CN106774352A - The robot control system of automatical pilot transportation vehicle and single two-way automatical pilot transportation vehicle of drive - Google Patents

The robot control system of automatical pilot transportation vehicle and single two-way automatical pilot transportation vehicle of drive Download PDF

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Publication number
CN106774352A
CN106774352A CN201710186233.9A CN201710186233A CN106774352A CN 106774352 A CN106774352 A CN 106774352A CN 201710186233 A CN201710186233 A CN 201710186233A CN 106774352 A CN106774352 A CN 106774352A
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CN
China
Prior art keywords
wheel group
module
transportation vehicle
agv
pilot transportation
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
Application number
CN201710186233.9A
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Chinese (zh)
Inventor
胡建军
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dongguan Handy Intelligent Robot Technology Co Ltd
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Dongguan Handy Intelligent Robot Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Dongguan Handy Intelligent Robot Technology Co Ltd filed Critical Dongguan Handy Intelligent Robot Technology Co Ltd
Priority to CN201710186233.9A priority Critical patent/CN106774352A/en
Publication of CN106774352A publication Critical patent/CN106774352A/en
Pending legal-status Critical Current

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Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028Control 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
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00Application
    • G05D2201/02Control of position of land vehicles
    • G05D2201/0216Vehicle for transporting goods in a warehouse, factory or similar

Abstract

The present invention discloses a kind of robot control system of automatical pilot transportation vehicle, including core board and peripheral module and its daughter board.Wherein, core board realizes two intercommunications of the application program based on ICP/IP protocol by WIFI connection servers, display screen is connected by serial ports, core board usb interfaces connect CAN, and CAN connects motion-control module, radio frequency identification sensor module, magnetic stripe sensor assembly, I/O module and Remote Expansion module respectively.Current automatical pilot transportation vehicle uses double drive patterns substantially, relatively costly, is changed to after single drive, and about 10% can be saved for manufacturer's cost, improves the market competitiveness.

