CN104597905B - Route tracking method for magnetic navigation AGV - Google Patents
Route tracking method for magnetic navigation AGV Download PDFInfo
- Publication number
- CN104597905B CN104597905B CN201510015917.3A CN201510015917A CN104597905B CN 104597905 B CN104597905 B CN 104597905B CN 201510015917 A CN201510015917 A CN 201510015917A CN 104597905 B CN104597905 B CN 104597905B
- Authority
- CN
- China
- Prior art keywords
- sensor
- point
- agv
- longitudinal
- signal output
- 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.)
- Active
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a route tracking method for a magnetic navigation AGV (Automatic Guided Vehicle). The route tracking method comprises the following steps of: step1, judging whether signals are output by two middle points of a horizontal detection sensor and all points of a longitudinal sensor; step2, based on step1, if so, directly entering step7; step3, based on step2, if not, judging signals are output by some points of the horizontal sensor; step4, based on step3, simultaneously judging whether a first point is included in output points of longitudinal signals, if so, directly entering step7; step5; step6, outputting the calculated controlled quantity to two control motors to perform correcting procedures, and judging whether to enter an approach posture; step7, when meeting the condition of the approach posture, keeping the revolving speed of one driving wheel unchanged and the revolving speed of the other driving wheel reverse by a primary revolving speed. The control precision of the AGV is greatly improved by the route tracking method.
Description
Technical field
The present invention relates to automatic Guided Vehicle field, particularly to a kind of path following method of magnetic navigation AGV.
Background technology
AGV is automatic Guided Vehicle (Automated Guided Vehicle), refers to be equipped with electromagnetic or optical etc.
Homing guidance is equipped, and can have safeguard protection and the transport vehicle of various transplanting function, belong to wheel along regulation route
The category of formula mobile robot.Existing AGV magnetic navigation control mode, great majority adopt single or double sensor array.
Such sensor arrangement although also can make AGV along magnetic track run, but due on sensor Hall element it
Apart from the reason so that the range deviation calculating and angular deviation have certain error；Most correction process at present
Comparatively laborious, the state demarcation of AGV more although can real-time deviation correcting, but be the increase in the processor active task amount of controller；Using list
During pure single sensor, when AGV is in centre position, the angular deviation of accurate mark reflection now AGV, having can
AGV can be made to cross tape, lead to AGV to do micro swing near magnetic wire.
The information being disclosed in this background section is merely intended to increase the understanding of the general background to the present invention, and should not
Recognize when being considered or imply in any form that this information structure has been the prior art well known to persons skilled in the art.
Content of the invention
It is an object of the invention to provide a kind of path following method of the magnetic navigation AGV of simple and reasonable steps, this magnetic conductance
The path following method of boat AGV adopts the sensor group of T-shaped layout, by comprehensive lateral pickup and longitudinal sensor
Signal output position judges the attitude of AGV；AGV is made to enter poised state with different control strategies under different attitudes, effectively
Solve detects angular deviation when close to attitude for the AGV so that the control accuracy of AGV greatly improves, and also makes dynamic simultaneously
State stability also improves a lot.
For achieving the above object, the invention provides the path following method of magnetic navigation AGV, this magnetic navigation AGV is using in T
The horizontal detection sensor of font layout and longitudinal sensor, and the signal by comprehensive lateral pickup and longitudinal sensor
Carry-out bit judges the attitude of this magnetic navigation AGV, makes AGV enter poised state with different control strategies under different attitudes；
This path following method comprises the following steps：Step 1, judges two points and longitudinal direction in the middle of horizontal detection sensor
Whether the institute of sensor a little has signal output；Step 2, based on step 1, if it is not, then judge whether horizontal detection sensor
With the presence of signal output and longitudinal detection sensor no signal is defeated for first point of middle two points and longitudinal detection sensor
The point going out；If directly jumping into step 7；Step 3, based on step 2, if it is not, then judge that there is letter which position of lateral pickup
Number output；Step 4, based on step 3, judges whether longitudinal signal output point has first point simultaneously, if directly jumping into step
Rapid 7；Step 5, based on step 4, if conclusion is no, calculates the now range deviation of car body and angular deviation, calculates simultaneously
Go out correction radius and the motor speed increment of car body；Step 6, the controlled quentity controlled variable being computed out exports and executes to two controlled motors
Correction process, and judge whether to enter into close to attitude；Step 7, if meet the condition close to attitude, two driving wheels of car body
One of wheel speed keep constant and another wheel with original rotating speed reversion, until all of point of longitudinal detection sensor
Till having signal output, the rotating speed of two driving wheels reverts to the speed that the car body of setting advances.
