CN105692021B - A kind of Intelligent logistics storage shuttle vehicle control and its method based on STM - Google Patents
A kind of Intelligent logistics storage shuttle vehicle control and its method based on STM Download PDFInfo
- Publication number
- CN105692021B CN105692021B CN201610184997.XA CN201610184997A CN105692021B CN 105692021 B CN105692021 B CN 105692021B CN 201610184997 A CN201610184997 A CN 201610184997A CN 105692021 B CN105692021 B CN 105692021B
- Authority
- CN
- China
- Prior art keywords
- shuttle
- module
- target location
- photoelectric
- location information
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
Abstract
The invention discloses a kind of Intelligent logistics storage shuttle vehicle control based on STM, it is applied in the logistic storage environment being made up of multi-layered storage rack platform, a laneway type shuttle is provided with every layer of shelf platform；The both sides of shuttle travel direction are provided with goods laydown area；Its feature, control system include：Master system, slave computer execution system, photoelectric encoder, photoelectric door；By way of radio communication, control of the master system to slave computer execution system is realized.The present invention can be such that shuttle realizes in motion process to be accurately positioned and braking brake, it can lock simultaneously and stretch fork, so as to which on the premise of very fast movement velocity is ensured, shuttle can realize accurate position positioning, and then ensure safety in operation while operating efficiency is improved in real time.
Description
Technical field
The present invention relates to intelligent storage logistlcs technology field, particularly a kind of intelligent storage logistics shuttle based on STM
High accuracy positioning kinetic control system and its method.
Background technology
With the production-scale expansion of modernization of business, the requirement of automation not only embodies in production, for storage
Logistics system requirement is also more and more higher.In Modern Logistics Technology, it is close that automatic stereowarehouse is greatly improved storage
Degree, therefore a kind of laneway type shuttle that can realize automatic access goods arises at the historic moment.The storage device used at present includes
Lane stacker and track shuttle, by contrast, shuttle can realize the work in the case of increasingly complex, simultaneously
The degree of automation is higher.Shuttle is filled with completely new concept for automation access system, in modern intelligent storage logistics system
More and more important effect is played in system.
However, the shuttle of full automation storage and picking, the required precision for positioning is shuttled compared to general
Che Genggao.This is not only just higher to the positioning accuracy request in vehicle operation, while to slave computer in running
Communication between host computer proposes higher requirement.Under the mode of radio communication, how to ensure communication speed foot
In the case of enough fast, prevent that stretch fork runs out of in motion process while improving positioning precision, just into urgent need to resolve the problem of.
The content of the invention
The present invention is to overcome the weak point in the presence of prior art, there is provided a kind of Intelligent logistics storage based on STM
Shuttle vehicle control and its method, simultaneously braking brake is accurately positioned to which shuttle can be made to be realized in motion process, simultaneously
It can lock and stretch fork, so as to which on the premise of very fast movement velocity is ensured, shuttle can realize accurate position positioning in real time,
And then ensure safety in operation while operating efficiency is improved.
The present invention adopts the following technical scheme that to solve technical problem：
A kind of Intelligent logistics storage shuttle vehicle control based on STM of the present invention, is applied to by multi-layered storage rack platform
In the logistic storage environment of composition, a laneway type shuttle is provided with every layer of shelf platform；Travelled in the shuttle
The both sides in direction are provided with goods laydown area；It is characterized in, the control system includes：Master system, slave computer perform system
System, photoelectric encoder, photoelectric door；
The master system includes：Data processing module, principal communication module, input and output display module；
The slave computer execution system includes：From communication module, control module, drive module, information acquisition module, execution
Module；The execution module includes moving cell and stretches fork unit；
Shuttle vehicle track on every layer of shelf platform is internally provided with the photoelectric encoder；The two of the shuttle
Side is stretched is provided with the photoelectric door on fork unit；
Described information acquisition module obtains the location information of the shuttle by the photoelectric encoder, and is sent to institute
State control module；The location information is sent to the principal communication module by the control module by described from communication module；
The data processing module is to the operational order acquired in the input and output display module, and the master received
The location information of communication module transmission is handled, and is calculated the displacement vector for obtaining the shuttle and is passed through the principal communication mould
Block is sent to described from communication module；
It is described that the displacement vector of received shuttle is sent to control module from communication module；
The control module controls the drive module to drive the moving cell according to the displacement vector of the shuttle
So that shuttle is moved to target area in the horizontal direction, and the shuttle is obtained by the photoelectric encoder in real time
Location information, for judging whether the shuttle reaches target location；If reaching target location, by the photoelectric door and
Motor Hall element in moving cell is accurately positioned and stopped in target location, and is driven and stretched the execution of fork unit vertically
Charge and discharge operations on direction；Otherwise, fork unit is stretched untill target location is reached using photoelectric door locking.