Description

The robot control system of automatical pilot transportation vehicle and the two-way homing guidance fortune of single drive Defeated car
Technical field
The present invention relates to automatical pilot transportation vehicle, the robot control system of more particularly to a kind of automatical pilot transportation vehicle and It is single to drive two-way automatical pilot transportation vehicle.
Background technology
With the progressively development and popularization and application of industrial automation level, AGV mobile robots are more next in production application It is more extensive, realize unpiloted logistics carrying work.
Existing robot technology is mostly PLC and ARM Single-chip Controllings, but for the autgmentability of system, single-chip microcomputer It is not enough with the interface that the system that PLC is developed often considers by design, and system architecture build take a significant amount of time with the factor such as energy, The requirement needs that secondary development cannot be met change hardware, seem particularly bright when especially with other clients or equipment interconnection It is aobvious.
To solve the promptness of AGV (automatical pilot transportation vehicle) system extension, the secondary development demand of AGV applications is met, List of the present invention based on industrial computer (ROS (robot control system)) exploitation drives two-way AGV.
The content of the invention
The purpose of the present invention is directed to the drawbacks described above of prior art, there is provided a kind of robot control of automatical pilot transportation vehicle System processed.Automatical pilot transportation vehicle is based on single drive way moving that industrial computer (ROS systems) is realized, the dolly smooth ride, tool There is abundant expansion interface.
To solve the drawbacks described above of prior art, the technical scheme that the present invention is provided is:A kind of automatical pilot transportation vehicle Robot control system, including core board, the core board pass through network connection by WIFI connection servers, the core board Two intercommunications of the application program based on ICP/IP protocol, the core board connects display screen, the core by serial ports Core connects CAN, and the CAN connects motion-control module, radio frequency identification sensor module, magnetic stripe sensor respectively Module, I/O module and Remote Expansion module.
Improved as a kind of the of robot control system of automatical pilot transportation vehicle of the present invention, the motion-control module control Motor processed drives, and the radio frequency identification sensing module has a radio frequency identification sensor, the magnetic stripe sensor assembly have magnetic stripe, I/O module connects infrared sensor avoidance and lamp, and the Remote Expansion module has wireless receiving function.
Improved as a kind of the of robot control system of automatical pilot transportation vehicle of the present invention, the core board is X86 cores Core, is built based on robot control system, using ubuntu systems install configuration of robotic control system framework, main program by Multiple robot control system functional module compositions.
Improved as a kind of the of robot control system of automatical pilot transportation vehicle of the present invention, multiple robot controls System function module include agv_bringup, agv_canopen, agv_diagnostic, agv_hmi, agv_magnav, Agv_msgs, agv_bringup realize the self-starting function of system, and agv_canopen is to coordinate upper layer logic control and bottom The processing module that is communicated between control panel and each sensor, agv_diagnostic are that self diagnosis module, agv_hmi are to touch Controlling with information feedback module, agv_magnav for screen and upper layer logic is that magnetic navigation module, agv_msgs are robot control The information format of system language topic, including the content structure for wherein transmitting.
Improved as a kind of the of robot control system of automatical pilot transportation vehicle of the present invention, also including Frame unit, institute State Frame unit and be provided with driver element, directive wheel switch unit, battery unit and onboard system.Onboard system by industrial computer, Motion control board, I O board, magnetic stripe are constituted with RFID sensor, using CAN, based on CANOPEN protocol stacks, and configure wireless Module.
It is an advantage of the invention that:It is the platform of system building based on robot control, agv_bringup realizes oneself of system Startup function, agv_canopen is processing module, agv_ between upper layer logic control and bottom control plate and each sensor Diagnostic is self diagnosis module, agv_hmi is touch-screen and upper layer logic control and information feedback module, agv_ The information format that magnav is magnetic navigation module, agv_msgs is ros topic topics, including the content structure for wherein transmitting. Platform has abundant interface, for client, is easy to use.
Current automatical pilot transportation vehicle use double drive patterns substantially, relatively costly, is changed to after single drive, for manufacturer into This can save about 10%, improve the market competitiveness.
It is a further object of the present invention to provide a kind of single two-way automatical pilot transportation vehicle of drive, including vehicle frame, the vehicle frame Middle part is provided with driver element, and the driver element is flexibly connected with the vehicle frame, can relatively rotate, the front end of the driver element Preceding magnetic stripe sensor is installed, the rear end of driver element install one after magnetic stripe sensor, when vehicle frame moves forward, front end magnetic Bar working sensor, completes navigation walking;When dolly backward going, rear end magnetic stripe working sensor;The driver element Center is additionally provided with radio frequency identification sensor, and radio frequency identification sensor is realized trolley real-time positioning function, is additionally provided with the vehicle frame Power supply installs storehouse and electrical equipment control storehouse, and the power supply installs position in storehouse in the front side of the driver element, and electrical equipment control position in storehouse is in institute State the rear side of driver element, be provided with front side of the vehicle frame front jockey wheel group and for control the front jockey wheel group rise or under The front jockey wheel group switching device of drop, is provided with rear directive wheel group and for controlling the rear directive wheel group on rear side of the vehicle frame The rear directive wheel group switching device for rising or declining.
