CN104142683A - Automated guided vehicle navigation method based on two-dimension code positioning - Google Patents
Automated guided vehicle navigation method based on two-dimension code positioning Download PDFInfo
- Publication number
- CN104142683A CN104142683A CN201410296320.6A CN201410296320A CN104142683A CN 104142683 A CN104142683 A CN 104142683A CN 201410296320 A CN201410296320 A CN 201410296320A CN 104142683 A CN104142683 A CN 104142683A
- Authority
- CN
- China
- Prior art keywords
- automatic guide
- dimension code
- guide vehicle
- vehicle
- code label
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title abstract description 17
- 238000004891 communication Methods 0.000 claims description 6
- 239000004744 fabric Substances 0.000 claims description 4
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 3
- 230000007547 defect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
Abstract
The invention provides an automated guided vehicle navigation method based on two-dimension code positioning and relates to the technical field of navigation of automated vehicles. The automated guided vehicle navigation method based on two-dimension code positioning solves the technical problems that according to an existing method, deployment is not convenient, investment cost is high, and paths are not flexible. According to the automated guided vehicle navigation method based on two-dimension code positioning, a two-dimension code label array which is arranged in a mesh mode is attached to the ground of the site where an automated guided vehicle is applied, two-dimension code labels on the ground are obtained through a camera and are recognized when the automated guided vehicle advances, the automated guided vehicle is controlled to advance according to the position information contained in the two-dimension code labels, and thus navigation of the automated guided vehicle is achieved. The automated guided vehicle navigation method based on two-dimension code positioning has the advantages that deployment is convenient, investment cost is low, and the paths are flexible.
Description
Technical field
The present invention relates to automotive vehicle airmanship, particularly relate to a kind of technology of the automatic guide vehicle air navigation aid based on Quick Response Code location.
Background technology
In order to improve the automatization level of factory and the sorting of logistics stockyard, automatic guide vehicle (AGV) is adopted widely.Automatic guide vehicle can move automatically according to the route of instruction, does not need artificial interference, therefore can greatly reduce the cost of labor of factory and logistics stockyard inside transport, and effectively improves conevying efficiency, significantly reduces error rate simultaneously.
On automatic guide vehicle, be all equipped with the vehicle control device of advancing for controlling it, vehicle control device can march to target location according to the path planning control automatic guide vehicle of setting.Existing automatic guide vehicle air navigation aid mainly contains following several:
1) magnetic stripe bootstrap technique, such as disclosing a kind of method and apparatus of electromagnetic guide in the Patent document number Chinese patent literature that is CN102156475, the method was buried magnetic stripe underground going on path of automatic guide vehicle, automatic guide vehicle is advanced along the path of magnetic stripe, the major defect of the method is at applied field construction volume on the ground larger, route is too single simultaneously, cannot change flexibly path;
2) laser aiming method, such as disclosing the navigate mode of a kind of industrial laser aiming AGV in the Patent document number Chinese patent literature that is CN201993646U, the method is arranged label in AGV application place, utilize laser instrument to realize navigation, the major defect of the method is that label is easily blocked, cause navigating malfunctioning, and the input cost of laser instrument is also higher, route is underaction also;
3) magnetic is followed closely in conjunction with RFID method, such as disclosing the AGV air navigation aid of a kind of magnetic stripe in conjunction with RFID in the Patent document number Chinese patent literature that is CN103268116A, the method can represent the coordinate position of vehicle in application place with RFID, route is relatively flexible, but it is problematic in that magnetic is followed closely and RFID laying project amount is larger, and magnetic railings ruler Costco Wholesale is higher.
Summary of the invention
For the defect existing in above-mentioned prior art, it is convenient that technical matters to be solved by this invention is to provide a kind of arrangement, and input cost is low, and the route automatic guide vehicle air navigation aid based on Quick Response Code location flexibly.
In order to solve the problems of the technologies described above, a kind of automatic guide vehicle air navigation aid based on Quick Response Code location provided by the present invention, relate to automatic guide vehicle, camera, vehicle control device are housed on described automatic guide vehicle, and for detection of the wheel speed sensors of automatic guide vehicle driving wheel operating mode, it is characterized in that, concrete grammar is as follows:
For setting an earth axes in the application places ground of automatic guide vehicle, application places ground at automatic guide vehicle posts multiple two-dimension code labels, and it is latticed that the equidistant interval of each two-dimension code label cloth is set as, and is all printed with the Quick Response Code that comprises this label position coordinate figure on every two-dimension code label;
Be provided with instruction transmitting terminal in the application places of automatic guide vehicle, utilize instruction transmitting terminal to issue coordinate figure and the path planning of source location to the vehicle control device on automatic guide vehicle;
When automatic guide vehicle is advanced on application places ground, vehicle control device detects rotating speed and the rotation direction of automatic guide vehicle driving wheel by wheel speed sensors, and catch in real time ground image by camera, analyze in the ground image catching whether include complete two-dimension code label image again, and advance according to analysis result control automatic guide vehicle;
If do not include complete two-dimension code label image in the first frame ground image that vehicle control device captures, export error signal to warning parts, described warning parts are mounted in the parts that can export sound and light alarm signal on automatic guide vehicle, or set up with vehicle control device the communication terminal that has communication link;
If include complete two-dimension code label image in the ground image that vehicle control device captures, vehicle control device is according to this position of two-dimension code label image in ground image, calculate the grid azimuth between automatic guide vehicle and this two-dimension code label, and extract the Quick Response Code in this two-dimension code label from this two-dimension code label image, again extracted Quick Response Code is scaled to the coordinate figure of this two-dimension code label position, then according to the coordinate figure of source location, path planning, grid azimuth between automatic guide vehicle and this two-dimension code label, the coordinate figure of this two-dimension code label position, and the rotating speed of automatic guide vehicle driving wheel, rotation direction, calculate the follow-up direct of travel of automatic guide vehicle, thereby controlling automatic guide vehicle advances,
If do not include complete two-dimension code label image in the ground image that vehicle control device captures, vehicle control device is according to the rotating speed of automatic guide vehicle driving wheel, rotation direction, calculate the follow-up direct of travel of automatic guide vehicle, advance thereby control automatic guide vehicle.
Further, the final position of the path planning that instruction transmitting terminal issues to the vehicle control device on automatic guide vehicle at every turn, is the position that posts two-dimension code label.
Further, light filling source is housed on automatic guide vehicle, this light filling source is an annular luminous source, and camera is arranged on the geometric center of automatic guide vehicle, and the camera lens of camera is downwards just to ground, and the optical axis of camera is through the ring heart in light filling source.