A kind of Intelligent logistics storage shuttle control method based on STM of the present invention, is applied to by multi-layered storage rack platform
In the logistic storage environment of composition, a laneway type shuttle is provided with every layer of shelf platform；Travelled in the shuttle
The both sides in direction are provided with goods laydown area；It is characterized in：Shuttle vehicle track on every layer of shelf platform is internally provided with institute
State photoelectric encoder；The photoelectric door is provided with the both sides of the shuttle；The control method is to enter as follows
OK：
Step 1, the location information by the photoelectric encoder acquisition shuttle；
Step 2, the operational order for obtaining the shuttle, and according to the location information, calculate and obtain the shuttle
Displacement vector；
Step 3, institute's displacement vector is scaled mobile step number；So as to drive the shuttle according to the mobile step number
Target area is moved in the horizontal direction according to S type rate curves, and by being worn described in the photoelectric encoder in real time acquisition
The location information of shuttle car, so as to close to target location deceleration, be moved to target location with low speed, and pass through the light
Motor Hall element in electric switch and moving cell is accurately positioned and stopped in target location；
Step 4, the location information by the photoelectric encoder acquisition shuttle, judge whether the shuttle reaches
To target location and it is in dead ship condition；If reaching target location and being in dead ship condition, the shuttle is in target location
Place performs the charge and discharge operations in vertical direction；Otherwise, fork unit is stretched until reaching target location simultaneously using photoelectric door locking
Untill dead ship condition.
It is of the present invention based on STM Intelligent logistics storage shuttle control method the characteristics of lie also in,
The value of the mobile step number is the numerical value that the S types rate curve obtains to the integration of time, according to the shifting
The value of dynamic step number calculates the Acceleration and deceleration time parameter of the S types rate curve, so as to drive the motion of the shuttle
Unit carries out acceleration and deceleration motion according to S types rate curve.
Compared with the prior art, the present invention has the beneficial effect that：
1st, the present invention sets storage area simultaneously by building multilayered memory and shipping platform in track both sides；Adopt simultaneously
With modularized design, master system and slave computer execution system are connected by communication, solved in the prior art
The problem of density of storing in a warehouse is not high, space service efficiency is not high and automaticity is insufficient, it is closer, more reliable so as to bring
Intelligent logistics storage effect, improve the service efficiency of storage space, reduce cost of labor, improve Intelligent logistics storage
The accuracy and stability of equipment.
2nd, the present invention is overcome in the prior art by way of combining the meter step of photoelectric encoder and motor Hall element
The problem of crisis executing agency motion positions are not accurate enough is write, the motion that can reach is with stretching the positioning within the positive negative one millimeter of fork
Precision improves stacks of cargo spermiation degree, thus can effectively lift operating efficiency, reduces dangerous.
3rd, the present invention is by the motion mode of the S types rate curve, at the same using displacement be converted into number of motor steps as
Rate curve integration amount, overcome high-speed motion in the prior art and stablize the problem of parking can not be realized simultaneously, so as to protect
Card shuttle accelerates to fair speed with less time while can finally realize the effect of precise and stable parking, reduces shuttle
The time consumed in the handling process, improve storage operational paradigm.