Used as a kind of single improvement for driving two-way automatical pilot transportation vehicle of the present invention, the front jockey wheel group switching device is with after Directive wheel group switching device realizes way moving by switching directive wheel group, and front jockey wheel group switching device and rear directive wheel group are cut Changing device structure is identical, includes elevating mechanism, and elevating mechanism controls the lifting of directive wheel group.
Used as single a kind of improvement for driving two-way automatical pilot transportation vehicle of the invention, the power supply is installed in storehouse and is provided with battery, Installation of driver, circuit board in electrical equipment control storehouse, battery provide the energy of driver element operation.
Used as a kind of single improvement for driving two-way automatical pilot transportation vehicle of the present invention, the front jockey wheel group switching device is with after Directive wheel group switching device both sides centered on driver element are symmetrically installed, and are capable of achieving the function of walking commutation, work as homing guidance During transport vehicle forward direction walking, front jockey wheel group switching device switching, front jockey wheel group rises, and rear directive wheel group landing lands;When When automatical pilot transportation vehicle is reversely walked, the landing of front jockey wheel group lands, and rear directive wheel group rises, so as to ensure the steady row of dolly Sail.
A kind of improvement of two-way automatical pilot transportation vehicle, the front jockey wheel group and rear directive wheel group are driven as list of the invention Include universal wheel and directional wheel, universal wheel is separately mounted to two front jockey wheel group switching devices and rear guiding as support wheel The outside of wheel group switching device, the rear and front end of vehicle frame is respectively mounted a set of safety device, and safety device includes machine Tool anticollision device, collision-prevention device and infrared sensor, it is ensured that the safety of carriage walking process;
Breast wheel group is provided with the middle part of vehicle frame, makees differential driving, driver element is flexibly connected with car body.
Compared with prior art, it is an advantage of the invention that:Driver element of the invention is located at the centre position of car body, drives Using flexible connection between unit and vehicle frame, can relatively rotate.A magnetic stripe sensor is respectively installed in the rear and front end of driver element, When dolly moves forward, front end magnetic stripe working sensor completes navigation walking;When dolly backward going, rear end magnetic stripe is passed Sense device working.RFID sensor (radio frequency identification sensor) is arranged on driver element center, realizes trolley real-time positioning work( Energy.Current automatical pilot transportation vehicle uses double drive patterns substantially, relatively costly, is changed to after single drive, for manufacturer's cost meeting About 10% is saved, the market competitiveness is improved.
Brief description of the drawings
Further details of just is made to technique effect of the invention and its beneficial with specific embodiment with reference to the accompanying drawings below Description, wherein:
Fig. 1 is the robot control system module control structure figure of automatical pilot transportation vehicle of the present invention.
Fig. 2 is single two-way automatical pilot transportation vehicle structural representation of drive of the invention.
Reference title:1st, vehicle frame 2, driver element 3, preceding magnetic stripe sensor 4, rear magnetic stripe sensor 5, radio frequency are known Individual sensor 6, power supply installs storehouse 7, electrical equipment control storehouse 8, front jockey wheel group 9, rear directive wheel group 10, universal wheel 11, fixed To wheel 12, safety device 13, breast wheel group.
Specific embodiment
Just the invention will be further described with specific embodiment with reference to the accompanying drawings below, but embodiments of the present invention not office It is limited to this.
As shown in figure 1, a kind of robot control system of automatical pilot transportation vehicle, including core board, core board passes through WIFI connection servers, core board is by mutual between two application programs (socket) based on ICP/IP protocol of network connection Communication, core board by serial ports connect display screen, core board 1 connect CAN, CAN connect respectively motion-control module, Radio frequency identification sensor module, magnetic stripe sensor assembly, I/O module and Remote Expansion module.
Preferably, moving control module for controlling motor drives, and radio frequency identification sensing module has radio frequency identification sensor, magnetic Bar sensor assembly has magnetic stripe, I/O module connection infrared sensor avoidance and lamp, and Remote Expansion module has wireless receiving work( Energy.
Preferably, core board is X86 core boards, is built based on robot control system, uses ubuntu (friend side is opened up) system System installs configuration of robotic control system framework, and main program is made up of multiple robot control system functional modules.