Preferably, in technique scheme, the shape of the magnetic navigation AGV that horizontal detection sensor and longitudinal sensor detect
State includes：
First kind state：Statokinetic, refers to that the close circle of sensor group has remaining of signal output and longitudinal sensor
All detector units have signal output；
Equations of The Second Kind state：Extreme attitude, refers to the centre two point no signal output of horizontal detection sensor and longitudinally examines
Survey the output of first point no signal of sensor, correction strategy in this case is, calculate the range deviation of AGV now and
Angular deviation, then obtain correction radius and controlled quentity controlled variable；
3rd class state：Close to attitude, now centre two point of horizontal detection sensor and longitudinal detection sensor
First point all has signal output.
Preferably, in technique scheme, longitudinal sensor is overlapped with the center line of magnetic navigation AGV, described magnetic navigation AGV
Center line refer in dolly chassis plane through the midpoint of two driving wheel axis and the line perpendicular to two driving wheel axis；Institute
State first point detection signal through longitudinal sensor for the axis of two driving wheels.
Preferably, in technique scheme, range deviation refers to that described first Hall element of longitudinal sensor projects to
Point on ground and the vertical range of magnetic stripe direction line, described angular deviation refers to described AGV car body center line and magnetic stripe side
Angle to line.
Preferably, in technique scheme, in the middle of lateral pickup, two points and longitudinal sensor sense near horizontal
First point of device all close to circle circumference on, close to diameter of a circle for tape width.
Compared with prior art, the present invention has the advantages that：The path following method of this magnetic navigation AGV adopts T
The sensor group of font layout, judges the attitude of AGV by the signal output position of comprehensive lateral pickup and longitudinal sensor；
AGV is made to enter poised state with different control strategies under different attitudes, efficiently solve detects AGV close to attitude
When angular deviation so that the control accuracy of AGV greatly improves, so that dynamic stability is also improved much simultaneously.
Brief description
Fig. 1 is a kind of AGV automatic deviation correction control flow chart that the present invention provides；
Fig. 2 is the arrangement of a kind of T-shaped sensor that the present invention provides；
Fig. 3 is AGV attitude schematic diagram during a kind of extreme attitude of present invention offer；
Fig. 4 be the present invention provide a kind of close to attitude when AGV attitude schematic diagram；
Fig. 5 is a kind of AGV attitude schematic diagram when equilbrium position that the present invention provides.
Specific embodiment
Below in conjunction with the accompanying drawings, the specific embodiment of the present invention is described in detail, it is to be understood that the guarantor of the present invention
Shield scope is not limited by specific embodiment.
Explicitly indicate that unless otherwise other, otherwise in entire disclosure and claims, term " inclusion " or its change
Change such as "comprising" or " including " etc. and will be understood to comprise stated element or part, and do not exclude other units
Part or other part.
As shown in figure 1, walking according to below the inclusion of the path following method of the magnetic navigation AGV of the specific embodiment of the invention
Suddenly：
Step 1, judges whether the institute of two points and longitudinal sensor in the middle of horizontal detection sensor a little has signal defeated
Go out；
The sensor group (horizontal detection sensor and longitudinal sensor) that the path following method of this magnetic navigation AGV adopts is in
T-shaped layout；The attitude of AGV is judged by the signal output position of comprehensive lateral pickup and longitudinal sensor；In different appearances
AGV is made to enter poised state with different control strategies under state；The state of the AGV that two sensors detect includes following
Aspect：
First kind state：Statokinetic, refers to that the close circle of sensor group has remaining of signal output and longitudinal sensor
All detector units have signal output, and now, the speed increment △ V of controlled motor is zero.