Automatic guide vehicle air navigation aid based on Quick Response Code location provided by the invention, adopt two-dimension code label to identify coordinate position, the deployment of two-dimension code label is simple fast, cost of manufacture is also extremely low, and two-dimension code label is grid and arranges, route is very flexible, all two-dimension code labels can be designed to route through point, automatic guide vehicle utilizes camera to catch two-dimension code label image, when identification two-dimension code label, automatic guide vehicle is positioned at directly over Quick Response Code, having blocked all extraneous light disturbs, provide stable illumination with vehicle self-carrying light source, can greatly improve identification stability.
Brief description of the drawings
Fig. 1 is the schematic diagram of the automatic guide vehicle air navigation aid based on Quick Response Code location of the embodiment of the present invention;
Fig. 2 is the two-dimension code label schematic diagram in the automatic guide vehicle air navigation aid based on Quick Response Code location of the embodiment of the present invention.
Embodiment
Below in conjunction with brief description of the drawings, embodiments of the invention are described in further detail, but the present embodiment is not limited to the present invention, every employing analog structure of the present invention and similar variation thereof, all should list protection scope of the present invention in.
As Figure 1-Figure 2, a kind of automatic guide vehicle air navigation aid based on Quick Response Code location that the embodiment of the present invention provides, relate to automatic guide vehicle 1, on described automatic guide vehicle 1, camera 5, vehicle control device are housed, and for detection of the wheel speed sensors of automatic guide vehicle driving wheel operating mode, it is characterized in that, concrete grammar is as follows:
For setting an earth axes in the application places ground 9 of automatic guide vehicle 1, post multiple two-dimension code labels 2 on the application places ground 9 of automatic guide vehicle, and it is latticed that each two-dimension code label 2 equidistant interval cloth are set as, and is all printed with the Quick Response Code that comprises this label position coordinate figure on every two-dimension code label 2;
Be provided with instruction transmitting terminal 11 in the application places of automatic guide vehicle, utilize instruction transmitting terminal 11 to issue coordinate figure and the path planning 10 of source location B to the vehicle control device on automatic guide vehicle 1, the path planning that instruction transmitting terminal issues should be tried one's best many through two-dimension code label, to ensure that automatic guide vehicle can switch to the operating mode that can capture complete two-dimension code label image by the operating mode that does not capture complete two-dimension code label image at short notice in traveling process;
When automatic guide vehicle 1 is advanced on application places ground 9, vehicle control device detects rotating speed and the rotation direction of automatic guide vehicle driving wheel by wheel speed sensors, and catch in real time ground image by camera 5, analyze in the ground image catching whether include complete two-dimension code label image again, and advance according to analysis result control automatic guide vehicle;
If do not include complete two-dimension code label image in the first frame ground image that vehicle control device captures, export error signal to warning parts, with prompting staff, described warning parts are mounted in hummer, warning lamp etc. on automatic guide vehicle can export the parts of sound and light alarm signal, can be also to set up with vehicle control device the communication terminal that has communication link;
If include complete two-dimension code label image in the ground image that vehicle control device captures, vehicle control device is according to this position of two-dimension code label image in ground image, calculate the grid azimuth between automatic guide vehicle and this two-dimension code label, and extract the Quick Response Code in this two-dimension code label from this two-dimension code label image, again extracted Quick Response Code is scaled to the coordinate figure of this two-dimension code label position, then according to the coordinate figure of source location, path planning, grid azimuth between automatic guide vehicle and this two-dimension code label, the coordinate figure of this two-dimension code label position, and the rotating speed of automatic guide vehicle driving wheel, rotation direction, calculate the follow-up direct of travel of automatic guide vehicle, thereby controlling automatic guide vehicle advances,
If do not include complete two-dimension code label image in the ground image that vehicle control device captures, vehicle control device is according to the rotating speed of automatic guide vehicle driving wheel, rotation direction, calculate the follow-up direct of travel of automatic guide vehicle, thereby controlling automatic guide vehicle advances, due to complete in the rotating speed of automatic guide vehicle driving wheel in this case, rotation direction is calculated the follow-up direct of travel of automatic guide vehicle, therefore can there is error in its result of calculation, this error can be accumulated in time and be increased, only have when including in the ground image that vehicle control device captures after complete two-dimension code label image, can dispose error,
Significantly, in automatic guide vehicle traveling process, two-dimension code label can leave the visual field of camera unavoidably, but because each two-dimension code label is set as latticed at the equidistant interval, application places ground of automatic guide vehicle cloth, so vehicle control device did not capture after complete two-dimension code label image in the short time, complete two-dimension code label image will inevitably be again captured, thereby the error of calculation causing while not capturing complete two-dimension code label image can be removed
In the embodiment of the present invention, when making automatic guide vehicle 1 at every turn from the initial point A of path planning 10, in the first frame ground image that vehicle control device captures, can include complete two-dimension code label image, the final position B of the path planning 10 that instruction transmitting terminal issues to the vehicle control device on automatic guide vehicle at every turn, is the position that posts two-dimension code label.
In the embodiment of the present invention, light filling source is housed on automatic guide vehicle, this light filling source is an annular luminous source, and camera is arranged on the geometric center of automatic guide vehicle, and the camera lens of camera is downwards just to ground, and the optical axis of camera is through the ring heart in light filling source.
In the embodiment of the present invention, described instruction transmitting terminal is computing machine, described vehicle control device is prior art, be specially built-in industrial control machine, vehicle control device connects camera by Ethernet, vehicle control device is by wireless network link order transmitting terminal, and vehicle control device connects wheel speed sensors by CAN bus.