Preferably, multiple robot control system functional modules include agv_bringup, agv_canopen, agv_ Diagnostic, agv_hmi, agv_magnav, agv_msgs, agv_bringup realize the self-starting function of system, agv_ Canopen is processing module, the agv_ for coordinating to be communicated between upper layer logic control and bottom control plate and each sensor Diagnostic is self diagnosis module, agv_hmi is touch-screen and upper layer logic control and information feedback module, agv_ Magnav is magnetic navigation module, agv_msgs is the information format of robot control system language topic, including wherein transmit Content structure.
Preferably, also including Frame unit, Frame unit is provided with driver element, directive wheel switch unit, battery unit And onboard system.By industrial computer, motion control board, I O board, magnetic stripe is constituted onboard system with RFID sensor, using CAN, Based on CANOPEN protocol stacks, and configure wireless module.
It is an advantage of the invention that:It is the platform of system building based on robot control, agv_bringup realizes oneself of system Startup function, agv_canopen is processing module, agv_ between upper layer logic control and bottom control plate and each sensor Diagnostic is self diagnosis module, agv_hmi is touch-screen and upper layer logic control and information feedback module, agv_ The information format that magnav is magnetic navigation module, agv_msgs is ros topic topics, including the content structure for wherein transmitting. Platform has abundant interface, for client, is easy to use.
Current automatical pilot transportation vehicle use double drive patterns substantially, relatively costly, is changed to after single drive, for manufacturer into This can save about 10%, improve the market competitiveness.
As shown in Fig. 2 a kind of single two-way automatical pilot transportation vehicle of drive, including vehicle frame 1, the middle part of vehicle frame 1 is provided with driving list Unit 2, driver element 2 is flexibly connected with vehicle frame, can relatively rotate, and the front end of driver element 2 is provided with preceding magnetic stripe sensor 3, drives The rear end of moving cell 2 install one after magnetic stripe sensor 4, when vehicle frame 1 moves forward, front end magnetic stripe sensor 2 works, and completes Navigation walking;When dolly backward going, rear end magnetic stripe sensor 4 works;The center of driver element 2 is additionally provided with radio frequency identification biography Sensor 5, radio frequency identification sensor 5 realizes trolley real-time positioning function, power supply is additionally provided with vehicle frame 1 and installs storehouse 6 and electrical equipment control Storehouse 7, power supply installs the front side that storehouse 6 is located at driver element 2, and electrical equipment control storehouse 7 is located at the rear side of driver element 2, the front side of vehicle frame 1 Front jockey wheel group 8 and the front jockey wheel group switching device for controlling front jockey wheel group 8 to rise or fall are provided with, after vehicle frame 1 Side is provided with rear directive wheel group 9 and the rear directive wheel group switching device risen or fallen for directive wheel group 9 after control.
Preferably, front jockey wheel group switching device and rear directive wheel group switching device by switch directive wheel group realize it is two-way Mobile, front jockey wheel group switching device is identical with rear directive wheel group switching device structure, includes elevating mechanism, elevating mechanism Control the lifting of directive wheel group.
Preferably, power supply is installed in storehouse 6 and is provided with battery, installation of driver, circuit board in electrical equipment control storehouse 7, and battery is provided The energy of the operation of driver element 2.
Preferably, front jockey wheel group switching device and rear directive wheel group switching device both sides centered on driver element are symmetrical Install, be capable of achieving the function of walking commutation, when automatical pilot transportation vehicle is positive walks, the switching of front jockey wheel group switching device, Front jockey wheel group 8 rises, and the rear landing of directive wheel group 9 lands;When automatical pilot transportation vehicle is reversely walked, front jockey wheel group 8 drops Fall to landing, rear directive wheel group 9 rises, so as to ensure dolly smooth-ride.
Preferably, front jockey wheel group 8 and rear directive wheel group 9 include universal wheel 10 and directional wheel 11, the conduct of universal wheel 10 Support wheel is separately mounted to the outside of two front jockey wheel group switching devices and rear directive wheel group switching device, vehicle frame 1 it is front and rear Two ends are respectively mounted a set of safety device 12, and safety device 12 includes mechanical anticollision device, collision-prevention device and infrared sensor, protects Demonstrate,prove the safety of carriage walking process;
The middle part of vehicle frame 1 is provided with breast wheel group 13, and breast wheel group 13 makees universal wheel 10 and directional wheel 11 makees differential driving, drives Moving cell 2 is flexibly connected with car body 1.
It is an advantage of the invention that:Driver element of the invention is located at the centre position of car body, between driver element and vehicle frame Using flexible connection, can relatively rotate.A magnetic stripe sensor is respectively installed in the rear and front end of driver element, when dolly moves forward When, front end magnetic stripe working sensor completes navigation walking;When dolly backward going, rear end magnetic stripe working sensor.RFID is passed Sensor (radio frequency identification sensor) is arranged on driver element center, realizes trolley real-time positioning function.
Current automatical pilot transportation vehicle use double drive patterns substantially, relatively costly, is changed to after single drive, for manufacturer into This can save about 10%, improve the market competitiveness.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with Understanding can carry out various changes, modification, replacement in the case where principle of the invention and structure is not departed to these embodiments And modification, the scope of the present invention limits by appended claims and its equivalency range.

