CN106200648B - Intelligent freight car with path memory function - Google Patents
Intelligent freight car with path memory function Download PDFInfo
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- CN106200648B CN106200648B CN201610819694.0A CN201610819694A CN106200648B CN 106200648 B CN106200648 B CN 106200648B CN 201610819694 A CN201610819694 A CN 201610819694A CN 106200648 B CN106200648 B CN 106200648B
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- 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
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- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
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Abstract
The invention relates to an intelligent freight car with a path memory function, which comprises a car body capable of running in any one of a manual mode, a memory mode and an automatic transport mode, and a remote control device capable of controlling the start and stop and the running direction of the car body and switching among three running modes, wherein the car body comprises two power wheels symmetrically arranged at the front side and a universal wheel arranged at the rear side: the trolley is characterized in that a main control module, an ultrasonic ranging module, a photoelectric encoder, an electronic compass, a camera and a motor module which are connected with the main control module are arranged on the trolley body. The invention can realize remote control operation of the trolley, can realize that the trolley can transport goods from a starting point to a destination point in an automatic transmission mode through the identified and stored path under the condition of no human intervention, does not need manual operation in the whole process, and can realize automatic transport of the goods under the condition of no markers or rails on the ground.
Description
Technical Field
The invention belongs to the technical field of intelligent transport trolleys, and particularly relates to an intelligent transport trolley with a path memory function.
Background
At present, in the actual running process of the intelligent transportation trolley, some problems are encountered, such as the fact that the trolley must rely on ground representation objects as forward guiding, the construction is complicated, the mobilization of a production line is not facilitated, the intelligent transportation trolley is difficult to adapt to the outdoor environment, and the intelligent transportation trolley is difficult to run on outdoor rainy days and on a water accumulation road surface. In addition, in the practical application of the unmanned intelligent transportation trolley, the guidance technology of the traditional detection track is limited by the influences of ground environment, production variation and the like, and the traditional guidance technology still has a plurality of limitations. Such guided vehicles do not perform well in open air environments, or when there is water accumulation, scrap iron, or when the ground is not finished.
Disclosure of Invention
The invention aims to solve the technical problems and provide an intelligent freight car with a path memory function.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the utility model provides an intelligent freight car with path memory function, includes the dolly body that can run in any one mode operation mode in manual mode, memory mode and automatic transportation mode and can control the start-stop of dolly body, advancing direction and the remote control unit who switches between three mode operation, the dolly body is including two power wheels of symmetry setting at the front side and setting up a universal wheel at the rear side: the trolley body is provided with:
the system comprises a main control module, an ultrasonic ranging module, a photoelectric encoder, an electronic compass, a camera and a motor module, wherein the ultrasonic ranging module, the photoelectric encoder, the electronic compass, the camera and the motor module are connected with the main control module;
the ultrasonic ranging module is used for detecting the distance between the trolley and surrounding objects or detecting the distance between the trolley and the end point marker when approaching to the transportation end point;
the photoelectric encoder is used for detecting the running distance of the trolley, and the electronic compass is used for judging the current running direction of the trolley;
the camera is used for collecting an end point marker image in a visual field when the trolley runs to a preset distance from a transportation end point so as to judge the relative distance and angle between the current trolley and the end point marker;
the motor module is used for driving two power wheels of the trolley to move synchronously in linear motion, so that one power wheel is static when turning, and the other power wheel turns by taking the length of a front axle as a turning radius;
the main control module comprises:
a path recognition unit for recognizing and storing a travel path of the cart, including a travel distance, a travel direction, and a turning angle, when in the memory mode;
and the path control unit is used for controlling the trolley to automatically run from the starting point to the end point according to the memorized running path according to the running path of the trolley which is recognized and stored by the path recognition unit in the automatic transportation mode.
The main control module is connected with the communication module and is used for realizing the communication between the main control module and the upper computer monitoring device, the upper computer monitoring device performs man-machine interaction with the trolley, obtains the current trolley running state in real time, comprises the trolley running position and the running direction, and sends a running control instruction to the trolley.
