CN105446334A - Guided vehicle navigation system and guided vehicle navigation method - Google Patents
Guided vehicle navigation system and guided vehicle navigation method Download PDFInfo
- Publication number
- CN105446334A CN105446334A CN201510774062.2A CN201510774062A CN105446334A CN 105446334 A CN105446334 A CN 105446334A CN 201510774062 A CN201510774062 A CN 201510774062A CN 105446334 A CN105446334 A CN 105446334A
- Authority
- CN
- China
- Prior art keywords
- guide car
- map
- environment
- road sign
- sub
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title abstract description 14
- 238000013507 mapping Methods 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 230000008021 deposition Effects 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 description 4
- 239000011159 matrix material Substances 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000004807 localization Effects 0.000 description 2
- 230000026676 system process Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000012546 transfer Methods 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
Abstract
The invention relates to the field of industrial vehicle automation, and specifically relates to a guided vehicle navigation system and a guided vehicle navigation method. The technological purpose of the invention is realized by the following technical scheme: the guided vehicle navigation system comprises a guided vehicle, and further comprises an environment sign layout module, a map building module, a location module and a navigation module. The invention aims to provide a guided vehicle navigation system and a guided vehicle navigation method. Environment signs and RFID tags are arranged according to the specific situation of the industrial environment, the arrangement information of the environment signs and the RFID tags is stored in a database to form map data, and the guided vehicle is located in the environment by the location module through sensor data and map data matching and is navigated from the current position to a target point by the navigation module. By implementing the technical scheme, the management efficiency of the industrial environment can be well improved.
Description
Technical field
The present invention relates to industrial vehicle automatic field, be specifically related to a kind of guide car navigational system and a kind of guide car air navigation aid.
Background technology
The physical condition of industrial environment has timely and effective some restrictions completed of each task of obstruction.Such as, warehouse and other sharing space must be safe for mankind employee.Drive fork truck stock clerk to carry out in the process of carrying because the participation of people may cause some errors to cause personnel to injure, in addition, show according to related data, in the whole process of production, link for processing and manufacturing only accounts for the time of 5%, all the other 95% all for store, handling, etc. links such as to be processed and conveyings, in the U.S., the ratio of labour cost shared by total production cost is less than 10%, and this ratio is also presenting continuous downward trend, store, the expense of the links such as transport but accounts for 40% of total cost, therefore the enterprise of current each industrial powers is by modification flow structure, reduce logistics cost as the major measure of prevailing over competition, for adapting to the needs of modern production, logistics is to modern future development.In order to alleviate the problems referred to above, some warehouses employ the equipment of these task automations.Exemplarily, these warehouses can use the industrial vehicle of robotization, such as AGV guide car, consign and place goods.But how accurately orientation direction car position has in the environment become problem demanding prompt solution.The patent that Chinese patent publication No. is CN103946758A, patent name is " for using the method and apparatus of the object localization industrial vehicle settled in advance " is a Krona patent for equipment company limited application, this patent, provide and a kind ofly use the object settled in advance dynamically placed as terrestrial reference to operate the method for industrial vehicle, but method needs complicated calculating, these calculate is increasing under using larger information aggregate, thus comprises significant cost and time.The patent that Chinese patent publication No. is CN103733084A, patent name is " for industrial vehicle being provided to the method and apparatus of accurately location " is a Krona patent for equipment company limited application, this patent needs by using the method two dimensional surface sensing of industrial vehicle being provided to accurately location, but the method for giving is very wide in range, does not have specific aim.
Summary of the invention
The object of this invention is to provide a kind of guide car navigational system and a kind of guide car air navigation aid, according to the concrete condition of industrial environment, arrange environment road sign and RFID label tag, and the placement information of environment road sign and RFID label tag is stored in database forms map datum, sensing data is realized guide car location in the environment with mating of map datum, is realized guide car by navigation module from current location to the navigation of impact point by locating module by guide car, and this technical scheme can improve the efficiency of management of industrial environment well.