Claims (10)

1. a kind of robot control system of automatical pilot transportation vehicle, including core board, it is characterised in that the core board passes through WIFI connection servers, the core board is by phase intercommunication between two application programs based on ICP/IP protocol of network connection Letter, the core board connects display screen by serial ports, and the core board connects CAN, and the CAN connects motion respectively Control module, radio frequency identification sensor module, magnetic stripe sensor assembly, I/O module and Remote Expansion module.
2. the robot control system of automatical pilot transportation vehicle according to claim 1, it is characterised in that the motion control Molding block controlled motor drives, and the radio frequency identification sensing module has radio frequency identification sensor, the magnetic stripe sensor assembly With magnetic stripe, I/O module connection infrared sensor avoidance and lamp, the Remote Expansion module has wireless receiving function.
3. the robot control system of automatical pilot transportation vehicle according to claim 2, it is characterised in that the core board It is X86 core boards, is built based on robot control system, configuration of robotic control system framework is installed using ubuntu systems, Main program is made up of multiple robot control system functional modules.
4. the robot control system of automatical pilot transportation vehicle according to claim 3, it is characterised in that multiple machines Device people's control system functional module includes agv_bringup, agv_canopen, agv_diagnostic, agv_hmi, agv_ Magnav, agv_msgs, agv_bringup realize the self-starting function of system, and agv_canopen is to coordinate upper layer logic control The processing module of communication, agv_diagnostic are self diagnosis module, agv_hmi and bottom control plate and each sensor between Touch-screen with upper layer logic to control with information feedback module, agv_magnav be that magnetic navigation module, agv_msgs are machines The information format of people's control system language topic, including the content structure for wherein transmitting.
5. the robot control system of automatical pilot transportation vehicle according to claim 4, it is characterised in that also including vehicle frame Unit, the Frame unit is provided with driver element, directive wheel switch unit, battery unit and onboard system.
6. a kind of list drives two-way automatical pilot transportation vehicle, it is characterised in that including vehicle frame, driving is provided with the middle part of the vehicle frame single Unit, the driver element is flexibly connected with the vehicle frame, can relatively rotate, and the front end of the driver element is provided with preceding magnetic stripe and passes Sensor, magnetic stripe sensor after the rear end installation one of driver element, when vehicle frame moves forward, front end magnetic stripe working sensor, Complete navigation walking;When dolly backward going, rear end magnetic stripe working sensor;The center of the driver element is additionally provided with radio frequency Identification sensor, radio frequency identification sensor realizes trolley real-time positioning function, power supply is additionally provided with the vehicle frame and installs storehouse and electricity Device controls storehouse, and the power supply installs position in storehouse in the front side of the driver element, and electrical equipment control position in storehouse is in after the driver element Side, is provided with front jockey wheel group and the front jockey wheel group for controlling the front jockey wheel group to rise or fall on front side of the vehicle frame Switching device, is provided with rear directive wheel group and for controlling the rear directive wheel group to be led after rising or falling on rear side of the vehicle frame To wheel group switching device.
7. list according to claim 6 drives two-way automatical pilot transportation vehicle, it is characterised in that the front jockey wheel group switching Device and rear directive wheel group switching device realize way moving by switching directive wheel group, and front jockey wheel group switching device is led with after It is identical to wheel group switching device structure, elevating mechanism is included, elevating mechanism controls the lifting of directive wheel group.
8. list according to claim 7 drives two-way automatical pilot transportation vehicle, it is characterised in that the power supply is installed and set in storehouse There is battery, installation of driver, circuit board in electrical equipment control storehouse, battery provide the energy of driver element operation.
9. list according to claim 8 drives two-way automatical pilot transportation vehicle, it is characterised in that the front jockey wheel group switching Device and rear directive wheel group switching device both sides centered on driver element are symmetrically installed, and are capable of achieving the function of walking commutation, when During automatical pilot transportation vehicle forward direction walking, front jockey wheel group switching device switching, front jockey wheel group rises, rear directive wheel group landing Land;When automatical pilot transportation vehicle is reversely walked, the landing of front jockey wheel group lands, and rear directive wheel group rises, so as to ensure small Car smooth-ride.
10. it is according to claim 9 single to drive two-way automatical pilot transportation vehicle, it is characterised in that the front jockey wheel group and Directive wheel group includes universal wheel and directional wheel afterwards, and universal wheel is separately mounted to two front jockey wheel group switching dresses as support wheel The outside with rear directive wheel group switching device is put, the rear and front end of vehicle frame is respectively mounted a set of safety device, security protection Device includes mechanical anticollision device, collision-prevention device and infrared sensor, it is ensured that the safety of carriage walking process;
Breast wheel group is provided with the middle part of vehicle frame, makees differential driving, driver element is flexibly connected with car body.
CN201710186233.9A 2017-03-27 2017-03-27 The robot control system of automatical pilot transportation vehicle and single two-way automatical pilot transportation vehicle of drive Pending CN106774352A (en)