Claims (3)
1. the automatic guide vehicle air navigation aid based on Quick Response Code location, relate to automatic guide vehicle, camera, vehicle control device are housed on described automatic guide vehicle, and for detection of the wheel speed sensors of automatic guide vehicle driving wheel operating mode, it is characterized in that, concrete grammar is as follows:
For setting an earth axes in the application places ground of automatic guide vehicle, application places ground at automatic guide vehicle posts multiple two-dimension code labels, and it is latticed that the equidistant interval of each two-dimension code label cloth is set as, and is all printed with the Quick Response Code that comprises this label position coordinate figure on every two-dimension code label;
Be provided with instruction transmitting terminal in the application places of automatic guide vehicle, utilize instruction transmitting terminal to issue coordinate figure and the path planning of source location to the vehicle control device on automatic guide vehicle;
When automatic guide vehicle is advanced on application places ground, vehicle control device detects rotating speed and the rotation direction of automatic guide vehicle driving wheel by wheel speed sensors, and catch in real time ground image by camera, analyze in the ground image catching whether include complete two-dimension code label image again, and advance according to analysis result control automatic guide vehicle;
If do not include complete two-dimension code label image in the first frame ground image that vehicle control device captures, export error signal to warning parts, described warning parts are mounted in the parts that can export sound and light alarm signal on automatic guide vehicle, or set up with vehicle control device the communication terminal that has communication link;
If include complete two-dimension code label image in the ground image that vehicle control device captures, vehicle control device is according to this position of two-dimension code label image in ground image, calculate the grid azimuth between automatic guide vehicle and this two-dimension code label, and extract the Quick Response Code in this two-dimension code label from this two-dimension code label image, again extracted Quick Response Code is scaled to the coordinate figure of this two-dimension code label position, then according to the coordinate figure of source location, path planning, grid azimuth between automatic guide vehicle and this two-dimension code label, the coordinate figure of this two-dimension code label position, and the rotating speed of automatic guide vehicle driving wheel, rotation direction, calculate the follow-up direct of travel of automatic guide vehicle, thereby controlling automatic guide vehicle advances,
If do not include complete two-dimension code label image in the ground image that vehicle control device captures, vehicle control device is according to the rotating speed of automatic guide vehicle driving wheel, rotation direction, calculate the follow-up direct of travel of automatic guide vehicle, advance thereby control automatic guide vehicle.
2. the automatic guide vehicle air navigation aid based on Quick Response Code location according to claim 1, it is characterized in that: the final position of the path planning that instruction transmitting terminal issues to the vehicle control device on automatic guide vehicle at every turn, is the position that posts two-dimension code label.
3. the automatic guide vehicle air navigation aid based on Quick Response Code location according to claim 1, it is characterized in that: light filling source is housed on automatic guide vehicle, this light filling source is an annular luminous source, camera is arranged on the geometric center of automatic guide vehicle, the camera lens of camera is downwards just to ground, and the optical axis of camera is through the ring heart in light filling source.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410296320.6A CN104142683B (en) | 2013-11-15 | 2014-06-27 | Based on the automatic guide vehicle navigation method of Quick Response Code location |
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013105712718 | 2013-11-15 | ||
| CN201310571271 | 2013-11-15 | ||
| CN201310571271.8 | 2013-11-15 | ||
| CN201410296320.6A CN104142683B (en) | 2013-11-15 | 2014-06-27 | Based on the automatic guide vehicle navigation method of Quick Response Code location |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104142683A true CN104142683A (en) | 2014-11-12 |
| CN104142683B CN104142683B (en) | 2016-06-08 |
Family
ID=51851886
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410296320.6A Active CN104142683B (en) | 2013-11-15 | 2014-06-27 | Based on the automatic guide vehicle navigation method of Quick Response Code location |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104142683B (en) |
Cited By (80)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104834284A (en) * | 2015-03-30 | 2015-08-12 | 江苏现代电力科技股份有限公司 | Automatic production line based on visual identification |
| CN104848858A (en) * | 2015-06-01 | 2015-08-19 | 北京极智嘉科技有限公司 | Two-dimensional code and vision-inert combined navigation system and method for robot |
| CN104932496A (en) * | 2015-05-13 | 2015-09-23 | 浙江德马科技股份有限公司 | Automatic navigation method of carrier |
| CN105243366A (en) * | 2015-10-10 | 2016-01-13 | 北京微尘嘉业科技有限公司 | Two-dimensional code based vehicle positioning method |
| CN105388899A (en) * | 2015-12-17 | 2016-03-09 | 中国科学院合肥物质科学研究院 | An AGV navigation control method based on two-dimension code image tags |
| CN105511471A (en) * | 2016-01-04 | 2016-04-20 | 杭州亚美利嘉科技有限公司 | Method and device of correcting robot terminal driving route deviations |
| CN105511466A (en) * | 2015-12-03 | 2016-04-20 | 上海交通大学 | Two-dimensional code band-based AGV positioning method and system |
| CN105500406A (en) * | 2015-12-25 | 2016-04-20 | 山东建筑大学 | Transformer substation switch box operation mobile robot, working method and system |