Equations of The Second Kind state：Extreme attitude, refers to the centre two point no signal output of horizontal detection sensor and longitudinally examines
Survey first point no signal output of sensor.Correction strategy in this case is to calculate the range deviation ed of AGV now
With angular deviation e α, then obtain correction radius R and controlled quentity controlled variable △ V, because the scan frequency of described AGV controller is larger, thus
Described four parameter ed, e α, R, △ V in this correction stage be change according to scan frequency and sensor signal output point and
Change.
3rd class state：Close to attitude, now centre two point of horizontal detection sensor and longitudinal detection sensor
First point all has signal output.
The longitudinal sensor of described sensor group is overlapped with the center line of dolly, and the center line of described dolly refers in dolly
Line through the midpoint of two driving wheel axis and perpendicular to two driving wheel axis in chassis plane；The axis of two described driving wheels
First point detection signal (Hall element) through longitudinal sensor；
Refer to the attached drawing 2, taking 8 magneto-dependent sensors as a example, the layout of T-shaped sensor, the centre of lateral pickup 6 two
The point circumference 7 on same circumference 7 and described with first point 3 of one end of close lateral pickup of longitudinal sensor 2
A diameter of tape width.The present invention is collectively referred to as what these three test points formed close to circle；When longitudinal sensor 2 is installed
Overlap with the center line 8 of described dolly 1, and the axis of two driving wheels 5 is close horizontal through described longitudinal sensor 2
First point 3 of sensor side.
The width of described tape is advisable with just there being two point signal outputs at the setting height(from bottom) of sensor.
The signal detecting is sent to host computer analysis and processes by described sensor group, and described host computer can be
PLC or 51 series monolithics or motion controller.
Refer to the attached drawing 3, after described upper computer detection to signal, first whether first point of analysis longitudinal sensor has letter
Number output, if not having, need to calculate the angular deviation e of at this time AGVαWith range deviation ed, it is respectively adopted following side
Formula calculates：
ed=L2·sin(eα)
In the middle of above-mentioned formula, L1The median average of signal output point referring to lateral pickup is to its middle 2 points of midpoint
Distance, L2Refer to, the distance at the midpoint of the point having signal output of longitudinal sensor to its first point.
Described host computer calculates eαAnd edAfter, calculate correction radius R and motor control amount Δ in the following manner
V：
In above formula, L refers to the distance between AGV two-wheeled, and V refers to the linear velocity of car body movement.
In conjunction with accompanying drawing 4, after above-mentioned correction, AGV can enter into close to attitude, and now described host computer can be to wherein
One motor, with contrary rotating speed, makes rotation one angle in AGV original place have signal until all test points of longitudinal sensor
Output.
In conjunction with accompanying drawing 5, when AGV enters into poised state, lateral pickup only have in the middle of two points have signal output and
Signal output that longitudinal sensor a little has, at this moment, to the signal all same of two motors, AGV is steadily forward for host computer.
First point no signal output of longitudinal sensor, the correction strategy under attitude is to calculate in real time and work as to AGV again
The range deviation ed of front AGV and angular deviation e α, then obtain correction radius R and controlled quentity controlled variable △ V, due to described AGV controller
Scan frequency is larger, therefore described four parameter ed, e α, R, △ V in this correction stage are according to scan frequency and sensor
The change of signal output point and change, be so conducive to dolly smoothly to enter next state.
Step 2, based on step 1, if it is not, then judging whether centre two point of horizontal detection sensor and longitudinally detecting
First point of sensor with the presence of signal output and the output of longitudinal detection sensor no signal point；If directly jumping into step
Rapid 7；
Step 3, based on step 2, if it is not, then judge that there is signal output which position of lateral pickup；
Step 4, based on step 3, judges whether longitudinal signal output point has first point simultaneously, if directly jumping into step
Rapid 7；
Step 5, based on step 4, if conclusion is no, calculates the range deviation ed and angular deviation e α of now car body,
Calculate the correction radius R and motor speed increment △ V of car body simultaneously；
Described range deviation refers to that described first Hall element of longitudinal sensor projects to point and magnetic stripe on ground
The vertical range of direction line, described angular deviation refers to the angle of described AGV car body center line and magnetic stripe direction line；
Step 6, the controlled quentity controlled variable being computed out exports and executes correction process to two controlled motors.And judge whether to enter
To close to attitude.