The path identifying unit includes:
the travelling distance calculation module is used for collecting the travelling angle and the travelling distance of the current trolley at intervals of preset time, taking the average value of the travelling angle of the current trolley and the travelling angle of the trolley collected last time as the travelling direction of the trolley in the time, calculating the travelling distance of the trolley in the time according to the difference value of the travelling directions of the front and rear times, and calculating the travelling distance from the starting point to the end point of the trolley by utilizing a trigonometry according to the travelling distance and the corresponding operating angle parameter;
the traveling direction calculation module is used for calculating traveling angle parameters corresponding to the traveling distance in each preset time period in the traveling process of the trolley from the starting point to the end point.
The invention can realize remote control operation of the trolley, can realize that the trolley can transport goods from a starting point to a destination point in an automatic transmission mode through the identified and stored path under the condition of no human intervention, does not need manual operation in the whole process, and can realize automatic transport of the goods under the condition of no markers or rails on the ground.
Drawings
FIG. 1 shows a schematic diagram of an intelligent freight car with path memory function according to the present invention;
FIG. 2 shows a control flow diagram of the present invention;
FIG. 3 shows a path diagram of a trolley traveling from point A to point D;
FIG. 4 shows a schematic diagram of the calculation of the distance travelled by a trolley by means of a travelling arc;
FIG. 5 shows a schematic diagram of the calculation of travel path from the direction of travel and distance of travel of the trolley;
FIG. 6 shows the identified travel path of the cart from start point A to end point M;
fig. 7 shows a schematic diagram of travel path control of the trolley.
Detailed Description
The essential features and advantages of the invention will be further elucidated with reference to the examples, without however being limited to the embodiments listed.
Referring to fig. 1, an intelligent freight car with path memory function comprises a car body capable of running in any one of a manual mode, a memory mode and an automatic transport mode, and a remote control device capable of controlling start and stop and running directions of the car body and switching among three running modes, wherein the car body comprises two power wheels symmetrically arranged at the front side and a universal wheel arranged at the rear side: the trolley body is provided with:
the system comprises a main control module, an ultrasonic ranging module, a photoelectric encoder, an electronic compass, a camera and a motor module, wherein the ultrasonic ranging module, the photoelectric encoder, the electronic compass, the camera and the motor module are connected with the main control module;
the ultrasonic ranging module is used for detecting the distance between the trolley and surrounding objects or detecting the distance between the trolley and the end point marker when approaching to the transportation end point;
the photoelectric encoder is used for detecting the running distance of the trolley, and the electronic compass is used for judging the current running direction of the trolley;
the camera is used for collecting an end point marker image in a visual field when the trolley runs to a preset distance from a transportation end point so as to judge the relative distance and angle between the current trolley and the end point marker;
the motor module is used for driving two power wheels of the trolley to move synchronously in linear motion, so that one power wheel is static when turning, and the other power wheel turns by taking the length of a front axle as a turning radius;
the main control module comprises:
a path recognition unit for recognizing and storing a travel path of the cart, including a travel distance, a travel direction, and a turning angle, when in the memory mode;
and the path control unit is used for controlling the trolley to automatically run from the starting point to the end point according to the memorized running path according to the running path of the trolley which is recognized and stored by the path recognition unit in the automatic transportation mode.
When the main control module judges that the trolley is about to run to the terminal through the collection information of the photoelectric encoder and the electronic compass, namely, when the trolley is at a preset distance from the terminal, the camera searches for the terminal marker in the visual field, the main control module judges the relative angle between the current trolley and the terminal marker, and the travelling direction of the trolley is adjusted according to the angle and the distance between the current trolley and the terminal marker.
In the invention, the intelligent freight car with the path memory function has three operation modes, namely a manual mode, a memory mode and an automatic transportation mode, and an operator can freely switch between the three modes at any time through a remote control device.
And (one) a manual mode. In the manual mode, the trolley needs to be manually operated, an operator can control the starting and stopping actions and the advancing directions of the trolley in a remote control mode, and the basic transportation task of the trolley is completed in a remote control mode. Compared with the traditional manual cart mode, the mode can save considerable manpower. Meanwhile, when the trolley breaks down or the transportation environment suddenly changes uncontrollably, such as factory accidents and outdoor natural disasters, the running track of the trolley can be changed rapidly, and the trolley can even serve as a wireless remote control rescue trolley.