| CN105628709A (en) * | 2016-03-28 | 2016-06-01 | 苏州工业园区高泰电子有限公司 | Label bar code grade test equipment and use method thereof |
| CN105823419A (en) * | 2016-05-11 | 2016-08-03 | 上海振华重工电气有限公司 | Reference band for detecting machine visual pose |
| CN105912971A (en) * | 2016-04-01 | 2016-08-31 | 深圳普智联科机器人技术有限公司 | Regular graphic code array for AGV navigation and code reading method thereof |
| CN106054878A (en) * | 2016-06-03 | 2016-10-26 | 中国计量大学 | Inertial guidance vehicle navigation method based on two-dimensional code positioning, and inertial guidance vehicle |
| CN106044645A (en) * | 2016-08-02 | 2016-10-26 | 诺力机械股份有限公司 | Cargo pallet accessing system capable of positioning based on QR code and cargo pallet accessing method capable of positioning based on QR code |
| CN106094822A (en) * | 2016-06-27 | 2016-11-09 | 中国计量大学 | Inertial guide car localization method based on auxiliary locator and inertial guide car |
| CN106227754A (en) * | 2016-07-14 | 2016-12-14 | 中相（海南）信息科技有限公司 | Ground system and method is sought in the retrieval of a kind of accurate information based on augmented reality |
| CN106227249A (en) * | 2016-08-31 | 2016-12-14 | 卧龙电气集团股份有限公司 | A kind of rotary resistance type level detector |
| CN106338289A (en) * | 2016-08-11 | 2017-01-18 | 张满仓 | Robot-based indoor positioning and navigation system and method |
| CN106708051A (en) * | 2017-01-10 | 2017-05-24 | 上海极络智能科技有限公司 | Two-dimensional code-based navigation system and method, navigation marker and navigation controller |
| CN106969766A (en) * | 2017-03-21 | 2017-07-21 | 北京品创智能科技有限公司 | A kind of indoor autonomous navigation method based on monocular vision and Quick Response Code road sign |
| CN106989746A (en) * | 2017-03-27 | 2017-07-28 | 远形时空科技（北京）有限公司 | Air navigation aid and guider |
| CN107065853A (en) * | 2016-12-21 | 2017-08-18 | 深圳若步智能科技有限公司 | A kind of merchandising machine people system and its method of work |
| CN107144852A (en) * | 2017-05-09 | 2017-09-08 | 深圳普智联科机器人技术有限公司 | Towards AGV global Hierarchical Location system and method |
| CN107161644A (en) * | 2017-06-13 | 2017-09-15 | 江苏振邦医用智能装备有限公司 | The control method of intelligent carriage logistics system |
| CN107186476A (en) * | 2017-07-21 | 2017-09-22 | 山东非凡智能科技有限公司 | Intelligent mobile process line and its processing method |
| CN107291072A (en) * | 2016-03-31 | 2017-10-24 | 大族激光科技产业集团股份有限公司 | A kind of mobile robot path planning system and method |
| CN107390694A (en) * | 2017-08-01 | 2017-11-24 | 安徽福的信息技术服务有限公司 | A kind of AGV based on docking power supply dispatches system |
| CN107463173A (en) * | 2017-07-31 | 2017-12-12 | 广州维绅科技有限公司 | AGV air navigation aids of storing in a warehouse and device, computer equipment and storage medium |
| CN107480745A (en) * | 2016-06-08 | 2017-12-15 | 易控自动化科技股份有限公司 | The 2-D barcode system read by automatic guided vehicle |
| CN107479545A (en) * | 2016-06-08 | 2017-12-15 | 易控自动化科技股份有限公司 | The system of automatic guided vehicle |
| CN107531467A (en) * | 2015-05-06 | 2018-01-02 | 克朗设备公司 | Label layout for industrial vehicle operation |
| CN107562059A (en) * | 2017-09-20 | 2018-01-09 | 浙江映美智能装备科技有限公司 | A kind of intelligent carriage tracking system with Quick Response Code site location information |
| CN107595562A (en) * | 2017-09-22 | 2018-01-19 | 华南理工大学 | A kind of indoor blind-guiding stick and its blind-guiding method based on self-identifying mark |
| CN107677287A (en) * | 2017-09-22 | 2018-02-09 | 南京轻力舟智能科技有限公司 | Automatic Guided Vehicle system and dolly based on convolutional neural networks follow line method |
| CN107703937A (en) * | 2017-09-22 | 2018-02-16 | 南京轻力舟智能科技有限公司 | Automatic Guided Vehicle system and its conflict evading method based on convolutional neural networks |
| CN107703936A (en) * | 2017-09-22 | 2018-02-16 | 南京轻力舟智能科技有限公司 | Automatic Guided Vehicle system and dolly localization method based on convolutional neural networks |
| CN107703940A (en) * | 2017-09-25 | 2018-02-16 | 芜湖智久机器人有限公司 | A kind of air navigation aid based on ceiling Quick Response Code |
| CN107727104A (en) * | 2017-08-16 | 2018-02-23 | 北京极智嘉科技有限公司 | Positioning and map building air navigation aid, apparatus and system while with reference to mark |
| CN107766965A (en) * | 2017-09-14 | 2018-03-06 | 华南理工大学 | A kind of express delivery method for sorting based on automatic guide vehicle |
| CN107861505A (en) * | 2017-09-26 | 2018-03-30 | 浠昏开 | AGV dolly control methods |
| CN108073163A (en) * | 2016-11-11 | 2018-05-25 | 中国科学院沈阳计算技术研究所有限公司 | The control method for determining robot exact position is compensated using Quick Response Code value of feedback |
| CN108121332A (en) * | 2016-11-28 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | Indoor mobile robot positioner and method based on Quick Response Code |
| CN108154402A (en) * | 2018-01-16 | 2018-06-12 | 谭希妤 | A kind of specified commodity artificial intelligence guiding inquiry system and application method |
| CN108363386A (en) * | 2017-12-30 | 2018-08-03 | 杭州南江机器人股份有限公司 | Position Method for Indoor Robot, apparatus and system based on Quick Response Code and laser |
| CN108388245A (en) * | 2018-01-26 | 2018-08-10 | 温州大学瓯江学院 | A kind of AGV trolleies indoor positioning navigation system and its control method |
| CN108427423A (en) * | 2018-05-07 | 2018-08-21 | 温州大学瓯江学院 | A kind of unmanned intelligent comprehensive monitoring and dispatching system and its control method of storing in a warehouse |
| CN108455156A (en) * | 2018-01-26 | 2018-08-28 | 温州大学瓯江学院 | A kind of unmanned warehouse intelligence handling goods system and its control method |
| CN108604099A (en) * | 2016-02-16 | 2018-09-28 | 爱知制钢株式会社 | The operational method of working truck system and magnetic mark |
| CN109036098A (en) * | 2018-09-12 | 2018-12-18 | 广州市标准化研究院 | A kind of exponential model verification method |
| WO2018228161A1 (en) * | 2017-06-13 | 2018-12-20 | 湖南云辙科技有限公司 | Rail vehicle control system, rail vehicle, rail system, and transportation system |
| CN109508021A (en) * | 2018-12-29 | 2019-03-22 | 歌尔股份有限公司 | A kind of guidance method of automatic guided vehicle, device and system |
