CN107054359A - Anticollision device, collision-prevention device and its operating method for intelligent carrier loader - Google Patents
Anticollision device, collision-prevention device and its operating method for intelligent carrier loader Download PDFInfo
- Publication number
- CN107054359A CN107054359A CN201710254232.3A CN201710254232A CN107054359A CN 107054359 A CN107054359 A CN 107054359A CN 201710254232 A CN201710254232 A CN 201710254232A CN 107054359 A CN107054359 A CN 107054359A
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- Prior art keywords
- intelligent
- carrier loader
- collision
- arithmetic element
- intelligent carrier
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- 238000011017 operating method Methods 0.000 title description 2
- 230000004888 barrier function Effects 0.000 claims abstract description 32
- 238000001514 detection method Methods 0.000 claims abstract description 32
- 238000000034 method Methods 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 5
- 239000000523 sample Substances 0.000 claims description 3
- 238000007689 inspection Methods 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- NBIIXXVUZAFLBC-UHFFFAOYSA-N Phosphoric acid Chemical compound OP(O)(O)=O NBIIXXVUZAFLBC-UHFFFAOYSA-N 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs to intelligent delivery vehicle field, a kind of anticollision device, collision-prevention device for intelligent carrier loader is specifically provided.Present invention seek to address that the obstacle detection system structure of existing carrier loader is single, stability is poor, it is impossible to ensure the problem of transport article is safe.For this purpose, the anticollision device, collision-prevention device of the present invention includes avoidance detection means and limit switch.Avoidance detection means detects the distance of dolly and front obstacle; and distance is sent to vehicle intelligent arithmetic element; when distance is less than predetermined threshold; the intelligent carrier loader of vehicle intelligent arithmetic element control slows down; avoid bumping against with barrier; so as to ensure that the even running of intelligent carrier loader, good safeguard protection is served to transport article and acted on.When avoidance detection means fails, by the limit switch and bar contact on small car body front side wall, so as to disconnect the power supply of intelligent carrier loader so that intelligent carrier loader stops in emergency, avoid clashing, the safety of article is ensure that to a certain extent.
Description
Technical field
The invention belongs to intelligent delivery vehicle field, a kind of anticollision device, collision-prevention device for intelligent carrier loader is specifically provided.
Background technology
The barrier-avoiding method of intelligence carrier loader has much at present, there is the Doppler radar ranging applied on sedan limousine,
It can indirectly realize the automatic Pilot of automobile.Infrared obstacle avoidance can be realized in the case where sunlight does not influence.And ultrasonic wave
Avoidance has been applied in many aspects as the amplification of radar for backing car.
Intelligent carrier loader will can accurately avoid the barrier run into way, therefore the detection of dolly in the process of moving
Distance needs certain length, to leave dolly time enough ramp to stop for, it is also contemplated that the dolly car during barrier is surveyed
Speed and avoidance react limitation to small vehicle speed, dolly should away from barrier farther out in the range of make a response, so ability is suitable
Profit parking, it is to avoid knock barrier.Otherwise, if scope is too big, there may be the error in judgement to barrier；Scope is too small
Vehicle body is easily caused again knocks barrier.Detection of obstacles can have a variety of methods：Infrared light detection, ultrasound examination, very
To Mechanical Contact.Infrared sensor small volume, shortcoming simple in construction, easy to use but infrared is its visual transmission, i.e.,
Two equipment must assure that the infrared terminal distance of two equipment is relatively near and visual when carrying out data transmission.Relatively infrared inspection
Survey, ultrasound examination distance is remote, be difficult by external environmental interference, but sonac is commonly used in environment sensing required precision
Not high occasion, for example, simply substantially know whether an inferoanterior has larger barrier etc..Because dolly is needed in traveling
During detect barrier, jolt, influence may be produced on detection in terms of illumination, so needing selection stability preferably to hinder
Hinder object detecting method, and any effective obstacle detection system can not all rely only on single-sensor and carry out environment sense
Know.
Correspondingly, this area needs a kind of new anticollision device, collision-prevention device to solve the above problems.