And (II) a memory mode. Before entering the mode, the transport trolley is controlled remotely in a manual mode, so that the trolley runs to a transport starting point, when the trolley enters a memory mode, the current position of the trolley is recorded as the transport starting point, and in the memory mode, the trolley is controlled by a remote control device, so that the trolley runs to a transport end point under manual operation. In the process, the trolley can recognize and judge the traveled path and the current position in real time, record and store the traveled path and the current position in a storage card, such as an SD card, so as to judge the memory path in an automatic mode and travel according to the memory path.
And (III) an automatic transportation mode. In the mode, firstly, the trolley reads the transport path from the storage card, such as the SD card, and then automatically moves from a starting point to a transport destination according to the memorized transport path, and the whole process does not need human intervention or any marker paved on the ground for guidance. However, if there is no recorded transportation route in the memory card, the automatic transportation mode cannot be entered. Only "manual mode" and "memory mode" can be entered.
When the trolley runs near the destination, the main control module automatically enters the destination identification program, the marker placed at the destination position is identified through the camera on the transportation trolley, the relative position (relative distance and relative angle) of the trolley and the transportation destination is judged through the distance measurement of the ultrasonic ranging module, the running direction of the trolley is corrected, and the trolley can be guaranteed to arrive at the transportation destination quickly and accurately.
The operational flow diagram of the present invention is shown in fig. 2. After the system is powered on, each module is initialized, after initialization is completed, an operator waits for remote control to select to enter a manual mode, a memory mode and an automatic transportation mode, and in the three modes, the operator can control to exit from the current mode in real time.
In the invention, the main control module is also connected with a communication module for realizing the communication between the main control module and the upper computer monitoring device, the upper computer monitoring device performs man-machine interaction with the trolley, acquires the current trolley running state in real time, including the trolley running position and the running direction, and sends a running control instruction to the trolley.
According to actual measurement, in an automatic transportation mode, in transportation within a short distance of 50M, the transportation precision can reach 5-10CM, and after the terminal identification system is added, the transportation precision can reach 1-3CM, so that the transportation requirement is completely met.
In the invention, the remote control device communicates with the trolley body through the infrared emission module to send out instructions, and the trolley body is provided with the infrared receiving module which is connected with the main control module to receive the remote control instructions of the remote control device to start and stop, turn and switch modes.
In the invention, the ultrasonic ranging module is mainly used for detecting obstacles, when other objects in the running route of the trolley are blocked, the trolley can identify the obstacles and give an alarm to remind operators, and the number of the ultrasonic ranging module can be 5 and the ultrasonic ranging module can be respectively arranged at the front end and the two sides of the trolley, wherein one of the ultrasonic ranging module can be arranged at the front end of the trolley, and the two ultrasonic ranging module can be respectively arranged at the two sides of the trolley. The ultrasonic ranging module can adopt US-100, when the trolley approaches to the transportation end point, the distance between the trolley and the marker is measured through the ultrasonic sensor, and errors generated in the transportation process are corrected, so that the trolley can accurately reach the set transportation end point.
In the invention, the photoelectric encoder (speed measuring optical code disc) is used for detecting the running distance of the trolley, two photoelectric encoders are respectively arranged on the two power wheels, and one electronic compass is used for judging the current running direction of the trolley. And (3) judging the relative position of the current trolley and the transportation end point and the direct deviation of the current trolley and the preset travel route together through the data of the photoelectric encoder and the electronic compass, and adjusting the traveling direction of the trolley by taking the relative position of the current trolley and the transportation end point and the direct deviation of the current trolley and the preset travel route as the reference.
The camera is arranged at the front end of the trolley for detecting the transportation end point marker. When the singlechip judges that the trolley is about to run to the destination through the acquisition information of the photoelectric encoder and the electronic compass, the camera on the trolley searches for the destination marker in the visual field, the relative distance and the relative angle between the current trolley and the destination marker are judged through the ultrasonic ranging module and the information of the electronic compass, and the singlechip adjusts the travelling direction of the trolley according to the relative angle and the distance between the current trolley and the destination marker.