Above-mentioned technical purpose of the present invention is achieved by the following technical programs: a kind of guide car navigational system, comprise guide car, it is characterized in that: this kind of guide car navigational system also comprises environment road sign and arrange module, map structuring module, locating module and navigation module;
Described environment road sign arranges that module comprises RFID label tag and environment road sign;
Described map structuring module comprises the topological map of the reflection integrated environment obtained according to described RFID label tag mapping, the sub-map of reflecting regional environment obtained according to environment road sign concrete under topological map described in each mapping and the database for storing described topological map and described sub-map;
Described locating module comprise be arranged on described guide car for read identify described RFID label tag RFID card reader, be arranged on described guide car for the road sign observation device that detects described environment road sign and the positions calculations device positioned described guide car according to the observation data that information and the described road sign observation device of the described sub-map that described database stores obtain.
In described map structuring module, first, set up the topological map based on described RFID label tag, by manually surveying and drawing RFID positional information, m FRID label information can be formed the adjacency matrix of m × m dimension, this adjacency matrix forms the topological map based on RFID label tag under this integrated environment, secondly, build the sub-map of each RFID label tag corresponding region environment, manually can survey and draw the geometric position (x of each described environment road sign under being recorded in this area map environment, y), in a database under this RFID label tag data head, store the geometric position (position coordinates x and the y of road sign ID, road sign) of each environment road sign, module arranged by environment road sign, one of its function is to arrange environment road sign on the wall of industrial environment, shelf or other buildingss, its positional information is stored in the database by the mode of artificial mapping by each environment road sign after deployment, when described guide car navigates in the environment, by road sign observation device scanning circumstance information, the observation position obtaining described environment road sign, described road sign observation device can adopt GPS locating device, also infrared ray sensor or laser sensor can be adopted, obtain the particular location of described guide car, two of its function is, described guide car car body installs RFID card reader for identifying described RFID label tag, the map datum cutting of manually surveying and drawing the formation of environment road sign is the described sub-map of several corresponding local environments by described RFID label tag, FRID label information described in this is also contains in the storage data of described sub-map, namely described RFID label tag and some described sub-maps realize one_to_one corresponding, when described guide car navigates in industrial environment, described RFID card reader recognizes described FRID label information, corresponding sub-map datum is transferred from described database, realize described guide car location, in described guide car locating module, when in described guide car entered environment, recognize a certain described RFID label tag, the sub-map datum that this RFID label tag is corresponding is transferred from described database, in conjunction with the described environment mark information of scanning, location is realized by map match.
As preferably of the present invention, described RFID label tag is arranged on the ground, and described RFID card reader is arranged on the bottom surface of described guide car.
As preferably of the present invention, described road sign observation device is two dimensional laser scanning sensor, described environment road sign is the reflector that can reflect the laser that described two dimensional laser scanning sensor emission goes out, and described two dimensional laser scanning sensor and described reflector are positioned on same level height face.
As preferably of the present invention, described positions calculations device comprises and is located at for obtaining the traveling detector of described guide car operating range on described guide car, and travelling detector is be arranged on guide car, drive guide car to move ahead and the scrambler of the motor end of turning.
At large-scale working environment, in order to cost is convenient, the described reflector of environment road sign described in each to arrange angle all the same with shape, described road sign observation device launches multiple exploring laser light, rebounded by described reflector, the position of described guide car is judged according to the situation of bounce-back, but when multiple described angle of reflector shape is all the same, described road sign sniffer adopts above-mentioned detection method can only detect the positional information of described guide car between two adjacent described reflectors, and the more specific location information that cannot detect in the region corresponding to whole described sub-map, described traveling detector can calculate the distance of described guide car movement, coordinate the detection data of described reflector reflected ray, the more specific location information of described guide car in the region corresponding to described sub-map can be obtained.