Step 7, if meeting the condition close to attitude, the one of wheel speed of two driving wheels of car body keep constant and
Another wheel is with original rotating speed reversion, till all of point of longitudinal detection sensor has signal output, two drivings
The rotating speed of wheel reverts to the speed that the car body of setting advances.
To sum up, the path following method of this magnetic navigation AGV adopts the sensor group of T-shaped layout, is laterally passed by comprehensive
The signal output position of sensor and longitudinal sensor judges the attitude of AGV；Make AGV with different control strategies under different attitudes
Enter poised state, efficiently solve detects angular deviation when close to attitude for the AGV so that the control accuracy of AGV is big
Big raising, also makes dynamic stability also improve much simultaneously.
The description of the aforementioned specific illustrative embodiment to the present invention illustrate that and illustration purpose.These descriptions
It is not wishing to limit the invention to disclosed precise forms, and it will be apparent that according to above-mentioned teaching, can much be changed
And change.The purpose of selecting and describing the exemplary embodiment is that explaining that the certain principles of the present invention and its reality should
With so that those skilled in the art be capable of and utilize the present invention various different exemplary and
Various different selections and change.The scope of the present invention is intended to be limited by claims and its equivalents.
Claims (3)
1. a kind of path following method of magnetic navigation AGV it is characterised in that
This magnetic navigation AGV adopts horizontal detection sensor and the longitudinal sensor of layout in T shape, and is laterally sensed by comprehensive
The signal output position of device and longitudinal sensor judges the attitude of this magnetic navigation AGV, with different control plans under different attitudes
AGV is slightly made to enter poised state；
This path following method comprises the following steps：
Step 1, judges whether the institute of two points and longitudinal sensor in the middle of horizontal detection sensor a little has signal output；
Step 2, based on step 1, if it is not, then judging whether centre two point of horizontal detection sensor and longitudinally detecting sensing
First point of device with the presence of signal output and the output of longitudinal detection sensor no signal point；If directly jumping into step 7；
Step 3, based on step 2, if it is not, then judge that there is signal output which position of lateral pickup；
Step 4, based on step 3, judges whether longitudinal signal output point has first point simultaneously, if directly jumping into step 7；
Step 5, based on step 4, if conclusion is no, calculates the now range deviation of car body and angular deviation, calculates simultaneously
Go out correction radius and the motor speed increment of car body；
Step 6, the controlled quentity controlled variable being computed out exports and executes correction processes to two controlled motors, and judges whether to enter into and connect
Nearly attitude；
Step 7, if meeting the condition close to attitude, one of wheel speed of two driving wheels of car body keeps constant and another
Individual wheel is with original rotating speed reversion, till all of point of longitudinal detection sensor has signal output, two driving wheels
Rotating speed reverts to the speed that the car body of setting advances；
The state of the magnetic navigation AGV that described horizontal detection sensor and longitudinal sensor detect includes：
First kind state：Statokinetic, refer to sensor group has remaining of signal output and longitudinal sensor to own close to circle
Detector unit has signal output；
Equations of The Second Kind state：Extreme attitude, refers to the centre two point no signal output of horizontal detection sensor and longitudinally detects biography
First point no signal output of sensor, correction strategy in this case is to calculate the range deviation of AGV now and angle
Deviation, then obtain correction radius and controlled quentity controlled variable；
3rd class state：Close to attitude, now centre two point of horizontal detection sensor and the first of longitudinal detection sensor
Individual point all has signal output；
Described longitudinal sensor is overlapped with the center line of magnetic navigation AGV, and the center line of described magnetic navigation AGV refers in dolly chassis
Line through the midpoint of two driving wheel axis and perpendicular to two driving wheel axis in plane；The axis of described two driving wheels is through vertical
First point detection signal to sensor.