The content of the invention
It has been the obstacle detection system knot of the existing carrier loader of solution to solve above mentioned problem of the prior art
Structure is single, stability is poor, it is impossible to ensure the problem of transport article is safe, is used for intelligent carrier loader the invention provides a kind of
Anticollision device, collision-prevention device, the anticollision device, collision-prevention device is arranged on the small car body of the intelligent carrier loader or the small underbody of the intelligent carrier loader
The connecting portion of seat or the small car body and the trolley base, the anticollision device, collision-prevention device is used to detect the intelligent carrier loader
Barrier in front of operation, prevents the intelligent carrier loader from bumping against with the barrier.
In the optimal technical scheme of above-mentioned anticollision device, collision-prevention device, the intelligent carrier loader includes vehicle intelligent arithmetic element,
The vehicle intelligent arithmetic element controls the running status of the intelligent carrier loader, the anticollision device, collision-prevention device and the vehicle intelligent
Arithmetic element connects and the obstacle information detected is sent into the vehicle intelligent arithmetic element, the vehicle intelligent fortune
The speed of service that unit controls the intelligent carrier loader is calculated, so as to prevent the intelligent carrier loader and the barrier phase
Hit.
In the optimal technical scheme of above-mentioned anticollision device, collision-prevention device, the anticollision device, collision-prevention device includes avoidance detection means, the avoidance
Detection means is connected with the vehicle intelligent arithmetic element, for persistently detect in the process of running the intelligent carrier loader with
The distance between front obstacle, and the distance is sent to the vehicle intelligent arithmetic element, the vehicle intelligent computing
Unit can control the intelligence fortune when the distance between the intelligent carrier loader and front obstacle is less than predetermined threshold
Dolly is carried to slow down.
In the optimal technical scheme of above-mentioned anticollision device, collision-prevention device, the avoidance detection means is range sensor, the distance
Sensor is arranged on the front side wall of the small car body, and the probe of the range sensor exposes the small car body
Front side wall.
In the optimal technical scheme of above-mentioned anticollision device, collision-prevention device, the anticollision device, collision-prevention device also includes limit switch, described spacing to open
Pass be connected with the vehicle intelligent arithmetic element, for when the avoidance detection means fails by with bar contact and general
Contact information is sent to the vehicle intelligent arithmetic element so that the vehicle intelligent arithmetic element can control the intelligence delivery
Dolly stops in emergency.
In the optimal technical scheme of above-mentioned anticollision device, collision-prevention device, the limit switch is arranged on the front side wall of the small car body
On, the limit switch is piston-type limit switch, and the plunger of the piston-type limit switch exposes before the small car body
Side wall, and stroke of the exposed length more than or equal to the limit switch of the plunger.
In the optimal technical scheme of above-mentioned anticollision device, collision-prevention device, the intelligent carrier loader also includes being arranged on the small compartment
Gesture stability frame on body, the gesture stability frame can detect the horizontality of the small car body and can be described small
The gradient of car body makes the small car body return to horizontal attitude when exceeding predetermined threshold.
In the optimal technical scheme of above-mentioned anticollision device, collision-prevention device, the gesture stability frame includes setting transverse to the small car body
The control frame body put, be arranged on the control frame body first end the first range sensor and the first attitude controller with
And the second distance sensor and the second attitude controller at the second end of the control frame body are arranged on, first distance is passed
Sensor and the second distance sensor are all connected with the vehicle intelligent arithmetic element on the intelligent carrier loader, and described first
Range sensor is used to detect first distance of the small car body side relative to the trolley base, and the second distance is passed
Sensor is used to detect second distance of the small car body opposite side relative to the trolley base, when first distance and institute
When stating the difference between second distance more than predetermined threshold, the vehicle intelligent arithmetic element controls first attitude controller
And/or second attitude controller adjusts the posture of the small car body.
In the optimal technical scheme of above-mentioned anticollision device, collision-prevention device, first attitude controller and second attitude controller
It is flexible cylinder body, the piston rod of the flexible cylinder body can abut to the small underbody of the intelligent carrier loader in the expanded state
The bottom of seat.