As preferably of the present invention, the data that described positions calculations device also comprises the data according to described traveling detector, described road sign sniffer obtains calculate the computing module of described guide car particular location in conjunction with the map datum of sub-map described in described database.
As preferably of the present invention, described navigation module arranges content and comprises phase targets point and final goal point.
A kind of guide car air navigation aid, for building a kind of guide car navigational system as claimed in claim, comprises following steps:
A, environment deposition step: the perform region of whole described guide car is divided into several subregions, arrange described RFID label tag at the entrance and exit of each described subregion, and each described subregion inner facility arranges described environment road sign;
B, mapping step: the Plotting data of the described environment road sign in each described subregion is become sub-map, the Plotting data of described RFID label tag is become the topological map of reflection integrated environment, sub-map described in each mates with corresponding described RFID label tag;
C, positioning step one: opened by described guide car and carry out operation to some described subregions, the described RFID card reader on described guide car reads the described RFID label tag on described subregion, recall the described sub-map of subregion coupling described in this;
D, positioning step two: described guide car (1) travels and enters described subregion, detects described environment road sign, mate, calculate the particular location of described guide car at described subregion with the data of current described sub-map by described road sign observation device;
E, navigation step: described navigation module sends impact point information, and described guide car, according to the data of sub-map and current locating information, drives towards target location automatically.
As preferably of the present invention, in described navigation step, the impact point information that described navigation module sends can be divided into phase targets point and final goal point, after described guide car enters described phase targets point, do not halt, the iterative manner that described road sign observation device continues the follow-up some described phase targets point in sweep limit is set simultaneously, stops after to the last arriving described final goal point.
In sum, the present invention has following beneficial effect:
1, described environment road sign arranges that module comprises RFID label tag and environment road sign, described map structuring module comprises the topological map of the reflection integrated environment obtained according to described RFID label tag mapping, the sub-map of reflecting regional environment obtained according to environment road sign concrete under topological map described in each mapping and the database for storing described topological map and described sub-map, and the space that this kind of guide car navigational system can be suitable in the mode increasing described sub-map increases greatly.
2, whole location and the pure robotization of navigation procedure, complete Navigation and localization by described locating module and navigation module automatically to described guide vehicle.
3, described environment road sign can use the reflector of same size, does not need differential setting, coordinates described odometer, just can realize accurately location, simplicity of design, easy to use.
Accompanying drawing illustrates:
Fig. 1 is industrial environment planimetric map in the present embodiment 1;
Fig. 2 is the enlarged drawing at H8, H9 and passage FF place in Fig. 1;
Fig. 3 is guide car navigational system process flow diagram.
In figure:
1, guide vehicle, 2, environment road sign, 3, RFID label tag, 31, RFID mono-, 32, RFID bis-, AA-HH, passage, H1-H14 shelf, M1, sub-map one, M2, sub-map two.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
This specific embodiment is only explanation of the invention; it is not limitation of the present invention; those skilled in the art can make to the present embodiment the amendment not having creative contribution as required after reading this instructions, as long as but be all subject to the protection of Patent Law in right of the present invention.
Embodiment 1, as depicted in figs. 1 and 2, for industrial environment floor map, comprise shelf, wall or a few part such as other industrial environment physical equipment and guide car 1 running lanes, each shelf and running lanes have corresponding numbering, as passage AA-HH, shelf H1-H14, lay RFID label tag 3 at a certain distance as required, as Fig. 1 orbicular spot represents, can be the labels such as coin-shaped or glass is tubular, for reading and the identification of guide car 11 pairs of labels, and mate with corresponding sub-map, the unique sub-map of each RFID label tag 3 correspondence database (sub-map M1 as corresponding in RFID in Fig. 11, the corresponding sub-map M2 of RFID 2 32), the sub-map be stored in database corresponding to the RFID label tag 3 of all layings covers whole industry spot map environment jointly, on the both sides of each passage, several environment road signs 2(is all installed not necessarily equidistant, its height is consistent with guide car 1 two dimensional laser scanning plane), the thin plate (also can adopt other column protruding from environmental architecture or block character shape) that this environment road sign 2 adopts the material such as papery or plastics to make, protrude from shelf plane, be convenient to the Scanning Detction of two-dimensional laser sensor.
