CN107562059A - A kind of intelligent carriage tracking system with Quick Response Code site location information - Google Patents
A kind of intelligent carriage tracking system with Quick Response Code site location information Download PDFInfo
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- CN107562059A CN107562059A CN201710850425.5A CN201710850425A CN107562059A CN 107562059 A CN107562059 A CN 107562059A CN 201710850425 A CN201710850425 A CN 201710850425A CN 107562059 A CN107562059 A CN 107562059A
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- intelligent carriage
- quick response
- response code
- location information
- camera lens
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Abstract
The present invention relates to smart machine control field, and in particular to a kind of intelligent carriage tracking system with Quick Response Code site location information.The present invention above-mentioned technical purpose technical scheme is that：A kind of intelligent carriage tracking system with Quick Response Code site location information, include intelligent carriage, the intelligent carriage includes running gear, drive device, power supply unit, also include main guider, the main guider sets track joint strip on the ground comprising note, it is sticked on the track joint strip and includes the center label of coordinate information, the identification camera lens for track joint strip described in scanning recognition and the center label is additionally provided with the intelligent carriage.It is an object of the invention to provide a kind of intelligent carriage tracking system with Quick Response Code site location information, and using tracking device as leading boat, reliability is high, and using Quick Response Code coordinate system, flexibility is strong, and whole system cost is controllable, beneficial to popularization.
Description
Technical field
The present invention relates to smart machine control field, and in particular to a kind of intelligence with Quick Response Code site location information is small
Car tracking system.
Background technology
With the development of logistic storage industry and the maturation of automatic technology, AGV equipment is live in industrial automation, automatically
Metaplasia producing line has obtained substantial amounts of utilization.AGV Automated Guided Vehicle, imply that " automatical pilot transportation vehicle ", are
Refer to and magnetically or optically wait homing guidance device equipped with electricity, it can travel along defined guide path, with safeguard protection and
The transport vehicle of various transfer functions, AGV belong to wheeled mobile robot.
In AGV research and development and in use, mainly including mechanical assembly and communication assembly, mechanical assembly includes the walking of dolly
Device, transfer, lifting device etc., and the assembly that communicates is then to know transport task that system distributes by communication network,
And own location information is perceived according to multiple indoor location technology, so as to formulate the path planning voluntarily transported by calculating,
And transport task is performed, so as to complete the work of the material handling on automatic production line.In AGV at the scene, such as indoor warehouse
When carrying out transport task, need to obtain the location data of itself constantly, so as to perceive own location information, formulated by calculating
The path planning voluntarily transported, transport task is completed, therefore, AGV positioning and navigation module make AGV research and development and design focal point
One of.
In the prior art, location technology, especially indoor positioning technologies, the technology usually navigated using ground trace
Scheme.Because in city, gps signal is weak, positioning is unreliable, and ground trace reliability is high.But such technical scheme
Defect is equally existed, this kind of navigation mechanism can only limit walkings of the AGV in route, be suitable for fixed-site and fixed mesh
Target tasks carrying pattern, it is unfavorable for flexibility manufacturing site location, and the electric business storage field having high requirements to business change
Application.
Therefore, people are researched and developed to other airmanship schemes, are based especially on the AGV system of laser navigation,
But the AGV system based on laser navigation, it is to rely on laser linear array radar or lasing area battle array radar, by measuring AGV equipment
With the distance of mark or fixed barrier, the cartographic model based on AGV visual angles is built, then appointing according to system assignments
Business performs relative motion action.The laser thunder, it is necessary in AGV system is positioned well in order to have at any time to itself
Danone can enough scan mark or the fixed barrier to more than 3 points at any time.Therefore in factory or electric business
Under the more spacious environment such as storage, the measurement distance of laser radar is usually required that more than rice, and horizontal resolution is higher
Better, horizontal field of view is more wide better, meets the laser radars of this technical requirements easily in even more than 50,000 yuan of members up to ten thousand
Cost, it is costly, it is difficult to extensive popularization.
The content of the invention
It is an object of the invention to provide a kind of intelligent carriage tracking system with Quick Response Code site location information, using following
Mark device is as leading boat, and reliability is high, and using Quick Response Code coordinate system, flexibility is strong, and whole system cost is controllable, beneficial to pushing away
Extensively.
