自动化科技有限公司 | Magnetic absorption type positioning lifting appliance capable of positioning center automatically |
| CN107462238A (en) * | 2017-07-28 | 2017-12-12 | 杭州高达软件系统股份有限公司 | A kind of vehicular behavior analysis system and method |
| CN109592565A (en) * | 2018-11-16 | 2019-04-09 | 安徽理工大学 | A kind of coal washery sedimentation basin coal slime grab claw plane positioning system |
| CN110356977A (en) * | 2019-06-17 | 2019-10-22 | 江苏甬金金属科技有限公司 | A kind of cold rolling mill automatic hanging coil of strip method |
| CN110273711A (en) * | 2019-07-09 | 2019-09-24 | 通号电缆集团有限公司 | It is a kind of to leak the on-line monitoring method and system that cable suspender falls off |
| CN111865368A (en) * | 2020-07-15 | 2020-10-30 | 无锡圣普信息科技有限公司 | Electric vehicle illegal identification and evidence obtaining method based on NFC |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102902990A (en) | Driving positioning device and driving positioning method based on radio frequency identification technology | |
| CN101357715B (en) | Transporting system, and teaching method in the transporting system | |
| CN101152922B (en) | Depot management control system and visualization depot management system | |
| CN201570078U (en) | System for realizing real-time tracking in process of carrying goods by FRID E-seal | |
| CN203020893U (en) | Intelligent inventory vehicle | |
| CN107516143A (en) | A kind of preferred AGV handling systems in path based on dijkstra's algorithm | |
| CN103809590B (en) | A kind of Handling device walking position control system | |
| CN105279627A (en) | Logistics sorting tracking system based on RFID and cloud platform | |
| CN204249881U (en) | The automatical pilot transportation vehicle of energy automatic butt differing heights work top | |
| CN104442518A (en) | Automatic guided vehicle capable of being automatically butted with working table surfaces at different heights | |
| CN1776719A (en) | Automatic inventory-making system based on wireless radio frequency | |
| CN110893967A (en) | RFID (radio frequency identification) positioning system for four-way shuttle vehicle whole warehouse | |
| CN205463244U (en) | Commodity circulation letter sorting system based on FRID | |
| CN203689152U (en) | Automatic navigation device based on radio frequency identification technology | |
| CN104495182B (en) | RFID (radio frequency identification)-based two-bin rail-bound conveying vehicle and rail layout and positioning control method | |
| CN104504552A (en) | Warehousing operation device and method based on RFID (radio frequency identification device) technology | |
| CN104965509A (en) | Automatic navigation AGV transporting trolley | |
| CN100565550C (en) | Warehouse three dimensions and haulage equipment, carrying object positioning system | |
| CN107284474B (en) | The active positioning method of metallurgic railway rolling stock | |
| CN105347267A (en) | Intelligent forklift system | |
| CN104950895A (en) | Navigation control method of RFID (radio frequency identification) and visual identity navigation vehicle for warehouse logistics | |
| CN202003366U (en) | System for automatically identifying container number and automatically positioning container area and container lot in container loading and unloading operation | |
| CN207791779U (en) | Intelligent shuttle robot | |
| CN201725377U (en) | Multilane vehicle access control system | |
| CN204347908U (en) | A kind of warehousing and storage activities device based on RFID technique |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20130130 |