As shown in Figure 3, the figure shows industrial environment guide car 1 airmanship scheme system process flow diagram.Environment road sign 2 described in Fig. 1 and RFID label tag 3 information are stored in database by artificial mapping form and form map datum, the concrete mode of map structuring is as follows: first set up the integrated environment topological map based on RFID label tag 3, (comprise No. ID, position coordinates etc.) is stored in a database by each RFID label tag 3, form the adjacency matrix of m × m dimension, namely this adjacency matrix represents the topological map based on RFID label tag 3 under integrated environment.Meanwhile, set up the sub-map of each RFID label tag 3 corresponding region environment, namely in a database under each RFID label tag 3 data head, store the geometric position (x, y) of the environment road sign 2 placed in corresponding sub-body of a map or chart respectively.So far, map memory module structure is in a database completed.
As follows at the position fixing process of guide car 1: when guide car 1 is by two-dimensional laser sensor scan, get observation information to environment road sign 2 (under guide car 1 current location, the range information d of versus environmental road sign 2 and angle information θ), obtain according to RFID label tag 3 the sub-map of corresponding region environment stored in database simultaneously, environment road sign 2 observation information is mated with environment road sign 2 positional information recorded in database subsystem map, thus calculate the position of guide car 1 in current sub-map, also namely determine the position of guide car 1 in real industrial scene.
In guide car 1 navigation procedure, guide car 1 is by identifying RFID label tag 3, corresponding sub-map datum is transferred from database, and realize on the basis of locating in scanning circumstance road sign 2 information and map match, iteration arranges impact point guide guide car 1 continuous navigation that some nothings are touched, can be reached in the environment, the set-up mode employing arrival current goal point of impact point does not stop, the iterative manner of the follow-up some impact points simultaneously arranged within the scope of two dimensional laser scanning, until arrive final goal point and stop.
The sensor configuring condition of industrial environment guide car 1 is as follows: bottom guide car 1, be provided with RFID card reader, for reading the RFID label tag 3 that is embedded in guide car 1 track and then transfer corresponding sub-map from database; Highly two dimensional laser scanning sensor is installed on guide car 1 top, for scanning and identify the environment road sign 2 of industrial environment site layout project, and scanning circumstance road sign 2 information is mated with sub-map datum, this scanning laser sensor also has barrier avoiding function in addition; Guide car 1 running vehicle wheel is provided with scrambler, for auxiliary laser, accurate location is compared to guide car 1.
Claims (8)
1. a guide car navigational system, comprises guide car (1), it is characterized in that: this kind of guide car navigational system also comprises environment road sign and arrange module, map structuring module, locating module and navigation module;
Described environment road sign arranges that module comprises RFID label tag and environment road sign;
Described map structuring module comprises the topological map of the reflection integrated environment obtained according to described RFID label tag mapping, the sub-map of reflecting regional environment obtained according to environment road sign concrete under topological map described in each mapping and the database for storing described topological map and described sub-map;
Described locating module comprise be arranged on described guide car (1) for read identify described RFID label tag RFID card reader, be arranged on described guide car (1) for the road sign observation device that detects described environment road sign and the positions calculations device positioned described guide car (1) according to the observation data that information and the described road sign observation device of the described sub-map that described database stores obtain.
2. a kind of guide car navigational system according to claim 1, is characterized in that: described RFID label tag is arranged on the ground, and described RFID card reader is arranged on the bottom surface of described guide car (1).