2. the path following method of magnetic navigation AGV according to claim 1 is it is characterised in that described range deviation refers to
Described first Hall element of longitudinal sensor projects to the vertical range of the point on ground and magnetic stripe direction line, and described angle is inclined
Difference refers to the angle of described AGV car body center line and magnetic stripe direction line.
3. the path following method of magnetic navigation AGV according to claim 1 is it is characterised in that in described lateral pickup
Between two points and longitudinal sensor near lateral pickup first point all on the circumference close to circle, close to diameter of a circle
Width for tape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510015917.3A CN104597905B (en) | 2015-01-13 | 2015-01-13 | Route tracking method for magnetic navigation AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510015917.3A CN104597905B (en) | 2015-01-13 | 2015-01-13 | Route tracking method for magnetic navigation AGV |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104597905A CN104597905A (en) | 2015-05-06 |
| CN104597905B true CN104597905B (en) | 2017-02-22 |
Family
ID=53123760
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510015917.3A Active CN104597905B (en) | 2015-01-13 | 2015-01-13 | Route tracking method for magnetic navigation AGV |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104597905B (en) |
Families Citing this family (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106323297B (en) * | 2016-03-28 | 2021-10-29 | 成都飞机工业（集团）有限责任公司 | Magnetic navigation method capable of detecting magnetic stripe branch |
| JP6747182B2 (en) * | 2016-08-30 | 2020-08-26 | 愛知製鋼株式会社 | Attitude detection system for vehicles |
| CN106527443B (en) * | 2016-11-27 | 2019-06-18 | 北京特种机械研究所 | Omni-mobile AGV navigation method for correcting error |
| CN106873594A (en) * | 2017-03-08 | 2017-06-20 | 苏州易摩物联科技有限公司 | AGV magnetic navigations progress control method and system |
| CN107065864A (en) * | 2017-03-20 | 2017-08-18 | 北京石油化工学院 | The list of magnetic stripe navigation drives unidirectional automatical pilot transportation vehicle deviation correction control system and method |
| CN107065873B (en) * | 2017-04-13 | 2020-06-30 | 浙江工业大学 | Multi-curvature circumferential path tracking control method based on tape guidance AGV |
| CN106919176A (en) * | 2017-04-19 | 2017-07-04 | 无锡新创力工业设备有限公司 | A kind of AGV dollies correction control method |
| CN108052107B (en) * | 2018-01-19 | 2020-11-24 | 浙江科钛机器人股份有限公司 | AGV indoor and outdoor composite navigation system and method integrating magnetic stripes, magnetic nails and inertial navigation |
| CN109279543B (en) * | 2018-11-07 | 2020-10-30 | 上海大学 | Forklift AGV magnetic guide rail tracking control system and method |
| CN110006431B (en) * | 2019-04-09 | 2021-02-05 | 铽罗（上海）机器人科技有限公司 | AGV magnetic navigation data optimizing processing system |
| CN110209164B (en) * | 2019-05-20 | 2022-09-27 | 江苏理工学院 | Linear Hall guiding device of AGV (automatic guided vehicle) and guiding method thereof |
| CN112445216A (en) * | 2019-08-29 | 2021-03-05 | 北京京东乾石科技有限公司 | Method and device for automatically recovering AGV after separating from track |
| CN110989571B (en) * | 2019-10-18 | 2023-07-14 | 南京晨光集团有限责任公司 | Tracking control method for steering wheel driving AGV |
| CN111026125B (en) * | 2019-12-26 | 2023-10-10 | 上海信耀电子有限公司 | Automatic correction method for automatic navigation trolley |
| CN111176280A (en) * | 2019-12-30 | 2020-05-19 | 上海自动化仪表有限公司 | AGV path guidance improved control method based on switching value magnetic navigation sensor |
| CN111474933B (en) * | 2020-04-24 | 2022-03-15 | 合肥工业大学 | Automatic deviation rectification control method of magnetic guidance AGV |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1299701A (en) * | 1969-01-16 | 1972-12-13 | Bbc Brown Boveri & Cie | Device for guiding a freely movable vehicle |
| CN1602263A (en) * | 2001-12-12 | 2005-03-30 | 杰维斯·B·韦布国际公司 | Driverless vehicle guidance system and method |