| CN109711503A (en) * | 2018-12-29 | 2019-05-03 | 中国银联股份有限公司 | A kind of robot localization method and device |
| CN109917787A (en) * | 2019-02-25 | 2019-06-21 | 重庆金康动力新能源有限公司 | Fire-fighting emergent system, charging-discharge tester system and its fire-fighting emergent processing method |
| CN109947089A (en) * | 2017-12-20 | 2019-06-28 | 北京京东尚科信息技术有限公司 | Automatic guide vehicle attitude control method and device, automatic guide vehicle |
| CN109976322A (en) * | 2017-12-27 | 2019-07-05 | 核动力运行研究所 | A kind of automatic positioning method for realizing carrier loader in restricted clearance |
| CN110308720A (en) * | 2019-06-21 | 2019-10-08 | 北京三快在线科技有限公司 | A kind of unmanned dispenser and its navigation locating method, device |
| CN110304386A (en) * | 2019-06-28 | 2019-10-08 | 北京极智嘉科技有限公司 | Robot and robot lose the re-positioning method after code |
| CN110580721A (en) * | 2019-09-04 | 2019-12-17 | 吴怡锦 | Continuous area positioning system and method based on global identification map and visual image identification |
| CN110702092A (en) * | 2019-09-10 | 2020-01-17 | 上海快仓智能科技有限公司 | Navigation of an automated guided vehicle |
| CN110716567A (en) * | 2019-10-18 | 2020-01-21 | 上海快仓智能科技有限公司 | Mobile equipment and control method and control device thereof |
| CN110775490A (en) * | 2019-10-29 | 2020-02-11 | 佛山科学技术学院 | Mechanical clamping hand capable of automatically correcting garbage can |
| CN110789888A (en) * | 2019-10-29 | 2020-02-14 | 佛山科学技术学院 | Operation system and method of unmanned feeding garbage truck and garbage truck |
| CN110789887A (en) * | 2019-10-29 | 2020-02-14 | 佛山科学技术学院 | Automatic categorised garbage collection and garbage bin wash multi-functional car |
| CN110817209A (en) * | 2019-11-19 | 2020-02-21 | 佛山科学技术学院 | Road dustbin and garbage truck |
| CN110817208A (en) * | 2019-11-19 | 2020-02-21 | 佛山科学技术学院 | Garbage bin washs handing-over transposition structure |
| CN110817210A (en) * | 2019-11-19 | 2020-02-21 | 佛山科学技术学院 | Totally-enclosed automatic garbage truck manipulator |
| CN110844414A (en) * | 2019-11-19 | 2020-02-28 | 佛山科学技术学院 | Totally-enclosed automatic garbage truck |
| CN111343566A (en) * | 2018-12-19 | 2020-06-26 | 北京京东尚科信息技术有限公司 | Positioning method, positioning device and storage medium |
| CN111950314A (en) * | 2019-05-17 | 2020-11-17 | 锥能机器人（上海）有限公司 | Positioning method and device, machine readable medium and system thereof |
| CN112497218A (en) * | 2020-12-03 | 2021-03-16 | 上海擎朗智能科技有限公司 | Robot pose determination method, device, equipment and medium |
| CN112735116A (en) * | 2020-12-17 | 2021-04-30 | 苏州牧星智能科技有限公司 | AGV (automatic guided vehicle) scheduling system and method based on infrared communication |
| CN112835359A (en) * | 2020-12-24 | 2021-05-25 | 浙江合众新能源汽车有限公司 | AVP control method and device based on visual SLAM technology |
| CN112947397A (en) * | 2019-12-09 | 2021-06-11 | 山西星采科技有限公司 | Automatic driving method of shuttle car and shuttle car |
| CN112965474A (en) * | 2019-11-27 | 2021-06-15 | 深圳市大富科技股份有限公司 | AGV navigation control method and system and storage medium |
| CN113179292A (en) * | 2021-03-02 | 2021-07-27 | 武汉理工大学 | Ship positioning method, system and device based on edge calculation and storage medium |
| CN113183141A (en) * | 2021-06-09 | 2021-07-30 | 乐聚(深圳)机器人技术有限公司 | Walking control method, device, equipment and storage medium for biped robot |
| CN113433951A (en) * | 2021-07-28 | 2021-09-24 | 广东奥普特科技股份有限公司 | AGV forklift intelligent guiding method and AGV forklift intelligent guiding system |
| CN113504779A (en) * | 2021-08-16 | 2021-10-15 | 广东顺力智能物流装备股份有限公司 | AGV unmanned navigation system for intelligent logistics based on identification band identification and navigation method thereof |
| CN113643559A (en) * | 2020-05-11 | 2021-11-12 | 广州汽车集团股份有限公司 | Vehicle positioning method, recognition controller, parking lot central controller and system |
| CN114973758A (en) * | 2022-05-20 | 2022-08-30 | 安徽江淮汽车集团股份有限公司 | Parking auxiliary guiding method based on external visual acquisition and two-dimensional code marking |
| WO2023005301A1 (en) * | 2021-07-28 | 2023-02-02 | 广东奥普特科技股份有限公司 | Agv forklift intelligent guide device, agv forklift intelligent guide method and agv forklift intelligent guide system |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106650873B (en) * | 2016-12-21 | 2020-05-22 | 深圳若步智能科技有限公司 | Identification code, and quick navigation method and system of automatic guided vehicle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6493614B1 (en) * | 2001-12-24 | 2002-12-10 | Samsung Electronics Co., Ltd. | Automatic guided system and control method thereof |
| CN101452292A (en) * | 2008-12-29 | 2009-06-10 | 天津理工大学 | Fish glasses head omnidirectional vision aiming method based on sequence dual-color dot matrix type navigation mark |
| WO2010083473A1 (en) * | 2009-01-17 | 2010-07-22 | Boomerang Systems, Inc. | Omnidirectional drive and steering unit |
| CN103064417A (en) * | 2012-12-21 | 2013-04-24 | 上海交通大学 | Global localization guiding system and method based on multiple sensors |
| CN103294059A (en) * | 2013-05-21 | 2013-09-11 | 无锡普智联科高新技术有限公司 | Hybrid navigation belt based mobile robot positioning system and method thereof |
-
2014
- 2014-06-27 CN CN201410296320.6A patent/CN104142683B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6493614B1 (en) * | 2001-12-24 | 2002-12-10 | Samsung Electronics Co., Ltd. | Automatic guided system and control method thereof |
| CN101452292A (en) * | 2008-12-29 | 2009-06-10 | 天津理工大学 | Fish glasses head omnidirectional vision aiming method based on sequence dual-color dot matrix type navigation mark |
| WO2010083473A1 (en) * | 2009-01-17 | 2010-07-22 | Boomerang Systems, Inc. | Omnidirectional drive and steering unit |
| CN103064417A (en) * | 2012-12-21 | 2013-04-24 | 上海交通大学 | Global localization guiding system and method based on multiple sensors |
| CN103294059A (en) * | 2013-05-21 | 2013-09-11 | 无锡普智联科高新技术有限公司 | Hybrid navigation belt based mobile robot positioning system and method thereof |