3. a kind of guide car navigational system according to claim 1, it is characterized in that: described road sign observation device is two dimensional laser scanning sensor, described environment road sign is the reflector that can reflect the laser that described two dimensional laser scanning sensor emission goes out, and described two dimensional laser scanning sensor and described reflector are positioned on same level height face.
4. a kind of guide car navigational system according to claim 3, it is characterized in that: described positions calculations device comprises and is located at for obtaining the traveling detector of described guide car (1) operating range on described guide car (1), travelling detector is be arranged on guide car, drive guide car to move ahead and the scrambler of the motor end of turning.
5. a kind of guide car navigational system according to claim 4, is characterized in that: the data that described positions calculations device also comprises the data according to described traveling detector, described road sign sniffer obtains calculate the computing module of described guide car (1) particular location in conjunction with the map datum of sub-map described in described database.
6. a kind of guide car navigational system according to claim 1 or 2 or 3 or 4 or 5, is characterized in that: described navigation module arranges content and comprises phase targets point and final goal point.
7. a guide car air navigation aid, for building a kind of guide car navigational system as claimed in claim 1, is characterized in that comprising following steps:
A, environment deposition step: the perform region of whole described guide car (1) is divided into several subregions, arranges described RFID label tag at the entrance and exit of each described subregion, each described subregion inner facility arranges described environment road sign;
B, mapping step: the Plotting data of the described environment road sign in each described subregion is become sub-map, the Plotting data of described RFID label tag is become the topological map of reflection integrated environment, sub-map described in each mates with corresponding described RFID label tag;
C, positioning step one: opened by described guide car (1) and carry out operation to some described subregions, the described RFID card reader on described guide car reads the described RFID label tag on described subregion, recall the described sub-map of subregion coupling described in this;
D, positioning step two: described guide car (1) travels and enters described subregion, detects described environment road sign, mate, calculate the particular location of described guide car at described subregion with the data of current described sub-map by described road sign observation device;
E, navigation step: described navigation module sends impact point information, and described guide car (1), according to the data of sub-map and current locating information, drives towards target location automatically.
8. a kind of guide car air navigation aid according to claim 7, it is characterized in that: in described navigation step, the impact point information that described navigation module sends can be divided into phase targets point and final goal point, after described guide car (1) enters described phase targets point, do not halt, the iterative manner that described road sign observation device continues the follow-up some described phase targets point in sweep limit is set simultaneously, stops after to the last arriving described final goal point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510774062.2A CN105446334A (en) | 2015-11-13 | 2015-11-13 | Guided vehicle navigation system and guided vehicle navigation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510774062.2A CN105446334A (en) | 2015-11-13 | 2015-11-13 | Guided vehicle navigation system and guided vehicle navigation method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105446334A true CN105446334A (en) | 2016-03-30 |