Brief description of the drawings
Fig. 1 is the system module figure of the present invention；
Fig. 2 is the motion control flow chart of the present invention；
Fig. 3 is the system operation flow chart of the present invention.
Embodiment
In the present embodiment, a kind of Intelligent logistics storage shuttle vehicle control based on STM, is applied to by multi-layered storage rack
In the logistic storage environment that platform is formed, a laneway type shuttle is provided with every layer of shelf platform；Travelled in shuttle
The both sides in direction are provided with goods laydown area；The purpose of one shuttle of every layer of setting is dispatched while being easy between each layer,
Accelerate operating efficiency.It is to better profit from space resources that goods laydown area is set in both sides, and shuttle stretches fork structure
Symmetric design also meets the needs that both sides are carried；
As shown in figure 1, this control system includes：Master system, slave computer execution system, photoelectric encoder, photoelectric door；
Master system includes：Data processing module, principal communication module, input and output display module；Master system by
Input and output display module is responsible for the input of control instruction, and data processing module realizes the analyzing and processing of input instruction, leads to simultaneously
Cross principal communication module and treated data are sent to slave computer.
Slave computer execution system includes：From communication module, control module, drive module, information acquisition module, execution mould
Block；Execution module includes moving cell and stretches fork unit；It is responsible for reception principal communication module hair from communication module in lower computer system
The data brought, and the data handled well are sent to control module, control module judges row according to obtained director data
The job order of fork structure and specific amount of exercise are walked and stretch, drive module drives execution module to complete accordingly to refer to after obtaining data volume
Order, in whole motion process, information acquisition module constantly gathers relevant information, and when control module performs interrupt routine
By the data collected by being sent to principal communication module from communication module, carried out by the data processing module in master system
Processing and judgement.
Shuttle vehicle track on every layer of shelf platform is internally provided with photoelectric encoder；It is single that fork is stretched in the both sides of shuttle
Photoelectric door is provided with member；The effect of photoelectric encoder is to carry out real-time position location information collection, is easy to master system
Judge shuttle current motion state and location information in time.The effect of photoelectric door is to reach current position in shuttle with low speed
Touched when putting, while start mechanical hatching gate, realize parking.
Fig. 2 show specific system control process.After system starts, compiled first by information acquisition module by photoelectricity
Code device obtains the location information of shuttle, and is sent to control module；Control module is by location information by being sent out from communication module
Give principal communication module；
Data processing module is to the operational order acquired in input and output display module, and the principal communication module received
The location information of transmission is handled, and is calculated the displacement vector for obtaining shuttle and is sent to by principal communication module from communication mould
Block；
Control module is sent to from communication module by the displacement vector of received shuttle；
Control module controls drive module powered motion unit to cause shuttle in level according to the displacement vector of shuttle
Side is moved upwards up to target area, and obtains the location information of shuttle in real time by photoelectric encoder, for judging shuttle
Whether target location is reached；If reaching target location, by the motor Hall element in photoelectric door and moving cell in target
Opening position is accurately positioned and stopped, and drives the charge and discharge operations stretched in fork unit execution vertical direction；Otherwise, photoelectricity is utilized
Door locking stretches fork unit untill target location is reached.Moving cell and the progress that is driven apart for examining unit, from each other
Without communication and interfere, as shown in Figure 3.Before control system judges that shuttle has been carried out parking, fork structure meeting one is stretched
Directly it is maintained in the range of car body, will not stretches out.The current location for stretching fork can all be gathered by often crossing an interruption.If it was found that in shuttle
Fork is stretched in motion process and exceeds vehicle body position, then brake hard, stops and alarms.