Cited By (109)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104834284A (en) * | 2015-03-30 | 2015-08-12 | 江苏现代电力科技股份有限公司 | Automatic production line based on visual identification |
| CN107531467A (en) * | 2015-05-06 | 2018-01-02 | 克朗设备公司 | Label layout for industrial vehicle operation |
| CN104932496A (en) * | 2015-05-13 | 2015-09-23 | 浙江德马科技股份有限公司 | Automatic navigation method of carrier |
| CN104848858A (en) * | 2015-06-01 | 2015-08-19 | 北京极智嘉科技有限公司 | Two-dimensional code and vision-inert combined navigation system and method for robot |
| CN104848858B (en) * | 2015-06-01 | 2018-07-20 | 北京极智嘉科技有限公司 | Quick Response Code and be used for robotic vision-inertia combined navigation system and method |
| CN108489486A (en) * | 2015-06-01 | 2018-09-04 | 北京极智嘉科技有限公司 | Quick Response Code and be used for robotic vision-inertia combined navigation system and method |
| CN105243366A (en) * | 2015-10-10 | 2016-01-13 | 北京微尘嘉业科技有限公司 | Two-dimensional code based vehicle positioning method |
| CN105511466A (en) * | 2015-12-03 | 2016-04-20 | 上海交通大学 | Two-dimensional code band-based AGV positioning method and system |
| CN105511466B (en) * | 2015-12-03 | 2019-01-25 | 上海交通大学 | AGV localization method and system based on two dimensional code band |
| CN105388899B (en) * | 2015-12-17 | 2018-01-16 | 中国科学院合肥物质科学研究院 | A kind of AGV navigation control methods based on image in 2 D code label |
| CN105388899A (en) * | 2015-12-17 | 2016-03-09 | 中国科学院合肥物质科学研究院 | An AGV navigation control method based on two-dimension code image tags |
| CN105500406A (en) * | 2015-12-25 | 2016-04-20 | 山东建筑大学 | Transformer substation switch box operation mobile robot, working method and system |
| CN105500406B (en) * | 2015-12-25 | 2017-07-28 | 山东建筑大学 | A kind of transformer substation system |
| CN105511471A (en) * | 2016-01-04 | 2016-04-20 | 杭州亚美利嘉科技有限公司 | Method and device of correcting robot terminal driving route deviations |
| CN105511471B (en) * | 2016-01-04 | 2018-05-08 | 杭州亚美利嘉科技有限公司 | A kind of method and device for correcting of robot terminal travel route deviation |
| CN108604099A (en) * | 2016-02-16 | 2018-09-28 | 爱知制钢株式会社 | The operational method of working truck system and magnetic mark |
| CN108604099B (en) * | 2016-02-16 | 2021-12-21 | 爱知制钢株式会社 | Work vehicle system and work method of magnetic marker |
| CN105628709A (en) * | 2016-03-28 | 2016-06-01 | 苏州工业园区高泰电子有限公司 | Label bar code grade test equipment and use method thereof |
| CN107291072A (en) * | 2016-03-31 | 2017-10-24 | 大族激光科技产业集团股份有限公司 | A kind of mobile robot path planning system and method |
| CN105912971B (en) * | 2016-04-01 | 2018-04-24 | 深圳普智联科机器人技术有限公司 | A kind of rule schema shape code code array 1 system and its reading code method for AGV navigation |
| CN105912971A (en) * | 2016-04-01 | 2016-08-31 | 深圳普智联科机器人技术有限公司 | Regular graphic code array for AGV navigation and code reading method thereof |
| CN105823419B (en) * | 2016-05-11 | 2019-07-12 | 上海振华重工电气有限公司 | Reference band for the detection of machine vision pose |
| CN105823419A (en) * | 2016-05-11 | 2016-08-03 | 上海振华重工电气有限公司 | Reference band for detecting machine visual pose |
| CN106054878B (en) * | 2016-06-03 | 2022-12-16 | 中国计量大学 | Inertial guidance vehicle navigation method based on two-dimensional code positioning and inertial guidance vehicle |
| CN106054878A (en) * | 2016-06-03 | 2016-10-26 | 中国计量大学 | Inertial guidance vehicle navigation method based on two-dimensional code positioning, and inertial guidance vehicle |
| CN107480745A (en) * | 2016-06-08 | 2017-12-15 | 易控自动化科技股份有限公司 | The 2-D barcode system read by automatic guided vehicle |
| CN107479545A (en) * | 2016-06-08 | 2017-12-15 | 易控自动化科技股份有限公司 | The system of automatic guided vehicle |
| CN106094822B (en) * | 2016-06-27 | 2022-12-16 | 中国计量大学 | Inertial guided vehicle positioning method based on auxiliary positioning device and inertial guided vehicle |
| CN106094822A (en) * | 2016-06-27 | 2016-11-09 | 中国计量大学 | Inertial guide car localization method based on auxiliary locator and inertial guide car |
| CN106227754A (en) * | 2016-07-14 | 2016-12-14 | 中相（海南）信息科技有限公司 | Ground system and method is sought in the retrieval of a kind of accurate information based on augmented reality |
| CN106044645A (en) * | 2016-08-02 | 2016-10-26 | 诺力机械股份有限公司 | Cargo pallet accessing system capable of positioning based on QR code and cargo pallet accessing method capable of positioning based on QR code |
| CN106044645B (en) * | 2016-08-02 | 2018-07-17 | 诺力机械股份有限公司 | A kind of cargo pallet access system and its access method based on Quick Response Code positioning |
| CN106338289A (en) * | 2016-08-11 | 2017-01-18 | 张满仓 | Robot-based indoor positioning and navigation system and method |
| CN106227249B (en) * | 2016-08-31 | 2022-12-09 | 卧龙电气驱动集团股份有限公司 | Rotary resistance type material level indicator |
| CN106227249A (en) * | 2016-08-31 | 2016-12-14 | 卧龙电气集团股份有限公司 | A kind of rotary resistance type level detector |
| CN108073163A (en) * | 2016-11-11 | 2018-05-25 | 中国科学院沈阳计算技术研究所有限公司 | The control method for determining robot exact position is compensated using Quick Response Code value of feedback |
| CN108121332A (en) * | 2016-11-28 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | Indoor mobile robot positioner and method based on Quick Response Code |
| CN107065853B (en) * | 2016-12-21 | 2020-02-14 | 深圳若步智能科技有限公司 | Logistics robot system and working method thereof |
| CN107065853A (en) * | 2016-12-21 | 2017-08-18 | 深圳若步智能科技有限公司 | A kind of merchandising machine people system and its method of work |
| CN106708051A (en) * | 2017-01-10 | 2017-05-24 | 上海极络智能科技有限公司 | Two-dimensional code-based navigation system and method, navigation marker and navigation controller |
| CN106708051B (en) * | 2017-01-10 | 2023-04-18 | 北京极智嘉科技股份有限公司 | Navigation system and method based on two-dimensional code, navigation marker and navigation controller |
| CN106969766A (en) * | 2017-03-21 | 2017-07-21 | 北京品创智能科技有限公司 | A kind of indoor autonomous navigation method based on monocular vision and Quick Response Code road sign |
| CN106989746A (en) * | 2017-03-27 | 2017-07-28 | 远形时空科技（北京）有限公司 | Air navigation aid and guider |