Family
ID=55556654
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510774062.2A Pending CN105446334A (en) | 2015-11-13 | 2015-11-13 | Guided vehicle navigation system and guided vehicle navigation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105446334A (en) |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105974922A (en) * | 2016-06-29 | 2016-09-28 | 上海诺力智能科技有限公司 | Tunnel automatic guide vehicle, guide system, and operating method for guide system |
| 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 |
| 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 |
| CN106647750A (en) * | 2016-12-07 | 2017-05-10 | 西安电子科技大学 | RFID-based mobile robot path optimization and guiding method |
| CN107289946A (en) * | 2017-07-13 | 2017-10-24 | 浙江科钛机器人股份有限公司 | A kind of high-precision laser positioning and air navigation aid based on double reflectors |
| CN107356931A (en) * | 2017-07-13 | 2017-11-17 | 浙江科钛机器人股份有限公司 | A kind of double reflector laser positionings and air navigation aid based on filtering |
| CN107390227A (en) * | 2017-07-13 | 2017-11-24 | 浙江科钛机器人股份有限公司 | A kind of double reflector laser positionings and air navigation aid based on data screening |
| 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 |
| CN107544523A (en) * | 2017-10-27 | 2018-01-05 | 国网河南省电力公司商丘供电公司 | A kind of sensor network tracking car system based on RFID |
| CN107885202A (en) * | 2017-10-31 | 2018-04-06 | 西安科锐盛创新科技有限公司 | warehouse navigation system based on RFID |
| CN108743084A (en) * | 2018-05-29 | 2018-11-06 | 深圳大学 | A kind of electric wheelchair |
| CN108775864A (en) * | 2018-04-10 | 2018-11-09 | 深圳普智联科机器人技术有限公司 | A kind of laser calibration system and scaling method based on reflector |
| CN110531756A (en) * | 2018-05-26 | 2019-12-03 | 罗伯特·博世有限公司 | The system and method for the position of the vehicle for automating traveling are determined for ground on the scene |
| CN110530377A (en) * | 2018-05-24 | 2019-12-03 | 罗伯特·博世有限公司 | For implementing at least one method and apparatus for improving the measure of safety for vehicle |
| CN110764517A (en) * | 2019-12-30 | 2020-02-07 | 天津联汇智造科技有限公司 | System and method for avoiding obstacles by using mobile robot to drag skip car |
| CN110888109A (en) * | 2019-11-22 | 2020-03-17 | 天津大学 | RFID label positioning method based on generalized multidimensional scale |
| CN111736583A (en) * | 2019-03-25 | 2020-10-02 | 东元电机股份有限公司 | Two-stage navigation system |
| CN112147992A (en) * | 2019-06-10 | 2020-12-29 | 苏州宝时得电动工具有限公司 | Automatic working system and control method of automatic working system |
| CN113467458A (en) * | 2021-07-06 | 2021-10-01 | 鼎豪智能装备科技(重庆)有限公司 | Information interaction method, system, readable storage medium and equipment |
| CN114184205A (en) * | 2021-11-29 | 2022-03-15 | 江西裕丰智能农业科技有限公司 | Track navigation method and device, rail car and storage medium |
| CN114355875A (en) * | 2021-11-19 | 2022-04-15 | 仓擎智能科技(上海)有限公司 | Aircraft docking method, medium and device based on unmanned guided vehicle |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103268119A (en) * | 2013-06-05 | 2013-08-28 | 合肥凌翔信息科技有限公司 | Automatic guided vehicle navigation control system and navigation control method thereof |
| CN103635779A (en) * | 2011-06-14 | 2014-03-12 | 克朗设备有限公司 | Method and apparatus for facilitating map data processing for industrial vehicle navigation |
| US20140074342A1 (en) * | 2011-09-07 | 2014-03-13 | Crown Equipment Limited | Method and apparatus for using pre-positioned objects to localize an industrial vehicle |
| CN104729502A (en) * | 2015-03-30 | 2015-06-24 | 北京云迹科技有限公司 | Robot mapping and positioning method and system based on Bluetooth base station and laser sensor |
| CN104858871A (en) * | 2015-05-15 | 2015-08-26 | 珠海市一微半导体有限公司 | Robot system and map self-building and navigation method thereof |
| 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 |