On the other hand, the invention provides a kind of side for operating the intelligent carrier loader using above-mentioned anticollision device, collision-prevention device
Method, this method comprises the following steps：When the intelligent carrier loader is run and front has barrier, the avoidance detection dress
The range information for putting the barrier that will be detected is sent to the vehicle intelligent arithmetic element, when the distance is less than predetermined threshold
When, the vehicle intelligent arithmetic element cause the intelligent carrier loader to slow down by controlling the power drive unit until
Parking, so as to prevent the intelligent carrier loader from hitting the barrier；Obstacle in front of the intelligent carrier loader operation
After thing is eliminated, the avoidance detection means stops to the vehicle intelligent arithmetic element transmission range information, the vehicle-mounted intelligence
Energy arithmetic element is by controlling the power drive unit so that the intelligent carrier loader is continued to run with；When avoidance detection
During failure of apparatus, the limit switch is by with bar contact and will contact information and be sent to the vehicle intelligent arithmetic element
To disconnect the power supply of the power drive unit, so that the intelligent carrier loader stops in emergency.
It will be appreciated to those of skill in the art that in the inventive solutions, anticollision device, collision-prevention device is detected including avoidance
Barrier in front of device and limit switch, the intelligent carrier loader operation of avoidance detection means detection, and by intelligent carrier loader
The vehicle intelligent arithmetic element in trolley base, vehicle intelligent computing list are sent to the distance between front obstacle
Member can control brush DC power drive unit when distance is less than predetermined threshold, so that it is straight to control intelligent carrier loader to slow down
To parking, it is to avoid and barrier bumps against, so as to ensure that the even running of intelligent carrier loader, transport article is served very well
Safeguard protection effect；When avoidance detection means fails, intelligent carrier loader continues operation forward until limit switch and barrier
Thing is hindered to contact so that the power supply of brush DC power drive unit disconnects, so that intelligent carrier loader stops in emergency, it is to avoid
Fierce shock, ensure that the steady and safe of transport article to a certain extent.Further, since gesture stability frame is provided with,
The intelligent carrier loader of the present invention can be automatically adjusted based on the feedback signal when the gradient of its carriage body exceedes predetermined threshold and return to level
Posture.
Brief description of the drawings
Fig. 1 is the structure chart of the anticollision device, collision-prevention device for being used for intelligent carrier loader of the present invention.
Embodiment
The preferred embodiment of the present invention described with reference to the accompanying drawings.It will be apparent to a skilled person that this
A little embodiments are used only for explaining the technical principle of the present invention, it is not intended that limit the scope of the invention.This area skill
Art personnel can make adjustment to it as needed, to adapt to specific application scenario.
It should be noted that in the description of the invention, direction indication or the position such as term " on ", " under ", " interior ", " outer "
The term of relation is to be based on direction shown in the drawings or position relationship, and this is intended merely to facilitate description, rather than indicates or dark
Show that described device or element there must be specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to this
The limitation of invention.
In addition it is also necessary to explanation, in the description of the invention, unless otherwise clearly defined and limited, term " peace
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary,
It can be the connection of two element internals.To those skilled in the art, it can understand that above-mentioned term exists as the case may be
Concrete meaning in the present invention.
As shown in figure 1, the anticollision device, collision-prevention device of the present invention includes the avoidance detection means 12 being arranged on the small front side wall of car body 2
It is dynamic with limit switch 13, and the vehicle intelligent arithmetic element 14 and brush DC in trolley base 1 or small car body 2
Force driving device 15.Vehicle intelligent arithmetic element 14 is filled with avoidance detection means 12, limit switch 13 and brush DC driving
Put 15 connections.Avoidance detection means 12 is range sensor, and the probe segment of the range sensor is fixed on before small car body 2
On wall and expose on the outside of antetheca, the distance for detecting intelligent carrier loader and the barrier in front of operating path, and will inspection
The distance measured sends vehicle intelligent arithmetic element 14 to.Vehicle intelligent arithmetic element 14 is by the distance received by computing
Reason, when the distance is less than predetermined threshold, vehicle intelligent arithmetic element 14 sends control to brush DC power drive unit 15
Signal, by controlling brush DC power drive unit 15 and then controlling intelligent carrier loader to slow down until stopping, so as to avoid
Collided with barrier, it is ensured that transport goods is steady all the time, be safely placed in intelligent carrier loader.When intelligently delivery is small
After barrier on car operating path is eliminated, avoidance detection means 12 stops believing to the transmission range of vehicle intelligent arithmetic element 14
Breath, vehicle intelligent arithmetic element 14 controls intelligent carrier loader to continue to transport by controlling brush DC power drive unit 15
OK.