| CN107144852A (en) * | 2017-05-09 | 2017-09-08 | 深圳普智联科机器人技术有限公司 | Towards AGV global Hierarchical Location system and method |
| WO2018228161A1 (en) * | 2017-06-13 | 2018-12-20 | 湖南云辙科技有限公司 | Rail vehicle control system, rail vehicle, rail system, and transportation system |
| CN107161644B (en) * | 2017-06-13 | 2018-11-20 | 江苏振邦医用智能装备有限公司 | The control method of intelligent carriage logistics system |
| CN107161644A (en) * | 2017-06-13 | 2017-09-15 | 江苏振邦医用智能装备有限公司 | The control method of intelligent carriage logistics system |
| CN107186476A (en) * | 2017-07-21 | 2017-09-22 | 山东非凡智能科技有限公司 | Intelligent mobile process line and its processing method |
| CN107186476B (en) * | 2017-07-21 | 2023-08-15 | 山东非凡智能科技有限公司 | Intelligent movable processing line and processing method thereof |
| CN107463173A (en) * | 2017-07-31 | 2017-12-12 | 广州维绅科技有限公司 | AGV air navigation aids of storing in a warehouse and device, computer equipment and storage medium |
| CN107390694A (en) * | 2017-08-01 | 2017-11-24 | 安徽福的信息技术服务有限公司 | A kind of AGV based on docking power supply dispatches system |
| CN107390694B (en) * | 2017-08-01 | 2020-08-11 | 安徽福的信息技术服务有限公司 | AGV dispatching system based on butt joint power supply |
| CN107727104A (en) * | 2017-08-16 | 2018-02-23 | 北京极智嘉科技有限公司 | Positioning and map building air navigation aid, apparatus and system while with reference to mark |
| US11340628B2 (en) | 2017-08-16 | 2022-05-24 | Beijing Geekplus Technology Co., Ltd. | Marker-combined simultaneous localization and mapping navigation method, device and system |
| CN107727104B (en) * | 2017-08-16 | 2019-04-30 | 北京极智嘉科技有限公司 | Positioning and map building air navigation aid, apparatus and system while in conjunction with mark |
| WO2019034115A1 (en) * | 2017-08-16 | 2019-02-21 | 北京极智嘉科技有限公司 | Label incorporating simultaneous localization and mapping navigation method, device and system |
| CN107766965B (en) * | 2017-09-14 | 2021-07-16 | 华南理工大学 | Express sorting method based on automatic guided vehicle |
| CN107766965A (en) * | 2017-09-14 | 2018-03-06 | 华南理工大学 | A kind of express delivery method for sorting based on automatic guide vehicle |
| CN107562059A (en) * | 2017-09-20 | 2018-01-09 | 浙江映美智能装备科技有限公司 | A kind of intelligent carriage tracking system with Quick Response Code site location information |
| CN107595562A (en) * | 2017-09-22 | 2018-01-19 | 华南理工大学 | A kind of indoor blind-guiding stick and its blind-guiding method based on self-identifying mark |
| CN107703937A (en) * | 2017-09-22 | 2018-02-16 | 南京轻力舟智能科技有限公司 | Automatic Guided Vehicle system and its conflict evading method based on convolutional neural networks |
| CN107703936A (en) * | 2017-09-22 | 2018-02-16 | 南京轻力舟智能科技有限公司 | Automatic Guided Vehicle system and dolly localization method based on convolutional neural networks |
| CN107677287A (en) * | 2017-09-22 | 2018-02-09 | 南京轻力舟智能科技有限公司 | Automatic Guided Vehicle system and dolly based on convolutional neural networks follow line method |
| CN107703940A (en) * | 2017-09-25 | 2018-02-16 | 芜湖智久机器人有限公司 | A kind of air navigation aid based on ceiling Quick Response Code |
| CN107861505A (en) * | 2017-09-26 | 2018-03-30 | 浠昏开 | AGV dolly control methods |
| CN109947089A (en) * | 2017-12-20 | 2019-06-28 | 北京京东尚科信息技术有限公司 | Automatic guide vehicle attitude control method and device, automatic guide vehicle |
| CN109947089B (en) * | 2017-12-20 | 2024-04-19 | 北京京东乾石科技有限公司 | Automatic guided vehicle attitude control method and device and automatic guided vehicle |
| CN109976322A (en) * | 2017-12-27 | 2019-07-05 | 核动力运行研究所 | A kind of automatic positioning method for realizing carrier loader in restricted clearance |
| CN108363386A (en) * | 2017-12-30 | 2018-08-03 | 杭州南江机器人股份有限公司 | Position Method for Indoor Robot, apparatus and system based on Quick Response Code and laser |
| CN108154402A (en) * | 2018-01-16 | 2018-06-12 | 谭希妤 | A kind of specified commodity artificial intelligence guiding inquiry system and application method |
| CN108388245A (en) * | 2018-01-26 | 2018-08-10 | 温州大学瓯江学院 | A kind of AGV trolleies indoor positioning navigation system and its control method |
| CN108455156A (en) * | 2018-01-26 | 2018-08-28 | 温州大学瓯江学院 | A kind of unmanned warehouse intelligence handling goods system and its control method |
| CN108427423A (en) * | 2018-05-07 | 2018-08-21 | 温州大学瓯江学院 | A kind of unmanned intelligent comprehensive monitoring and dispatching system and its control method of storing in a warehouse |
| CN109036098A (en) * | 2018-09-12 | 2018-12-18 | 广州市标准化研究院 | A kind of exponential model verification method |
| CN111343566A (en) * | 2018-12-19 | 2020-06-26 | 北京京东尚科信息技术有限公司 | Positioning method, positioning device and storage medium |
| CN109508021A (en) * | 2018-12-29 | 2019-03-22 | 歌尔股份有限公司 | A kind of guidance method of automatic guided vehicle, device and system |
| CN109711503A (en) * | 2018-12-29 | 2019-05-03 | 中国银联股份有限公司 | A kind of robot localization method and device |
| CN109917787A (en) * | 2019-02-25 | 2019-06-21 | 重庆金康动力新能源有限公司 | Fire-fighting emergent system, charging-discharge tester system and its fire-fighting emergent processing method |
| CN111950314A (en) * | 2019-05-17 | 2020-11-17 | 锥能机器人（上海）有限公司 | Positioning method and device, machine readable medium and system thereof |
| CN110308720A (en) * | 2019-06-21 | 2019-10-08 | 北京三快在线科技有限公司 | A kind of unmanned dispenser and its navigation locating method, device |
| CN110304386A (en) * | 2019-06-28 | 2019-10-08 | 北京极智嘉科技有限公司 | Robot and robot lose the re-positioning method after code |
| CN110580721A (en) * | 2019-09-04 | 2019-12-17 | 吴怡锦 | Continuous area positioning system and method based on global identification map and visual image identification |
| CN110702092A (en) * | 2019-09-10 | 2020-01-17 | 上海快仓智能科技有限公司 | Navigation of an automated guided vehicle |
| CN110716567A (en) * | 2019-10-18 | 2020-01-21 | 上海快仓智能科技有限公司 | Mobile equipment and control method and control device thereof |
| CN110789887A (en) * | 2019-10-29 | 2020-02-14 | 佛山科学技术学院 | Automatic categorised garbage collection and garbage bin wash multi-functional car |