| CN105005302A (en) * | 2015-05-29 | 2015-10-28 | 李祥榕 | System and method for automatically controlling vehicle based on GPS and RFID |
| CN105045268A (en) * | 2015-08-25 | 2015-11-11 | 深圳力子机器人有限公司 | AGV laser tape hybrid navigation system |
-
2015
- 2015-11-13 CN CN201510774062.2A patent/CN105446334A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103635779A (en) * | 2011-06-14 | 2014-03-12 | 克朗设备有限公司 | Method and apparatus for facilitating map data processing for industrial vehicle navigation |
| US20140074342A1 (en) * | 2011-09-07 | 2014-03-13 | Crown Equipment Limited | Method and apparatus for using pre-positioned objects to localize an industrial vehicle |
| CN103268119A (en) * | 2013-06-05 | 2013-08-28 | 合肥凌翔信息科技有限公司 | Automatic guided vehicle navigation control system and navigation control method thereof |
| CN104729502A (en) * | 2015-03-30 | 2015-06-24 | 北京云迹科技有限公司 | Robot mapping and positioning method and system based on Bluetooth base station and laser sensor |
| 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 |
| CN104858871A (en) * | 2015-05-15 | 2015-08-26 | 珠海市一微半导体有限公司 | Robot system and map self-building and navigation method thereof |
| CN105005302A (en) * | 2015-05-29 | 2015-10-28 | 李祥榕 | System and method for automatically controlling vehicle based on GPS and RFID |
| CN105045268A (en) * | 2015-08-25 | 2015-11-11 | 深圳力子机器人有限公司 | AGV laser tape hybrid navigation system |
Non-Patent Citations (1)
| Title |
|---|
| 赵亦林: "《车辆定位于导航系统》", 30 April 1999, 电子工业出版社 * |
Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| 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 |
| CN105974922B (en) * | 2016-06-29 | 2019-05-17 | 上海诺力智能科技有限公司 | A kind of tunnel automatic guided vehicle, guidance system and its operating method |
| CN105974922A (en) * | 2016-06-29 | 2016-09-28 | 上海诺力智能科技有限公司 | Tunnel automatic guide vehicle, guide system, and operating method for guide system |
| 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 |
| 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 |
| CN106647750A (en) * | 2016-12-07 | 2017-05-10 | 西安电子科技大学 | RFID-based mobile robot path optimization and guiding method |
| CN107289946B (en) * | 2017-07-13 | 2019-10-22 | 浙江科钛机器人股份有限公司 | A kind of high-precision laser positioning and air navigation aid based on double reflectors |
| CN107289946A (en) * | 2017-07-13 | 2017-10-24 | 浙江科钛机器人股份有限公司 | A kind of high-precision laser positioning and air navigation aid based on double reflectors |
| CN107356931B (en) * | 2017-07-13 | 2019-10-18 | 浙江科钛机器人股份有限公司 | A kind of double reflector laser positionings and air navigation aid based on filtering |
| CN107390227A (en) * | 2017-07-13 | 2017-11-24 | 浙江科钛机器人股份有限公司 | A kind of double reflector laser positionings and air navigation aid based on data screening |
| CN107356931A (en) * | 2017-07-13 | 2017-11-17 | 浙江科钛机器人股份有限公司 | A kind of double reflector laser positionings and air navigation aid based on filtering |
| CN107544523A (en) * | 2017-10-27 | 2018-01-05 | 国网河南省电力公司商丘供电公司 | A kind of sensor network tracking car system based on RFID |
| CN107885202A (en) * | 2017-10-31 | 2018-04-06 | 西安科锐盛创新科技有限公司 | warehouse navigation system based on RFID |
| CN108775864A (en) * | 2018-04-10 | 2018-11-09 | 深圳普智联科机器人技术有限公司 | A kind of laser calibration system and scaling method based on reflector |
| CN110530377A (en) * | 2018-05-24 | 2019-12-03 | 罗伯特·博世有限公司 | For implementing at least one method and apparatus for improving the measure of safety for vehicle |
| CN110530377B (en) * | 2018-05-24 | 2024-05-03 | 罗伯特·博世有限公司 | Method and device for implementing at least one safety-improving measure for a vehicle |
| CN110531756A (en) * | 2018-05-26 | 2019-12-03 | 罗伯特·博世有限公司 | The system and method for the position of the vehicle for automating traveling are determined for ground on the scene |
| CN108743084A (en) * | 2018-05-29 | 2018-11-06 | 深圳大学 | A kind of electric wheelchair |
| CN111736583A (en) * | 2019-03-25 | 2020-10-02 | 东元电机股份有限公司 | Two-stage navigation system |