The master control module adopts a singlechip and is connected with a liquid crystal screen, and the singlechip can be a Kinetis K60DN512 singlechip (designed and manufactured by the original Feisha Karl) of Enzhi Co.
The following table is illustrative of the connections between K60 and other modules in the present system.
In the invention, the path identification unit and the path control unit of the main control module are core parts of the intelligent transportation trolley with the path memory function.
Wherein the path identifying unit includes: the travelling distance calculation module is used for collecting the travelling angle and the travelling distance of the current trolley at intervals of preset time, taking the average value of the travelling angle of the current trolley and the travelling angle of the trolley collected last time as the travelling direction of the trolley in the time, calculating the travelling distance of the trolley in the time according to the difference value of the travelling directions of the front and rear times, and calculating the travelling distance from the starting point to the end point of the trolley by utilizing a trigonometry according to the travelling distance and the corresponding operating angle parameter; the traveling direction calculation module is used for calculating traveling angle parameters corresponding to the traveling distance in each preset time period in the traveling process of the trolley from the starting point to the end point.
The following describes a specific procedure of path recognition and control.
In order to improve the recognition accuracy and reduce the recognition error, in the invention, the trolley advances in a way of separating a turning state from a straight line state in the transportation process, namely, the speeds of two wheels are kept the same in the advancing process, one wheel is stationary in the turning process, the turning radius is fixed (namely, the length of an axle), and other turning radii cannot occur. This is because in areas where road conditions are poor, two wheels rotate simultaneously, it is more difficult to ensure that the trolley turns with a fixed turning radius, and the manner of making one wheel stationary is easier to implement, and the turning accuracy is also higher.
It can be seen from this that in the case of straight-line operation, the two most important trolley travel control parameters are the distance traveled and the direction traveled by the trolley. When turning, because the turning radius is fixed (namely the length of the front axle), the most important parameter is the turning angle, and the key control of the main control module is to record three data: travel distance, travel direction, turning angle.
As shown in fig. 3, the path memorizing and path controlling process of the master control module will be described from the process of the trolley running from the point a to the point D; when the trolley moves from the point A to the point B in a straight line, the rotating speeds of the two power wheels are identical in an ideal state, and the whole process ensures complete straight line operation. Therefore, the running distance of the trolley can be judged by only accumulating the data of the photoelectric encoder, and the running angle of the trolley can be obtained by the electronic compass, so that the running path of the trolley is identified. However, in the actual operation process, due to uneven ground, fine differences of internal structures of the motor and the like, even if PID control is added, the linear operation of the trolley cannot be guaranteed. The fact proves that the detection distance of the electronic encoder is directly regarded as the forward straight line distance error, and the requirement cannot be met. The main control module is provided with a running path identification unit and a path control unit, and is used for memorizing the running path of the trolley and carrying out correction control according to the memorized path. In the process of path identification, specifically, when the trolley runs in a straight line, the current trolley travel angle is acquired every 500ms, and the encoder value in 500ms is acquired. And taking an average value of the angle of the trolley and the angle of the trolley acquired last time, and recording the average value as the travelling direction of the trolley within 500 ms. Since the two wheels of the trolley cannot rotate at the same speed, the trolley can be considered to advance into an arc line M within 500ms, and the straight line distance L of the trolley in 500ms can be obtained by the following method as shown in FIG. 4.
L 2 =r 2 +r 2 -2×r×r×cosα 4-1
M＝r×α； 4-2
Wherein, alpha is the direction difference value acquired twice before and after 500ms, r is the turning radius, and the forward distance L of the trolley in 500ms can be calculated by the formulas 4-3 obtained by the formulas 4-1 and 4-2 and is taken as the path discrimination basis. Thus, the travel path of the cart and the stored memory path errors are already within acceptable ranges.
The travel path identified and stored is primarily for the purpose that in the "automatic transport mode" the trolley can be advanced as such. Because the trolley only advances in a straight line in the advancing process and turns in a fixed radius, in the automatic transportation mode, as shown in fig. 5, the trolley only needs two parameters of the straight line distance between the points A and B and the direction angle of the straight line AB in the straight line running state. Obviously, the result of the above-mentioned path discrimination cannot be used directly as the travel basis of the carriage.