On barrier, it should be pointed out that other stopped in front of this intelligent carrier loader operating path are intelligently delivered
Dolly falls within the category of barrier for this intelligent carrier loader, it should avoid bumping against with it.Those skilled in the art's energy
Enough understand, the installation site of the power drive unit 15 of intelligent carrier loader can be filled according to the power drive of actual selection
Put to determine, may be mounted in trolley base or small car body in or trolley base and small car body junction, or
Person is arranged on the external member being connected with dolly, such as independent car body driving part.
With continued reference to Fig. 1, limit switch 13 is piston-type limit switch, on the front side wall of small car body 2, the work
The plunger of plunger type limit switch exposes the front side wall side of small car body 2 and the exposed length of plunger is more than or equal to limit switch 13
Stroke.When avoidance detection means 12 fails, intelligent carrier loader continues operation forward until limit switch 13 and barrier
Contact, vehicle intelligent arithmetic element 14 receives limit switch 13 with after the information of bar contact, disconnecting brush DC power
The power supply of drive device 15 so that intelligent carrier loader stops in emergency, can avoid the fierce of intelligent carrier loader and barrier
Hit.
Although in addition, being not shown in Fig. 1, intelligent carrier loader of the invention also includes being arranged in the small car body
Gesture stability frame, the gesture stability frame can detect the horizontality of the small car body and can be in the small compartment
The gradient of body makes the small car body return to horizontal attitude when exceeding predetermined threshold.Preferably, the gesture stability frame bag
The control frame body set transverse to the small car body, the first distance of the first end for being arranged on the control frame body is included to pass
Sensor and the first attitude controller and the second distance sensor and the second appearance for being arranged on second end for controlling frame body
State controller, first range sensor and the second distance sensor all with the vehicle-mounted intelligence on the intelligent carrier loader
Energy arithmetic element connection, first range sensor is used to detect the small car body side relative to the trolley base
First distance, the second distance sensor is used to detect the small car body opposite side relative to the second of the trolley base
Distance, when the difference between first distance and the second distance exceedes predetermined threshold, the vehicle intelligent computing list
Member controls first attitude controller and/or second attitude controller to adjust the posture of the small car body.It is more excellent
Selection of land, first attitude controller and second attitude controller are flexible cylinder bodies, in the expanded state the telescoping cylinder
The piston rod of body can abut to the bottom of the trolley base of the intelligent carrier loader.
So far, combined preferred embodiment shown in the drawings describes technical scheme, still, this area
Technical staff is it is easily understood that protection scope of the present invention is expressly not limited to these embodiments.Without departing from this
On the premise of the principle of invention, those skilled in the art can make equivalent change or replacement to correlation technique feature, these
Technical scheme after changing or replacing it is fallen within protection scope of the present invention.
Claims (10)
1. a kind of be used for the anticollision device, collision-prevention device of intelligent carrier loader, it is characterised in that the anticollision device, collision-prevention device is arranged on the intelligence fortune
Carry the company of the small car body of dolly or the trolley base or the small car body of the intelligent carrier loader and the trolley base
Socket part position, the anticollision device, collision-prevention device is used to detect the barrier in front of the intelligent carrier loader operation, prevents the intelligence delivery
Dolly bumps against with the barrier.
2. anticollision device, collision-prevention device according to claim 1, it is characterised in that the intelligent carrier loader includes vehicle intelligent computing
Unit, the vehicle intelligent arithmetic element controls the running status of the intelligent carrier loader, the anticollision device, collision-prevention device and the car
Intelligent arithmetic element is carried to connect and the obstacle information detected is sent into the vehicle intelligent arithmetic element, it is described vehicle-mounted
Intelligent arithmetic element controls the speed of service of the intelligent carrier loader, so as to prevent the intelligent carrier loader and the obstacle
Thing bumps against.
3. anticollision device, collision-prevention device according to claim 2, it is characterised in that the anticollision device, collision-prevention device includes avoidance detection means, institute
State avoidance detection means to be connected with the vehicle intelligent arithmetic element, for persistently detecting the intelligence delivery in the process of running
The distance between dolly and front obstacle, and the distance is sent to the vehicle intelligent arithmetic element, the vehicle-mounted intelligence
Energy arithmetic element can be when the distance between the intelligent carrier loader and front obstacle be less than predetermined threshold described in control
Intelligent carrier loader slows down.