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108196552A (en) * 2018-02-11 2018-06-22 成都兴联宜科技有限公司 A kind of GPS vision navigation systems of intelligent carriage
CN109040005A (en) * 2018-06-01 2018-12-18 汇专科技集团股份有限公司 The AGV trolley means of communication and system
CN109639548A (en) * 2019-02-22 2019-04-16 南京邮电大学 A kind of bridge joint ROS system and CANopen real-time Communication for Power Network method
CN109934315A (en) * 2019-02-28 2019-06-25 深圳毅能达金融信息股份有限公司 A kind of multi-function intelligent card identification equipment
CN109968312A (en) * 2017-12-28 2019-07-05 沈阳新松机器人自动化股份有限公司 Base mechanism and its rotating direction control method, robot moving platform
CN110780652A (en) * 2019-11-08 2020-02-11 上海快仓智能科技有限公司 Automatic guide car system
CN111061271A (en) * 2019-12-23 2020-04-24 天行智控(成都)科技有限公司 Side-hanging type rail transportation control system
CN111462731A (en) * 2020-03-27 2020-07-28 四川虹美智能科技有限公司 Voice test system and test method thereof

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109968312A (en) * 2017-12-28 2019-07-05 沈阳新松机器人自动化股份有限公司 Base mechanism and its rotating direction control method, robot moving platform
CN109968312B (en) * 2017-12-28 2022-02-01 沈阳新松机器人自动化股份有限公司 Base mechanism, steering control method thereof and robot moving platform
CN108196552A (en) * 2018-02-11 2018-06-22 成都兴联宜科技有限公司 A kind of GPS vision navigation systems of intelligent carriage
CN108196552B (en) * 2018-02-11 2021-03-02 深圳朝闻道智能信息科技有限公司 GPS visual navigation system of intelligent trolley
CN109040005A (en) * 2018-06-01 2018-12-18 汇专科技集团股份有限公司 The AGV trolley means of communication and system
CN109040005B (en) * 2018-06-01 2020-09-15 汇专科技集团股份有限公司 AGV trolley communication method and system
CN109639548A (en) * 2019-02-22 2019-04-16 南京邮电大学 A kind of bridge joint ROS system and CANopen real-time Communication for Power Network method
CN109934315A (en) * 2019-02-28 2019-06-25 深圳毅能达金融信息股份有限公司 A kind of multi-function intelligent card identification equipment
CN110780652A (en) * 2019-11-08 2020-02-11 上海快仓智能科技有限公司 Automatic guide car system
CN111061271A (en) * 2019-12-23 2020-04-24 天行智控(成都)科技有限公司 Side-hanging type rail transportation control system
CN111462731A (en) * 2020-03-27 2020-07-28 四川虹美智能科技有限公司 Voice test system and test method thereof

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