| CN1904555A (en) * | 2006-07-31 | 2007-01-31 | 武汉理工大学 | Magnetic spike nail positioning navigation bidimensional magnetic sensor |
| CN2898771Y (en) * | 2005-12-30 | 2007-05-09 | 吉林大学 | Inspecting sensor for automatically guiding automobile path information |
| CN103543746A (en) * | 2012-07-09 | 2014-01-29 | 迪尔公司 | Navigation system and method for autonomous mower |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62288501A (en) * | 1986-06-07 | 1987-12-15 | Fanuc Ltd | Magnet detector |
-
2015
- 2015-01-13 CN CN201510015917.3A patent/CN104597905B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1299701A (en) * | 1969-01-16 | 1972-12-13 | Bbc Brown Boveri & Cie | Device for guiding a freely movable vehicle |
| CN1602263A (en) * | 2001-12-12 | 2005-03-30 | 杰维斯·B·韦布国际公司 | Driverless vehicle guidance system and method |
| CN2898771Y (en) * | 2005-12-30 | 2007-05-09 | 吉林大学 | Inspecting sensor for automatically guiding automobile path information |
| CN1904555A (en) * | 2006-07-31 | 2007-01-31 | 武汉理工大学 | Magnetic spike nail positioning navigation bidimensional magnetic sensor |
| CN103543746A (en) * | 2012-07-09 | 2014-01-29 | 迪尔公司 | Navigation system and method for autonomous mower |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104597905A (en) | 2015-05-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104597905B (en) | Route tracking method for magnetic navigation AGV | |
| CN110262508B (en) | Automatic guiding system and method applied to unmanned freight vehicle in closed field | |
| CN106020200B (en) | Using the AGV trolley and paths planning method of In-wheel motor driving | |
| CN106843214B (en) | Tape guidance AGV tracking control method based on active disturbance rejection control | |
| CN108638053A (en) | A kind of detection method and its antidote of robot skidding | |
| CN108052107A (en) | A kind of AGV indoor and outdoor complex navigation system and methods for merging magnetic stripe, magnetic nail and inertial navigation | |
| CN107065873B (en) | Multi-curvature circumferential path tracking control method based on tape guidance AGV | |
| US20120316722A1 (en) | Advanced navigation and guidance system and method for an automatic guided vehicle (agv) | |
| CN102183251B (en) | Electromagnetic tracking method based on inductance coil | |
| CN106840152A (en) | A kind of high-precision integrated navigation system and method towards indoor mobile robot | |
| CN108415432B (en) | Straight edge-based positioning method for robot | |
| CN108594800A (en) | A kind of AGV complex navigation system and methods of fusion Magnetic Sensor and gyro data | |
| CN107063305B (en) | Method for correcting downhill suspended rear wheel odometer error by using inertial navigation and pressure sensors | |
| US20130289818A1 (en) | Method and system for automatically guiding an unmanned vehicle | |
| CN111487976B (en) | Backing track tracking method | |
| CN205950750U (en) | Transformer station inspection robot control system that navigates based on inertial navigation | |
| CN113064430A (en) | Quality inspection trolley obstacle avoidance and path planning algorithm based on Android mobile phone | |
| CN110763224A (en) | Navigation method and navigation system for automatic guided transport vehicle | |
| CN111474938A (en) | Inertial navigation automatic guided vehicle and track determination method thereof | |
| CN111516777A (en) | Robot trolley and obstacle identification method thereof | |
| CN107228663A (en) | The alignment system and method for a kind of automatical pilot transportation vehicle | |
| CN110865640A (en) | Obstacle avoidance structure of intelligent robot | |
| CN107422727B (en) | Logistics robot lateral deviation control method and logistics robot | |
| CN211427151U (en) | Automatic guide system applied to unmanned freight vehicle in closed field | |
| CN114115275B (en) | Unmanned vehicle autonomous navigation correction method |
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 |