In the present embodiment, a kind of Intelligent logistics storage shuttle control method based on STM, is applied to by multi-layered storage rack
In the logistic storage environment that platform is formed, a laneway type shuttle is provided with every layer of shelf platform；Travelled in shuttle
The both sides in direction are provided with goods laydown area；Shuttle vehicle track on every layer of shelf platform is internally provided with photoelectric encoder；
Photoelectric door is provided with the both sides of shuttle；The control method is to carry out as follows：
Step 1, the location information by photoelectric encoder acquisition shuttle；
Step 2, the operational order for obtaining shuttle, and according to location information, calculate the displacement vector for obtaining shuttle；
Step 3, displacement vector is scaled mobile step number；So as to drive shuttle according to S type speed according to mobile step number
Curve is moved to target area in the horizontal direction, and obtains the location information of shuttle in real time by photoelectric encoder, so as to
Close to target location deceleration, target location is moved to low speed, and pass through the motor in photoelectric door and moving cell
Hall element is accurately positioned and stopped in target location；
Step 4, the location information by photoelectric encoder acquisition shuttle, judge whether shuttle reaches target location simultaneously
In dead ship condition；If reaching target location and being in dead ship condition, shuttle is performed in vertical direction in target location
Charge and discharge operations；Otherwise, using photoelectric door locking stretch fork unit until reach target location and be in dead ship condition untill.
Specifically, the value of mobile step number is the numerical value that S types rate curve obtains to the integration of time, is walked according to mobile
Several values calculates the Acceleration and deceleration time parameter of S type rate curves, so as to drive the moving cell of the shuttle according to S types speed
Line of writing music carries out acceleration and deceleration motion, realizes the purpose of the motion mode control moving cell by S type rate curves；By displacement vector
Meter step number is converted into according to a certain percentage, and by whole shelf rail, step number is quantized into an axle for carrying coordinate based on.S type speed
Curve is then meter step number for the First-order Integral of time.Such as：If desired the displacement vector walked is positive 10 meters, substitution ratio
Example is 1 meter=500 meter step numbers.The step number for then converting to obtain is 5000 steps.50 steps are reserved from overall step number as final cunning
Row positioning displacement.First by remaining 4950 step calculates acceleration and deceleration according to packaged S type rate curves and at the uniform velocity passes by
Time, the characteristic for first accelerating to slow down afterwards according to S types rate curve, now shuttle be in low-speed motion state, remaining 50 step
By low speed slide close to target location.When reaching target location, motor braking brakes, while triggers photoelectric door, realizes machinery
Band-type brake simultaneously stops.
In summary, to solve, space service efficiency is low in modern warehouse logisticses, automaticity is not high enough and storage
The problem of equipment operational reliability and stability deficiency, this programme establish a set of perfect intelligent storage logistics control system,
For the characteristic of electric business logistics, there is provided dedicated for solving the problems, such as the solution of electric business warehouse logisticses.
Claims (3)
1. a kind of Intelligent logistics storage shuttle vehicle control based on STM, is the thing for being applied to be made up of multi-layered storage rack platform
Flow in storage environment, a laneway type shuttle is provided with every layer of shelf platform；The two of the shuttle travel direction
Side is provided with goods laydown area；Its feature, the control system include：Master system, slave computer execution system, photoelectric coding
Device, photoelectric door；
The master system includes：Data processing module, principal communication module, input and output display module；
The slave computer execution system includes：From communication module, control module, drive module, information acquisition module, execution mould
Block；The execution module includes moving cell and stretches fork unit；
Shuttle vehicle track on every layer of shelf platform is internally provided with the photoelectric encoder；Stretched in the both sides of the shuttle
The photoelectric door is provided with fork unit；
Described information acquisition module obtains the location information of the shuttle by the photoelectric encoder, and is sent to the control
Molding block；The location information is sent to the principal communication module by the control module by described from communication module；
The data processing module is to the operational order acquired in the input and output display module, and the principal communication received
The location information of module transmission is handled, and is calculated the displacement vector for obtaining the shuttle and is sent out by the principal communication module
Give described from communication module；
It is described that the displacement vector of received shuttle is sent to control module from communication module；
The control module controls the drive module to drive the moving cell to cause according to the displacement vector of the shuttle
Shuttle is moved to target area in the horizontal direction, and obtains the positioning of the shuttle in real time by the photoelectric encoder
Information, for judging whether the shuttle reaches target location；If reaching target location, pass through the photoelectric door and motion
Motor Hall element in unit is accurately positioned and stopped in target location, and is driven and stretched fork unit execution vertical direction
On charge and discharge operations；Otherwise, fork unit is stretched untill target location is reached using photoelectric door locking.