The present invention above-mentioned technical purpose technical scheme is that：One kind carries Quick Response Code website position
The intelligent carriage tracking system of confidence breath, comprising intelligent carriage, the intelligent carriage includes running gear, drive device, power supply
Part, also comprising main guider, the main guider includes note and sets track joint strip on the ground, on the track joint strip
It is sticked and includes the center label of coordinate information, is additionally provided with the intelligent carriage for track joint strip described in scanning recognition and institute
State the identification camera lens of center label.
As a preference of the present invention, inertial navigation unit is additionally provided with the intelligent carriage, the inertial navigation unit bag
Containing inertial navigation sensors, the inertial navigation sensors are three-axis gyroscope or three axis accelerometer or three axle earth magnetism sensing
Device.
As a preference of the present invention,：The track joint strip includes a plurality of track horizontal stripe and a plurality of track vertical bar, a plurality of described
Track horizontal stripe and a plurality of track vertical bar are mutually perpendicular to, and the center label note is located at the track horizontal stripe and the track is erected
The cross-point locations of bar.
As a preference of the present invention, the center label is two-dimension code label.
In the technical program, the track joint strip is as main guider, the reliability navigated using tracking, system
Middle AGV, i.e., the motion of described intelligent carriage and tasks carrying accordingly even when track construction is deviated, but are passed through based on tracking
Cross after this deviation point, its influence face will not be accumulated to follow-up navigation effect, perform very reliable.And on the other hand, institute
Center label is stated, i.e. Quick Response Code coordinate system becomes the supplement of navigation scheme.The system brought using Quick Response Code coordinate system
Flexibility is performed, the Quick Response Code with coordinate information will be pasted in space coordinates point, by the identification mirror of the intelligent carriage
Head recognizes.It should be noted that in the present case, the identification camera lens only needs to identify the coordinate information of Quick Response Code, and needs
The off-centring and angle offset information that the nonrecognition Quick Response Code is brought, therefore Quick Response Code is pasted and safeguards greatly to relax and is wanted
Ask, so as to reduce system implementation and maintenance difficulties.
In the technical program, whole sky is sticked in the way of coordinate line with optics trace bar or magnetic track bar
Between, orthogonal track horizontal stripe and track vertical bar are formed, and stick the Quick Response Code with coordinate information in track crosspoint, i.e.,
Center label, to indicate the specific space coordinates in the AGV equipment crosspoint, although construction work amount increased, entirely
The construction work of system is very more to required precision reduction, does not propose special construction precision requirement.
The intelligent carriage by the track joint strip and the center label in addition to obtaining the elements of a fix, also by used
Property guider obtain data.Specifically, inertial navigation sensors built in the intelligent carriage, as gyroscope, accelerometer,
Magnetic etc., under either Quick Response Code has damaged or loss situation in ground trace, kinematic parameter can be kept, resumes waiting for catching
Catch good track or Quick Response Code occurs, so as to further reduce the maintenance difficulties of system operation, improve System Fault Tolerance rate.
As a preference of the present invention, the intelligent carriage bottom surface is provided with the identification camera lens and for for the identification camera lens
The light compensating lamp of light filling light is provided.
As a preference of the present invention, the light compensating lamp is multiple, positioned at the outside of the identification camera lens.
As a preference of the present invention, being provided with lens below the identification camera lens and the light compensating lamp, the lens include saturating
Light portion and the frosted portion on the outside of the transmittance section.
As a preference of the present invention, the intelligent carriage bottom surface is additionally provided with cleaning device, the cleaning device include by
Elastic base made of elastomeric material, the oblique scraper plate for being arranged on the elastic base and tilting extension and it is located at the elastic base
Hairbrush on seat.
When the intelligent carriage is in movement, it is necessary to use the track horizontal stripe and the institute of the identification camera lens scanning ground
Center label is stated, but because the identification camera lens is often arranged on the bottom surface of the intelligent carriage, light is bad, in order to obtain
Preferable visual field visual angle using the light compensating lamp, it is necessary to carry out light filling.
In general, the light compensating lamp could be arranged to it is multiple, be located at it is described identification camera lens outside.In this case, ad hoc institute
State lens.The middle part of the lens is transmittance section, and the lower section of camera lens is identified described in face so that the identification camera lens obtains transparent
The clearly visual field.And the outside of the transmittance section is frosted portion, the lower section of light compensating lamp described in face so that periphery one is enclosed described
Light compensating lamp, i.e. LED through irreflexive ambient light, rather than the spot light of direct projection is become after ground glass, avoid due to
It is reflective in the center label and the track joint strip, so as to influence the picture catching of the identification camera lens.