As shown in fig. 5 to 6, it is assumed that the path recognition result of the traveling path of the dolly is shown in fig. 6 when the dolly travels from the point a to the point M. The linear distance and angle of the two points of the AC are calculated firstly, and the linear distance and angle are calculated through a triangle rule. As shown in fig. 5, the AB, AC distance and angle parameters ang1, ang2 angle are measured by the path recognition algorithm, and then calculated as follows:
angle3＝180°-(ang1-ang2)； 4-4
ang5＝arccos[(AB 2 +AC 2 -BC 2 )/(2×AB×BC)]； 4-6
ang4＝ang1-ang5； 4-7
the direction (i.e., ang 4) and distance of the path AC can be obtained by equations 4-4 to 4-7, then the direction and distance of the path AD can be obtained by using the above equations again, and so on, and finally the straight-line distance and direction of AM can be obtained. And storing the two parameters of the linear distance and the direction of the AM into the SD card, and taking the parameters as the basis of the forward movement of the trolley in the automatic transportation mode.
The turning angle parameters are directly stored in the SD card, and only the angle after turning is recorded during storage, namely the bending angle is obtained. In the "automatic transport mode", the trolley is self-steering to the exit bend angle.
The method realizes the identification of the travelling path of the trolley and is convenient for carrying out path control correction, in the invention, the path identification unit can obtain the position and the direction of the current trolley, the information stored in the SD card comprises the travelling direction, the travelling distance and the turning angle of the trolley, the ideal travelling path of the trolley can be obtained, the control of the path control unit is shown in figure 7, the straight line CD is the ideal travelling path of the trolley recorded in the SD card, the line segment AB is the deviation between the trolley and the ideal travelling path, the angle ANG is the error between the body of the trolley and the ideal travelling direction, and the PID closed-loop control is carried out according to the length of the line segment AB and the angle error ANG. Equations 4-8 are angle control parameters under P mediation only.
ERROR＝AB×m+ANG×(1-m)；4-8
In the formulas 4-8, ERROR is the overall ERROR of the trolley, m is the influence factor of the linear deviation and the angle deviation in the correction algorithm on the control, namely, when m is increased, the influence of the distance deviation on the adjustment control algorithm is larger, and when m is smaller, the influence of the deviation of the angle ANG on the adjustment control algorithm is larger.
According to the information, integral and differential links in PID control can be easily added in a control algorithm, so that control and correction of the travelling path of the trolley are realized, and the description is omitted.
Compared with the prior art, the invention has the following beneficial effects:
1. under the condition of no human intervention, the goods can be transported from the starting point to the end point, and no manual operation is needed in the whole process.
2. The cargo can be transported under the condition that no marker or track exists on the ground.
3. Can be applied to various occasions indoors and outdoors, and can still realize good transportation in rainy days and soil roads.
4. The transportation path can be changed rapidly, which is beneficial to the change of the production line of the factory enterprise.