2. a kind of Intelligent logistics storage shuttle control method based on STM, is the thing for being applied to be made up of multi-layered storage rack platform
Flow in storage environment, a laneway type shuttle is provided with every layer of shelf platform；The two of the shuttle travel direction
Side is provided with goods laydown area；Its feature：Shuttle vehicle track on every layer of shelf platform is internally provided with photoelectric encoder；
Photoelectric door is provided with the both sides of the shuttle；The control method is to carry out as follows：
Step 1, the location information by the photoelectric encoder acquisition shuttle；
Step 2, the operational order for obtaining the shuttle, and according to the location information, calculate the position for obtaining the shuttle
Move vector；
Step 3, institute's displacement vector is scaled mobile step number；So as to according to the mobile step number drive the shuttle according to
S type rate curves are moved to target area in the horizontal direction, and obtain the shuttle in real time by the photoelectric encoder
Location information, so as to close to target location deceleration, target location is moved to low speed, and pass through the photoelectric door
And the motor Hall element in moving cell is accurately positioned and stopped in target location；
Step 4, the location information by the photoelectric encoder acquisition shuttle, judge whether the shuttle reaches mesh
Cursor position is simultaneously in dead ship condition；If reaching target location and being in dead ship condition, the shuttle is held in target location
Charge and discharge operations in row vertical direction；Otherwise, fork unit is stretched using photoelectric door locking until reaching target location and being in
Untill dead ship condition.
3. the Intelligent logistics storage shuttle control method according to claim 2 based on STM, it is characterized in that, the shifting
The value of dynamic step number is the numerical value that the S types rate curve obtains to the integration of time, is counted according to the value of the mobile step number
The Acceleration and deceleration time parameter of the S types rate curve is calculated, so as to drive the moving cell of the shuttle according to S type speed
Curve carries out acceleration and deceleration motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610184997.XA CN105692021B (en) | 2016-03-24 | 2016-03-24 | A kind of Intelligent logistics storage shuttle vehicle control and its method based on STM |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610184997.XA CN105692021B (en) | 2016-03-24 | 2016-03-24 | A kind of Intelligent logistics storage shuttle vehicle control and its method based on STM |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105692021A CN105692021A (en) | 2016-06-22 |
| CN105692021B true CN105692021B (en) | 2018-02-06 |
Family
ID=56232884
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610184997.XA Active CN105692021B (en) | 2016-03-24 | 2016-03-24 | A kind of Intelligent logistics storage shuttle vehicle control and its method based on STM |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105692021B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106044041B (en) * | 2016-07-22 | 2018-02-06 | 合肥工业大学 | A kind of automation three dimensional warehouse control system and method |
| CN106125743A (en) * | 2016-08-31 | 2016-11-16 | 江苏高科物流科技股份有限公司 | The position control method of shuttle unit and positioning control system in logistic storage |
| CN106383484A (en) * | 2016-12-15 | 2017-02-08 | 合肥工业大学 | Shuttle vehicle control system based on wheel hub motor and magnetic encoder and method thereof |
| CN106628791B (en) * | 2017-03-08 | 2018-11-20 | 江苏华章物流科技股份有限公司 | A kind of shuttle walking positioning method |
| CN107163959B (en) * | 2017-05-31 | 2020-08-04 | 上海应用技术大学 | Accurate positioning system of coke oven locomotive |
| CN108445849A (en) * | 2018-03-30 | 2018-08-24 | 河南十方物联网有限公司 | A kind of control System of Flexible Production Line |
| CN108792384B (en) * | 2018-04-18 | 2019-04-26 | 北京极智嘉科技有限公司 | Method for carrying, handling device and handling system |