4. anticollision device, collision-prevention device according to claim 3, it is characterised in that the avoidance detection means is range sensor, institute
Range sensor is stated on the front side wall of the small car body, and the probe of the range sensor exposes the dolly
The front side wall of carriage body.
5. anticollision device, collision-prevention device according to claim 4, it is characterised in that the anticollision device, collision-prevention device also includes limit switch, described
Limit switch is connected with the vehicle intelligent arithmetic element, for when the avoidance detection means fails by being connect with barrier
Touch and contact information is sent to the vehicle intelligent arithmetic element so that the vehicle intelligent arithmetic element can control the intelligence
Energy carrier loader stops in emergency.
6. anticollision device, collision-prevention device according to claim 5, it is characterised in that the limit switch is arranged on the small car body
On front side wall, the limit switch is piston-type limit switch, and the plunger of the piston-type limit switch exposes the small compartment
The front side wall of body, and stroke of the exposed length more than or equal to the limit switch of the plunger.
7. anticollision device, collision-prevention device according to claim 6, it is characterised in that the intelligent carrier loader is also described including being arranged on
Gesture stability frame in small car body, the gesture stability frame can detect the horizontality of the small car body and can be
The gradient of the small car body makes the small car body return to horizontal attitude when exceeding predetermined threshold.
8. anticollision device, collision-prevention device according to claim 7, it is characterised in that the gesture stability frame is included transverse to the dolly
The control frame body of carriage body setting, the first range sensor for being arranged on the first end for controlling frame body and the first posture control
Device processed and the second distance sensor and the second attitude controller for being arranged on second end for controlling frame body,
First range sensor and the second distance sensor are all transported with the vehicle intelligent on the intelligent carrier loader
Unit connection is calculated, first range sensor is used to detect the small car body side relative to the first of the trolley base
Distance, the second distance sensor be used for detect the small car body opposite side relative to the trolley base second away from
From, when the difference between first distance and the second distance exceedes predetermined threshold, the vehicle intelligent arithmetic element
First attitude controller and/or second attitude controller is controlled to adjust the posture of the small car body.
9. anticollision device, collision-prevention device according to claim 8, it is characterised in that first attitude controller and second posture
Controller is flexible cylinder body, and the piston rod of the flexible cylinder body can abut to the intelligent carrier loader in the expanded state
The bottom of trolley base.
10. a kind of anticollision device, collision-prevention device using described in claim 9 exists the method that operates the intelligent carrier loader, its feature
In methods described comprises the following steps：
When the intelligent carrier loader operation and when front has barrier, the avoidance detection means is by the barrier detected
Range information be sent to the vehicle intelligent arithmetic element, when the distance is less than predetermined threshold, vehicle intelligent fortune
Calculate unit makes the intelligent carrier loader slow down until stopping by controlling the power drive unit of the intelligent carrier loader,
So as to prevent the intelligent carrier loader from hitting the barrier；
After barrier in front of the intelligent carrier loader operation is eliminated, the avoidance detection means stops to described vehicle-mounted
Intelligent arithmetic element transmission range information, the vehicle intelligent arithmetic element is described by controlling the power drive unit to cause
Intelligent carrier loader is continued to run with；
When the avoidance detection means fails, the limit switch is by with bar contact and will contact information and be sent to institute
State vehicle intelligent arithmetic element to disconnect the power supply of the power drive unit, so that the intelligent carrier loader promptly stops
Car.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710254232.3A CN107054359A (en) | 2017-04-18 | 2017-04-18 | Anticollision device, collision-prevention device and its operating method for intelligent carrier loader |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710254232.3A CN107054359A (en) | 2017-04-18 | 2017-04-18 | Anticollision device, collision-prevention device and its operating method for intelligent carrier loader |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107054359A true CN107054359A (en) | 2017-08-18 |
Family
ID=59601037
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710254232.3A Pending CN107054359A (en) | 2017-04-18 | 2017-04-18 | Anticollision device, collision-prevention device and its operating method for intelligent carrier loader |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107054359A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109947106A (en) * | 2019-03-29 | 2019-06-28 | 浙江大学 | A kind of intelligent carriage and method for control speed of reliable and stable automatic obstacle-avoiding |
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Application publication date: 20170818 |