5. The application range is wide, and the method can be applied to not only cargo transportation in factories, but also outdoor various occasions, such as farms, fishing grounds, warehouses and the like.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (2)
1. The utility model provides an intelligent freight car with path memory function, its characterized in that includes the dolly body that can operate in any one mode operation mode in manual mode, memory mode and automatic transportation mode and can control the start-stop of dolly body, advancing direction and the remote control unit who switches between three mode operation, the dolly body includes two power wheels of symmetry setting in the front side and sets up a universal wheel in the rear side: the trolley body is provided with:
the system comprises a main control module, an ultrasonic ranging module, a photoelectric encoder, an electronic compass, a camera and a motor module, wherein the ultrasonic ranging module, the photoelectric encoder, the electronic compass, the camera and the motor module are connected with the main control module; the ultrasonic ranging module is used for detecting the distance between the trolley and surrounding objects or detecting the distance between the trolley and the end point marker when approaching to the transportation end point; the photoelectric encoder is used for detecting the running distance of the trolley, and the electronic compass is used for judging the current running direction of the trolley; the camera is used for collecting an end point marker image in a visual field when the trolley runs to a preset distance from a transportation end point so as to judge the relative distance and angle between the current trolley and the end point marker; the motor module is used for driving two power wheels of the trolley to move in a linear synchronous motion, and when turning, one power wheel is stationary and the other power wheel turns by taking the length of a front axle as a turning radius; the main control module comprises: a path recognition unit for recognizing and storing a travel path of the cart, including a travel distance, a travel direction, and a turning angle, when in the memory mode; the path control unit is used for controlling the trolley to automatically run from a starting point to a destination according to the stored running path of the trolley, which is recognized and stored by the path recognition unit, in an automatic transportation mode; the path identifying unit includes: the travelling distance calculation module is used for collecting the travelling angle and the travelling distance of the current trolley at intervals of preset time, taking the average value of the travelling angle of the current trolley and the travelling angle of the trolley collected last time as the travelling direction of the trolley in the time, calculating the travelling distance of the trolley in the time according to the difference value of the travelling directions of the front and rear times, and calculating the travelling distance from the starting point to the end point of the trolley by utilizing a trigonometry according to the travelling distance and the corresponding operating angle parameter; the traveling direction calculation module is used for calculating traveling angle parameters corresponding to the traveling distance in each preset time period in the traveling process of the trolley from the starting point to the end point;
when the trolley runs in a straight line, collecting the current trolley running angle every 500ms, collecting the numerical value of an encoder in 500ms, taking the average value of the current trolley angle and the trolley angle collected last time, and recording the average value as the running direction of the trolley in 500ms, wherein the trolley can not rotate at the same speed completely, so that the trolley can run in 500ms as a section of arc line M, and the straight line distance L of the trolley running in 500ms is obtained through the following steps;
L 2 ＝r 2 +r 2 -2×r×r×cosα；
M＝r×α；
wherein alpha is the direction difference value acquired before and after 500ms, and r is the turning radius, the trolley in 500ms can be calculatedThe advancing distance L is used as a path discrimination basis; thus, the travel path of the trolley and the stored memory path errors are within an acceptable range;
the trolley also has a path correction function, wherein a straight line CD is an ideal advancing route of the vehicle recorded in the SD card, a line segment AB is the deviation between the vehicle and the ideal advancing route, an angle ANG is the error between the vehicle body and the ideal advancing direction, and PID closed-loop control is carried out according to the length of the line segment AB and the angle error ANG;
error=ab×m+ang× (1-m); ERROR is the overall ERROR of the trolley, and m is the influence factor of the linear deviation and the angle deviation on control in the correction algorithm.
2. The intelligent freight car with the path memory function according to claim 1, wherein the main control module is connected with the communication module and is used for realizing the communication between the main control module and the upper computer monitoring device, the upper computer monitoring device performs man-machine interaction with the car, obtains the current car running state in real time, including the car running position and the running direction, and sends a running control instruction to the car.
Priority Applications (1)
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| CN107346134B (en) * | 2017-08-29 | 2020-05-12 | 北京矿冶研究总院 | Unmanned control method and device for underground mining articulated vehicle |
| CN107544497B (en) * | 2017-09-07 | 2018-10-12 | 南京昱晟机器人科技有限公司 | A kind of autonomous operation machinery remote operation node control method |
| CN109933058B (en) * | 2017-12-18 | 2022-04-12 | 北京京东乾石科技有限公司 | Method, apparatus, server and storage medium for determining movement error of removable device |
| CN108803603B (en) * | 2018-06-05 | 2021-11-30 | 广州市远能物流自动化设备科技有限公司 | AGV trolley butt joint positioning method based on coded images and AGV trolley |
| CN110050524A (en) * | 2019-06-06 | 2019-07-26 | 广州思谋信息科技有限公司 | A kind of rotary cultivator based on artificial intelligence platform |
| CN110687909A (en) * | 2019-10-09 | 2020-01-14 | 中山安信通机器人制造有限公司 | Task type hotel robot automatic patrol monitoring method |
| CN113277344A (en) * | 2021-04-29 | 2021-08-20 | 中船澄西船舶修造有限公司 | Transportation device and transportation method for narrow pipe joints of ship cargo hold |
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