| CN110255041A (en) * | 2019-07-22 | 2019-09-20 | 无锡凯乐士科技有限公司 | A kind of shuttle truck control device, method and shuttle |
| CN112777196B (en) * | 2020-12-18 | 2022-12-20 | 世仓智能仓储设备（上海）股份有限公司 | Logistics shuttle positioning method and logistics shuttle |
| CN113581792B (en) * | 2021-08-04 | 2023-04-28 | 三一机器人科技有限公司 | Tray position verification method, device and tray positioning system |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000097697A (en) * | 1998-09-28 | 2000-04-07 | Meidensha Corp | Unmanned truck position detection system |
| CN102411369B (en) * | 2011-09-28 | 2013-08-28 | 上海交通大学 | Automatic guided vehicle (AGV) setting device possessing wireless communication function |
| CN102602643B (en) * | 2012-03-02 | 2014-01-29 | 无锡普智联科高新技术有限公司 | Automatic high-density three-dimensional storage system |
| CN106200643A (en) * | 2014-02-13 | 2016-12-07 | 苏州艾吉威机器人有限公司 | Areflexia plate Laser Self navigation AGV dolly |
| CN104609086B (en) * | 2015-01-12 | 2017-01-11 | 世仓智能仓储设备（上海）股份有限公司 | Four-directional shuttle vehicle control system based on road right tokens |
-
2016
- 2016-03-24 CN CN201610184997.XA patent/CN105692021B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105692021A (en) | 2016-06-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105692021B (en) | A kind of Intelligent logistics storage shuttle vehicle control and its method based on STM | |
| CN103171851B (en) | Intelligent four-direction shuttling vehicle with climbing function | |
| CN103246943B (en) | Vehicle operating condition multi-scale predicting method based on Markov chain | |
| CN207596395U (en) | A kind of piler for automatic stereowarehouse | |
| CN104609086B (en) | Four-directional shuttle vehicle control system based on road right tokens | |
| CN2820803Y (en) | Automation system of optimum path of container crane | |
| CN1840461A (en) | System for detecting position of moving body and method | |
| CN106628791A (en) | Traveling positioning method for rail guided vehicle | |
| CN108764579B (en) | Storage multi-robot task scheduling method based on congestion control | |
| CN103318181A (en) | Driver intention recognition method | |
| CN100551812C (en) | The method for slowing-down control of the Working mechanism of hoisting and handling equipment and device | |
| CN104054117A (en) | Driving model generation device, driving model generation method, driving evaluation device, driving evaluation method, and driving support system | |
| CN203268812U (en) | Intelligent four-direction shuttle vehicle with climbing function | |
| CN104346658B (en) | System dynamic dispatching method is accessed based on the automatic vehicle for improving banker's algorithm | |
| CN109132952A (en) | A kind of intelligence trident piler | |
| CN105858043B (en) | The warehousing system Optimization Scheduling that a kind of lift is combined with shuttle | |
| CN202882488U (en) | Intelligent mechanical three-dimensional parking equipment | |
| CN102040072A (en) | Method for regulating speed of high-speed stocker by adopting wireless indoor positioning technique | |
| CN112230655B (en) | Walking control system and method of four-way shuttle | |
| CN108806018A (en) | A kind of data processing method, data processing equipment and intelligent automobile | |
| CN102101591A (en) | Method for realizing servo positioning of stacking machine | |
| CN110309957A (en) | It is a kind of towards in the car-haul time pre-judging method with the unmanned transportation system of mine car | |
| CN210027165U (en) | Vehicle-mounted mobile three-dimensional sorting and cargo allocation system | |
| CN110398993A (en) | Method for control speed, device and computer readable storage medium | |
| CN209344837U (en) | Piping lane charging mechanism and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220113 Address after: 236000 No. 8 Huayuan Avenue, Baohe Economic Development Zone, Hefei, Anhui Patentee after: ANHUI FUSION INTELLIGENT TECHNOLOGY CO.,LTD. Address before: 230088 floor 12, block B, innovation building, No. 860, Wangjiang West Road, Hefei, Anhui Patentee before: INTELLIGENT MANUFACTURING INSTITUTE OF HFUT |
|
| TR01 | Transfer of patent right |