| CN112147992A (en) * | 2019-06-10 | 2020-12-29 | 苏州宝时得电动工具有限公司 | Automatic working system and control method of automatic working system |
| CN110888109A (en) * | 2019-11-22 | 2020-03-17 | 天津大学 | RFID label positioning method based on generalized multidimensional scale |
| CN110888109B (en) * | 2019-11-22 | 2022-02-22 | 天津大学 | RFID label positioning method based on generalized multidimensional scale |
| CN110764517B (en) * | 2019-12-30 | 2020-04-17 | 天津联汇智造科技有限公司 | System and method for avoiding obstacles by using mobile robot to drag skip car |
| CN110764517A (en) * | 2019-12-30 | 2020-02-07 | 天津联汇智造科技有限公司 | System and method for avoiding obstacles by using mobile robot to drag skip car |
| CN113467458A (en) * | 2021-07-06 | 2021-10-01 | 鼎豪智能装备科技(重庆)有限公司 | Information interaction method, system, readable storage medium and equipment |
| CN114355875A (en) * | 2021-11-19 | 2022-04-15 | 仓擎智能科技(上海)有限公司 | Aircraft docking method, medium and device based on unmanned guided vehicle |
| CN114355875B (en) * | 2021-11-19 | 2024-02-23 | 仓擎智能科技(上海)有限公司 | Unmanned guided vehicle-based aircraft docking method, medium and device |
| CN114184205A (en) * | 2021-11-29 | 2022-03-15 | 江西裕丰智能农业科技有限公司 | Track navigation method and device, rail car and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105446334A (en) | Guided vehicle navigation system and guided vehicle navigation method | |
| US11367043B2 (en) | Automated warehousing using robotic forklifts or other material handling vehicles | |
| US11714416B2 (en) | Method of navigating a vehicle and system thereof | |
| CN106249736B (en) | Automatic guided vehicle based on magnetic nail map navigation | |
| US11288526B2 (en) | Method of collecting road sign information using mobile mapping system | |
| US9046893B2 (en) | Deep lane navigation system for automatic guided vehicles | |
| EP2748687B1 (en) | Method and apparatus for using unique landmarks to locate industrial vehicles at start-up | |
| US20180199162A1 (en) | Self-location estimation apparatus and self-location estimation method | |
| CN107422730A (en) | The AGV transportation systems of view-based access control model guiding and its driving control method | |
| CN110441734B (en) | Laser positioning system and position measuring method using the same | |
| CN109144072A (en) | A kind of intelligent robot barrier-avoiding method based on three-dimensional laser | |
| CN206075134U (en) | A kind of tunnel automatic guided vehicle and guidance system | |
| CN105115497A (en) | Reliable indoor mobile robot precise navigation positioning system and method | |
| CN104679004A (en) | Flexible path and fixed path combined automated guided vehicle and guide method thereof | |
| CN107421518A (en) | A kind of trackless navigation AGV passes in and out lorry method automatically | |
| CN107562059A (en) | A kind of intelligent carriage tracking system with Quick Response Code site location information | |
| WO2022000197A1 (en) | Flight operation method, unmanned aerial vehicle, and storage medium | |
| WO2023005384A1 (en) | Repositioning method and device for mobile equipment | |
| CN112363158A (en) | Pose estimation method for robot, and computer storage medium | |
| Reinke et al. | Strategies for contour-based self-localization in large-scale modern warehouses | |
| Lin et al. | A Robot Indoor Position and Orientation Method based on 2D Barcode Landmark. | |
| CN114660614A (en) | Laser navigation environment positioning compensation method applied to wheeled inspection robot | |
| CN113759928A (en) | Mobile robot high-precision positioning method for complex large-scale indoor scene | |
| Tsukiyama | Global navigation system with RFID tags | |
| CN103777200A (en) | RFID positioning node arrangement method for mobile robot, and RFID auxiliary positioning navigation method for mobile robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160330 |
|
| RJ01 | Rejection of invention patent application after publication |