After the intelligent carriage is moved through the track joint strip and the center label, the cleaning device can be automatic right
Joint strip and label are cleaned.Specifically, the tiltedly scraper plate strikes off to dirt, the hairbrush is to the ash on joint strip and label
Dirt carries out dedusting, so as to lift the identification camera lens for the track joint strip and the discrimination of the center label.
As a preference of the present invention, the intelligent carriage is provided with the identification camera lens, being provided with below the identification camera lens can
The dust guard of slip.
As a preference of the present invention, the dust guard includes fixed frame, the slip being slidably connected on the fixed frame
Plate and the rectangular channel being opened on the sliding panel, filter screen is provided with the rectangular channel.
As a preference of the present invention, the intelligent carriage is provided with installing plate, the identification camera lens and blowing for blowing
Airduct is all located on the installing plate.
As a preference of the present invention, the sliding panel is at least two pieces, used on the relative side of two pieces of sliding panels
In the connection inserted sheet being fixedly secured to one another.
As a preference of the present invention, the connection inserted sheet is included and is used for the distinguished and admirable bounce-back of the blower to the identification
The bounce-back of camera lens raises up portion, and the bounce-back portion that raises up extends by gradually being tilted upward away from the sliding panel direction.
As a preference of the present invention, the sliding panel is provided with collides convex body made of elastomeric material, the collision is convex
Body is hemispherical.
The parts such as the running gear of the intelligent carriage, lifting device, drive device, power supply unit are all and in the prior art
It is identical, excessive improvement can not be done.In the present case, identify that camera lens is used to identify the center label and the track joint strip.Institute
Sliding panel is stated horizontal on the fixed frame to slide, when the intelligent carriage is in walking states, the sliding panel slips off,
And when inactive state, the sliding panel can be caused to close.Multiple rectangular channels are offered on the sliding panel, wherein setting
There is filter screen, play protection camera lens, the effect of Chalk-dust filtering.And multiple collision convex bodys are provided with the side of the sliding panel,
The collision convex body has two effects, on the one hand, it is gentle that protection is played when two relative sliding panels close
The effect of punching.On the other hand, it is described collision convex body be also one sensing part, when sense touch when the sliding panel just stop
Slide.
Connection inserted sheet and matching slot are additionally provided with the side of the sliding panel, when the sliding panel closes,
The connection inserted sheet enters the slot, completes to fix.
Bounce-back on the connection inserted sheet raises up portion, also the effect in the presence of a wind-force bounce-back, when on the blower
Wind-force blowout when, collide the bounce-back and raise up portion, wind path can resilience, blow to the identification camera lens, help the cleaning of camera lens.
In summary, the present invention has the advantages that：
1. the motion of intelligent carriage in system, i.e. AGV and tasks carrying are based on tracking, accordingly even when track construction is inclined
Difference, but by after this deviation point, its influence face will not be accumulated to follow-up navigation effect, perform reliable.
2nd, by scanning the center label on ground, current positional information is obtained.
3rd, kinematic parameter/attitude information that system is known by inertial navigation unit, spatial orientation information is merged, is melted
Hop algorithm, so as to perceive the complete positioning of equipment of itself and its attitude information, degree of flexibility is high.
4th, lens can be handled the light source of light compensating lamp, avoid the picture catching of light reflections affect identification camera lens.
5th, cleaning device can clean to the track joint strip and center label of process automatically.
Brief description of the drawings：
Fig. 1 is the arrangement schematic diagram of track joint strip and center label in embodiment 1；
Fig. 2 is the scheme of installation of each part on intelligent carriage；
Fig. 3 is the enlarged drawing at Fig. 2A；
Fig. 4 is the schematic diagram that camera lens and cleaning device are identified in embodiment 2.
In figure：
1st, main guider, 11, track horizontal stripe, 12, track vertical bar, 2, center label, 3, installing plate, 4, identification camera lens, 41, mend
Light lamp, 42, lens, 421, frosted portion, 422, transmittance section, 5, dust guard, 51, fixed frame, 52, sliding panel, 53, rectangular channel,
6th, blower, 7, collision convex body, 8, connection inserted sheet, 81, bounce-back raise up portion, 9, cleaning device, 91, elastic base, 92, tiltedly scrape
Plate, 93, hairbrush.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
This specific embodiment is only explanation of the invention, and it is not limitation of the present invention, people in the art
Member can make the modification of no creative contribution to the present embodiment as needed after this specification is read, but as long as at this
All protected in the right of invention by Patent Law.
Embodiment 1, as shown in figure 1, a kind of intelligent carriage tracking system with Quick Response Code site location information, includes intelligence
Energy dolly, intelligent carriage include running gear, drive device, power supply unit, also wrapped comprising main guider 1, main guider 1
Track joint strip on the ground is set containing note, is sticked on the joint strip of track and includes the center label 2 of coordinate information, on intelligent carriage also
Provided with the identification camera lens 4 for scanning recognition track joint strip and center label 2, inertial navigation unit is additionally provided with intelligent carriage.
Inertial navigation unit includes inertial navigation sensors, and inertial navigation sensors are three-axis gyroscope or three axis accelerometer or three axles
Geomagnetic sensor.Track joint strip includes a plurality of track horizontal stripe 11 and a plurality of track vertical bar 12, a plurality of track horizontal stripe 11 and a plurality of rail
Mark vertical bar 12 is mutually perpendicular to, and the note of center label 2 is located at the cross-point locations of track horizontal stripe 11 and track vertical bar 12.Center label 2
For two-dimension code label.
In the technical program, track joint strip is as main guider, the reliability navigated using tracking, in system
AGV, i.e. intelligent carriage motion and tasks carrying accordingly even when track construction is deviated, but pass through this based on tracking
After deviation point, its influence face will not be accumulated to follow-up navigation effect, perform very reliable.And on the other hand, center label,
I.e. Quick Response Code coordinate system becomes the supplement of navigation scheme.The system brought using Quick Response Code coordinate system performs flexibility,
The Quick Response Code with coordinate information will be pasted in space coordinates point, recognized by the identification camera lens of intelligent carriage.Need what is illustrated
It is that in the present case, identification camera lens only needs to identify the coordinate information of Quick Response Code, and the center for needing the nonrecognition Quick Response Code to bring
Skew and angle offset information, therefore to Quick Response Code paste and safeguard greatly relax requirement, so as to reduce system implement and
Maintenance difficulties.
In the technical program, whole sky is sticked in the way of coordinate line with optics trace bar or magnetic track bar
Between, orthogonal track horizontal stripe 11 and track vertical bar 12 are formed, and the two dimension with coordinate information is sticked in track crosspoint
Code, i.e. center label 2, to indicate the specific space coordinates in the AGV equipment crosspoint, although construction work amount increased,
But the construction work of whole system is very more to required precision reduction, special construction precision requirement is not proposed.
Intelligent carriage also passes through inertial navigation unit in addition to obtaining the elements of a fix by track joint strip and center label 2
Obtain data.Specifically, inertial navigation sensors built in intelligent carriage, such as gyroscope, accelerometer, earth magnetism, so as on ground
Either Quick Response Code has under damaged or loss situation for face track, can keep kinematic parameter, resume waiting for catching good track
Or Quick Response Code occurs, so as to further reduce the maintenance difficulties of system operation, System Fault Tolerance rate is improved.
Intelligent carriage is provided with identification camera lens 4, and the lower section of identification camera lens 4 is provided with slidable dust guard 5.Dust guard 5 wraps
Containing fixed frame 51, the sliding panel being slidably connected on fixed frame 51 52 and the rectangular channel 53 being opened on sliding panel 52, rectangular channel
Filter screen is provided with 53.Intelligent carriage is provided with installing plate 3, identifies that camera lens 4 and the blower 6 for blowing are all located at installing plate 3
On.Sliding panel 52 is at least two pieces, and the connection inserted sheet 8 being fixedly secured to one another is used on the relative side of two pieces of sliding panels 52.
Connection inserted sheet 8, which includes, to be used to raise up bounce-back of the distinguished and admirable bounce-back of blower 6 to identification camera lens 4 portion 81, bounce-back raise up portion 81 by
Extension is gradually tilted upward away from the direction of sliding panel 52.Sliding panel 52 is provided with collides convex body 7 made of elastomeric material, touches
It is hemispherical to hit convex body 7.The parts such as the running gear of intelligent carriage, lifting device, drive device, power supply unit all with existing skill
It is identical in art, excessive improvement can not be done.In the present case, identify that camera lens 4 is used to identify center label 2 and track joint strip.Slide
Plate 52 horizontal on fixed frame 51 can slide, and when intelligent carriage is in walking states, sliding panel 52 slips off, and in inactive state
When, sliding panel 52 can be caused to close.Multiple rectangular channels 53 are offered on sliding panel 52, are provided with filter screen, play guarantor
Goggle head, the effect of Chalk-dust filtering.And multiple collision convex bodys 7 are provided with the side of sliding panel 52, collision convex body 7 has two works
With, on the one hand, play a part of protecting when two relative sliding panels 52 close and buffer.On the other hand, collide convex
Body 7 and one sensing part, when sense touch when sliding panel 52 just stop slide.
Connection inserted sheet 8 and matching slot are additionally provided with the side of sliding panel 52, when sliding panel 52 closes, connection
Inserted sheet 8 enters slot, completes to fix.Bounce-back on connection inserted sheet 8 raises up portion 81, also the effect in the presence of a wind-force bounce-back,
When the wind-force blowout on blower 6, collide bounce-back and raise up portion 81, wind path can resilience, blow to identification camera lens 4, help camera lens
Cleaning.
Embodiment 2, as shown in figure 4, intelligent carriage bottom surface is provided with identification camera lens 4 and for providing light filling for identification camera lens 4
The light compensating lamp 41 of light.Light compensating lamp 41 is multiple, positioned at the outside of identification camera lens 4.Identification camera lens 4 and the lower section of light compensating lamp 41 are provided with
Lens 42, lens 42 include transmittance section 422 and positioned at the frosted portions 421 in the outside of transmittance section 422.
Intelligent carriage bottom surface is additionally provided with cleaning device 9, and cleaning device 9 includes the elastic base made of elastomeric material
91st, it is arranged on elastic base 91 and tilts the oblique scraper plate 92 of extension and the hairbrush 93 being located on elastic base 91.
When intelligent carriage is in movement, it is necessary to scan the track horizontal stripe and center label of ground using identification camera lens 4, still
Because identification camera lens 4 is often arranged on the bottom surface of intelligent carriage, light is bad, in order to obtain preferable visual field visual angle, it is necessary to make
Light filling is carried out with light compensating lamp 41.
In general, light compensating lamp 41 could be arranged to it is multiple, be located at identification camera lens 4 outside.In this case, ad hoc lens 42.
The middle part of lens 42 is transmittance section 422, and face identifies the lower section of camera lens 4 so that identification camera lens 4 obtains the transparent clearly visual field.
And the outside of transmittance section 422 is frosted portion 421, the lower section of face light compensating lamp 41 so that the light compensating lamp 41 that periphery one is enclosed, i.e. LED
Lamp is avoided due in the He of center label 2 through irreflexive ambient light, rather than the spot light of direct projection is become after ground glass
Track joint strip is reflective, so as to influence to identify the picture catching of camera lens 4.
After intelligent carriage is moved through track joint strip and center label 2, cleaning device 9 can be carried out to joint strip and label automatically
Cleaning.Specifically, tiltedly scraper plate 92 strikes off to dirt, hairbrush 93 carries out dedusting to the dust on joint strip and label, so as to carry
Identification camera lens 4 is risen for track joint strip and the discrimination of center label.
Claims (10)
1. a kind of intelligent carriage tracking system with Quick Response Code site location information, comprising intelligent carriage, the intelligent carriage
Include running gear, drive device, power supply unit, it is characterised in that also comprising main guider（1）, the main guider
（1）Track joint strip on the ground is set comprising note, is sticked on the track joint strip and includes the center label of coordinate information（2）,
It is additionally provided with the intelligent carriage for track joint strip described in scanning recognition and the center label（2）Identification camera lens（4）.
2. a kind of intelligent carriage tracking system with Quick Response Code site location information according to claim 1, its feature
It is：Inertial navigation unit is additionally provided with the intelligent carriage, the inertial navigation unit includes inertial navigation sensors, described
Inertial navigation sensors are three-axis gyroscope or three axis accelerometer or three axle geomagnetic sensors.
3. a kind of intelligent carriage tracking system with Quick Response Code site location information according to claim 1, its feature
It is：The track joint strip includes a plurality of track horizontal stripe（11）With a plurality of track vertical bar（12）, a plurality of track horizontal stripe（11）
With a plurality of track vertical bar（12）It is mutually perpendicular to, the center label（2）Note is located at the track horizontal stripe（11）With the rail
Mark vertical bar（12）Cross-point locations.
4. a kind of intelligent carriage tracking system with Quick Response Code site location information according to claim 3, its feature
It is：The center label（2）For two-dimension code label.
A kind of 5. intelligent carriage tracing system with Quick Response Code site location information according to claim 1 or 2 or 3 or 4
System, it is characterised in that:The intelligent carriage bottom surface is provided with the identification camera lens（4）With for for the identification camera lens（4）There is provided
The light compensating lamp of light filling light（41）.
6. a kind of intelligent carriage tracking system with Quick Response Code site location information according to claim 5, its feature
It is:The light compensating lamp（41）To be multiple, positioned at the identification camera lens（4）Outside.
7. a kind of intelligent carriage tracking system with Quick Response Code site location information according to claim 6, its feature
It is:The identification camera lens（4）With the light compensating lamp（41）Lower section is provided with lens（42）, the lens（42）Include transmittance section
（422）With positioned at the transmittance section（422）The frosted portion in outside（421）.
A kind of 8. intelligent carriage tracing system with Quick Response Code site location information according to claim 1 or 2 or 3 or 4
System, it is characterised in that:The intelligent carriage bottom surface is additionally provided with cleaning device（9）, the cleaning device（9）Include by elastic material
Elastic base made of material（91）, be arranged on the elastic base（91）Oblique scraper plate that is upper and tilting extension（92）It is described with being located at
Elastic base（91）On hairbrush（93）.
9. a kind of intelligent carriage tracking system with Quick Response Code site location information according to claim 8, its feature
It is：The intelligent carriage is provided with the identification camera lens（4）, the identification camera lens（4）Lower section is provided with slidable dust guard
（5）.
10. a kind of intelligent carriage tracking system with Quick Response Code site location information according to claim 9, its feature
It is：The dust guard（5）Include fixed frame（51）, be slidably connected at the fixed frame（51）On sliding panel（52）With open
It is located at the sliding panel（52）On rectangular channel（53）, the rectangular channel（53）In be provided with filter screen, the intelligent carriage is provided with
Installing plate（3）, the identification camera lens（4）With the blower for blowing（6）All it is located at the installing plate（3）On, the slip
Plate（52）At least two pieces, in two pieces of sliding panels（52）It is used for the connection inserted sheet being fixedly secured to one another on relative side
（8）, the connection inserted sheet（8）Comprising for by the blower（6）Distinguished and admirable bounce-back to the identification camera lens（4）Bounce-back on
Raise portion（81）, the portion that raises up that rebounds（81）By away from the sliding panel（52）Direction gradually tilts extension, the cunning upward
Dynamic plate（52）It is provided with and convex body is collided made of elastomeric material（7）, the collision convex body（7）It is hemispherical.
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| CN108388245A (en) * | 2018-01-26 | 2018-08-10 | 温州大学瓯江学院 | A kind of AGV trolleies indoor positioning navigation system and its control method |
| CN108445890A (en) * | 2018-05-22 | 2018-08-24 | 佛山科学技术学院 | A kind of AGV intelligent carriage control systems based on route survey |
| CN108459600A (en) * | 2018-02-11 | 2018-08-28 | 成都兴联宜科技有限公司 | A kind of vision navigation system of AGV trolleies |
| CN108681322A (en) * | 2018-04-13 | 2018-10-19 | 汇专科技集团股份有限公司 | AGV carriage walkings and avoidance obstacle method and system |
| CN110147104A (en) * | 2019-05-28 | 2019-08-20 | 四川长虹电器股份有限公司 | A kind of AGV guidance method based on millimetre-wave radar |
| CN110276567A (en) * | 2018-03-14 | 2019-09-24 | 北京京东尚科信息技术有限公司 | The method and apparatus for checking ground region identification code based on automated guided vehicle |
| CN110531768A (en) * | 2019-08-28 | 2019-12-03 | 河海大学常州校区 | The automated navigation system and method for tracking robot based on three axis geomagnetic sensors |
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