| CN110789888A (en) * | 2019-10-29 | 2020-02-14 | 佛山科学技术学院 | Operation system and method of unmanned feeding garbage truck and garbage truck |
| CN110775490A (en) * | 2019-10-29 | 2020-02-11 | 佛山科学技术学院 | Mechanical clamping hand capable of automatically correcting garbage can |
| CN110817210A (en) * | 2019-11-19 | 2020-02-21 | 佛山科学技术学院 | Totally-enclosed automatic garbage truck manipulator |
| CN110844414A (en) * | 2019-11-19 | 2020-02-28 | 佛山科学技术学院 | Totally-enclosed automatic garbage truck |
| CN110817209A (en) * | 2019-11-19 | 2020-02-21 | 佛山科学技术学院 | Road dustbin and garbage truck |
| CN110817208A (en) * | 2019-11-19 | 2020-02-21 | 佛山科学技术学院 | Garbage bin washs handing-over transposition structure |
| CN112965474A (en) * | 2019-11-27 | 2021-06-15 | 深圳市大富科技股份有限公司 | AGV navigation control method and system and storage medium |
| CN112947397A (en) * | 2019-12-09 | 2021-06-11 | 山西星采科技有限公司 | Automatic driving method of shuttle car and shuttle car |
| CN112947397B (en) * | 2019-12-09 | 2023-01-31 | 山西星采科技有限公司 | Automatic driving method of shuttle car and shuttle car |
| CN113643559A (en) * | 2020-05-11 | 2021-11-12 | 广州汽车集团股份有限公司 | Vehicle positioning method, recognition controller, parking lot central controller and system |
| CN112497218A (en) * | 2020-12-03 | 2021-03-16 | 上海擎朗智能科技有限公司 | Robot pose determination method, device, equipment and medium |
| CN114734450B (en) * | 2020-12-03 | 2024-05-17 | 上海擎朗智能科技有限公司 | Robot pose determining method, device, equipment and medium |
| CN112497218B (en) * | 2020-12-03 | 2022-04-12 | 上海擎朗智能科技有限公司 | Robot pose determination method, device, equipment and medium |
| CN114734450A (en) * | 2020-12-03 | 2022-07-12 | 上海擎朗智能科技有限公司 | Robot pose determination method, device, equipment and medium |
| CN112735116A (en) * | 2020-12-17 | 2021-04-30 | 苏州牧星智能科技有限公司 | AGV (automatic guided vehicle) scheduling system and method based on infrared communication |
| CN112835359A (en) * | 2020-12-24 | 2021-05-25 | 浙江合众新能源汽车有限公司 | AVP control method and device based on visual SLAM technology |
| CN113179292A (en) * | 2021-03-02 | 2021-07-27 | 武汉理工大学 | Ship positioning method, system and device based on edge calculation and storage medium |
| CN113183141A (en) * | 2021-06-09 | 2021-07-30 | 乐聚(深圳)机器人技术有限公司 | Walking control method, device, equipment and storage medium for biped robot |
| WO2023005301A1 (en) * | 2021-07-28 | 2023-02-02 | 广东奥普特科技股份有限公司 | Agv forklift intelligent guide device, agv forklift intelligent guide method and agv forklift intelligent guide system |
| CN113433951A (en) * | 2021-07-28 | 2021-09-24 | 广东奥普特科技股份有限公司 | AGV forklift intelligent guiding method and AGV forklift intelligent guiding system |
| CN113433951B (en) * | 2021-07-28 | 2024-03-29 | 广东奥普特科技股份有限公司 | AGV fork truck intelligent guiding method and AGV fork truck intelligent guiding system |
| CN113504779A (en) * | 2021-08-16 | 2021-10-15 | 广东顺力智能物流装备股份有限公司 | AGV unmanned navigation system for intelligent logistics based on identification band identification and navigation method thereof |
| CN114973758B (en) * | 2022-05-20 | 2024-05-07 | 安徽江淮汽车集团股份有限公司 | Parking auxiliary guiding method based on external vision acquisition and two-dimensional code marking |
| CN114973758A (en) * | 2022-05-20 | 2022-08-30 | 安徽江淮汽车集团股份有限公司 | Parking auxiliary guiding method based on external visual acquisition and two-dimensional code marking |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104142683B (en) | 2016-06-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104142683A (en) | Automated guided vehicle navigation method based on two-dimension code positioning | |
| CN108388245B (en) | AGV trolley indoor positioning navigation system and control method thereof | |
| CN113557207A (en) | System and method for vehicle position calibration using rack post identification and mast swing compensation | |
| US9020666B2 (en) | Taking-off and landing target instrument and automatic taking-off and landing system | |
| CN105737820B (en) | A kind of Indoor Robot positioning navigation method | |
| CN109823552B (en) | Vision-based unmanned aerial vehicle accurate landing method, storage medium, device and system | |
| CN107422735A (en) | A kind of trackless navigation AGV laser and visual signature hybrid navigation method | |
| CN112991791B (en) | Traffic information identification and intelligent driving method, device, equipment and storage medium | |
| CN109460029A (en) | Livestock and poultry cultivation place inspection mobile platform and its control method | |
| WO2017118147A1 (en) | Intelligent optical distribution network (odn) device management system and method applied to odn | |
| CN105518377A (en) | Gas leakage processing method and apparatus, and air vehicle | |
| CN106054878A (en) | Inertial guidance vehicle navigation method based on two-dimensional code positioning, and inertial guidance vehicle | |
| CN112424721A (en) | System and method for vehicle position calibration using rack leg identification | |
| CN101984382A (en) | Method for intelligently inspection substation equipment by using robot | |
| CN103995534A (en) | Mobile path control system and control method for patrolling robot | |
| CN108710381A (en) | A kind of servo-actuated landing method of unmanned plane | |
| CN101566471A (en) | Intelligent vehicular visual global positioning method based on ground texture | |
| CN104089616A (en) | Mobile robot positioning system | |
| CN110450775A (en) | Unmanned driving equipment and method | |
| US20170023351A1 (en) | Illuminance Measuring System | |
| CN104269056A (en) | Method and system for accurately positioning vehicle passing checkpoint | |
| CN104504905B (en) | A kind of method that track of vehicle and speed are identified | |
| CN204883363U (en) | AGV transport robot navigation system that laser guidance map found | |
| CN207389586U (en) | Aircraft lands pessum lamp array | |
| CN108458707B (en) | Autonomous positioning method and positioning system of operating robot in multi-pendulous pipeline scene |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |