CN108153302B - Guiding method and device of automatic guided vehicle and computer readable storage medium - Google Patents
Guiding method and device of automatic guided vehicle and computer readable storage medium Download PDFInfo
- Publication number
- CN108153302B CN108153302B CN201711316906.4A CN201711316906A CN108153302B CN 108153302 B CN108153302 B CN 108153302B CN 201711316906 A CN201711316906 A CN 201711316906A CN 108153302 B CN108153302 B CN 108153302B
- Authority
- CN
- China
- Prior art keywords
- guided vehicle
- automatic guided
- monitoring
- information
- acquiring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 66
- 238000012544 monitoring process Methods 0.000 claims abstract description 216
- 230000033001 locomotion Effects 0.000 claims description 26
- 230000009471 action Effects 0.000 claims description 19
- 239000003550 marker Substances 0.000 claims 1
- 230000000007 visual effect Effects 0.000 abstract description 6
- 230000000875 corresponding effect Effects 0.000 description 37
- 238000004891 communication Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000002596 correlated effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000007639 printing Methods 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Abstract
The invention discloses a guiding method and a guiding device of an automatic guided vehicle and a computer readable storage medium. The guiding method of the automatic guided vehicle comprises the following steps: when the automatic guided vehicle is in the first monitoring area, calling a first monitoring image of the first monitoring area, and acquiring the vehicle position information of the automatic guided vehicle in the first monitoring image according to the first monitoring image; further determining the identity information of the automatic guided vehicle according to the first monitoring image, and acquiring the moving path information corresponding to the identity information; and generating a guide instruction according to the moving path information and the trolley position information, and sending the guide instruction to the automatic guided vehicle to realize the control of the automatic guided vehicle. According to the invention, the guidance of the automatic guided vehicle can be realized based on a visual guidance mode, a guide rail does not need to be laid, the cost is reduced, the automatic guided vehicle does not need to run along a fixed guide rail, and the running path of the automatic guided vehicle is more flexible.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a guiding method and a guiding device of an automatic guided vehicle and a computer readable storage medium.
Background
With the development of automatic control technology, some technical products bring great convenience to the life of people. For example, the automatic guided vehicle can integrate external environment perception, intelligent decision and motion control technologies, and undertakes the tasks of material handling and conveying in intelligent logistics. The automatic guided vehicles used in the current logistics storage are mainly classified into the following categories according to different guiding modes: electromagnetic induction guidance, optical/tape guidance, laser/infrared guidance, and visual guidance, among others. Electromagnetic guidance is a traditional method, the technology is mature and reliable, the cost is low, and a metal cable needs to be buried on the ground; optical and tape guidance, similar to electromagnetic guidance, requires a reflective tape or tape to be attached to the ground; the laser and infrared guidance is that a scanner capable of emitting and receiving laser/infrared rays is arranged on an automatic guided vehicle, and sufficient reflecting plates are arranged on the periphery of a guidance area according to requirements.
The existing guidance mode for the automatic guided vehicle needs to lay the guide rail in advance, a large amount of manpower and material resources are consumed, and once the path of the carrying task is changed, the guide rail needs to be laid again.
Disclosure of Invention
The invention mainly aims to provide a guiding method and a guiding device of an automatic guided vehicle and a computer readable storage medium, and aims to solve the technical problem that a guide track needs to be laid in advance when the automatic guided vehicle is guided in the prior art.
In order to achieve the above object, the present invention provides a method for guiding an automated guided vehicle, including:
when the automatic guided vehicle is in a first monitoring area, acquiring a first monitoring image shot by a first target camera corresponding to the first monitoring area, and acquiring trolley position information of the automatic guided vehicle in the first monitoring image;
acquiring identity information of the automatic guided vehicle according to the first monitoring image;
acquiring moving path information of the automatic guided vehicle according to the identity information;
and generating a guide instruction according to the moving path information and the trolley position information, and sending the guide instruction to the automatic guide vehicle so that the automatic guide vehicle can execute the action corresponding to the guide instruction.
Optionally, a path marking line is preset on a moving path of the automated guided vehicle, and the method for guiding the automated guided vehicle further includes:
acquiring a running image shot by a mobile camera preset on the automatic guided vehicle;
calculating the movement offset of the automatic guided vehicle relative to the path marking according to the driving image;
and generating an adjusting instruction corresponding to the movement offset, and sending the adjusting instruction to the automatic guided vehicle so that the automatic guided vehicle can adjust the movement posture according to the adjusting instruction.
Optionally, when the automated guided vehicle is located in the first monitoring area, acquiring a first monitoring image captured by a first target camera corresponding to the first monitoring area, and before acquiring the cart position information of the automated guided vehicle in the first monitoring image, the method includes:
acquiring local monitoring images shot by each camera in a monitoring area, and constructing an overall path image of the monitoring area according to all the local monitoring images;
acquiring coordinate position information of each target node in the overall path image in the corresponding local monitoring image, wherein each target node in the overall path image at least comprises: and each intersection and stop point in the whole path image.
Optionally, the generating a guidance instruction according to the moving path information and the trolley position information includes:
acquiring coordinate position information of the intersection contained in the first monitoring image;
and when the trolley position information is consistent with the coordinate position information of any intersection, generating a steering instruction according to the moving path information.
Optionally, the generating a guidance instruction according to the moving path information and the trolley position information further includes:
acquiring coordinate position information of a stop point contained in the first monitoring image;
and when the position information of the trolley is consistent with the coordinate position information of any stop point, generating a stop instruction according to the moving path information.
Optionally, the obtaining, according to the first monitoring image, the identity information of the automated guided vehicle includes:
and identifying identification information preset on the automatic guided vehicle according to the first monitoring image, and acquiring the identity information of the automatic guided vehicle according to the identification information.
Optionally, the obtaining the moving path information of the automated guided vehicle according to the identity information includes:
searching moving path information corresponding to the identity information in a preset database according to the identity information;
and acquiring the moving path information.
Optionally, at least a first target camera and a second target camera exist in a working area of the automated guided vehicle, a second monitoring area corresponding to the second target camera and a first monitoring area corresponding to the first target camera have mutually overlapped monitoring areas, edge positioning points are arranged in the mutually overlapped monitoring areas, a guidance instruction is generated according to the moving path information and the trolley position information, and the guidance instruction is sent to the automated guided vehicle, so that the automated guided vehicle includes, after executing an action corresponding to the guidance instruction:
when the fact that the automatic guided vehicle moves to the edge positioning point is detected, whether the current moving direction of the automatic guided vehicle points to a second monitoring area or not is detected according to moving path information of the automatic guided vehicle;
if the current moving direction of the automatic guided vehicle points to a second monitoring area, sending a starting instruction to the second target camera so that the second target camera can shoot the second monitoring area after receiving the starting instruction;
and acquiring a second monitoring image shot by a second target camera, and guiding the automatic guided vehicle according to the moving path information and the second monitoring image.
In addition, in order to achieve the above object, the present invention provides a guide device of an automated guided vehicle, including: the automatic guided vehicle guidance system comprises a memory, a processor and a guidance program of the automatic guided vehicle, wherein the guidance program of the automatic guided vehicle is stored on the memory and can run on the processor, and when the guidance program of the automatic guided vehicle is executed by the processor, the steps of the guidance method of the automatic guided vehicle are realized.
In addition, to achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a guidance program of an automated guided vehicle, which when executed by a processor, implements the steps of the guidance method of the automated guided vehicle as described above.
According to the method, when the automatic guided vehicle is located in a first monitoring area, a first monitoring image of the first monitoring area is called, and according to the first monitoring image, the vehicle position information of the automatic guided vehicle in the first monitoring image is obtained; further determining the identity information of the automatic guided vehicle according to the first monitoring image, and acquiring the moving path information corresponding to the identity information; and generating a guide instruction according to the moving path information and the trolley position information, and sending the guide instruction to the automatic guided vehicle to realize the control of the automatic guided vehicle. According to the invention, the guidance of the automatic guided vehicle can be realized based on a visual guidance mode, a guide rail does not need to be laid, the cost is reduced, the automatic guided vehicle does not need to run along a fixed guide rail, and the running path of the automatic guided vehicle is more flexible.
Drawings
FIG. 1 is a schematic diagram of an apparatus in a hardware operating environment according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a first embodiment of the guiding method of the automatic guided vehicle according to the present invention;
fig. 3 is a schematic view of monitoring a working scene in an embodiment of a guidance method of an automatic guided vehicle according to the present invention;
fig. 4 is a schematic view of a scene of moving path information in an embodiment of a guidance method for an automatic guided vehicle according to the present invention;
fig. 5 is a schematic view of a scene of guiding an automated guided vehicle according to an embodiment of the method for guiding an automated guided vehicle of the present invention;
fig. 6 is a schematic view of a moving scene of an automated guided vehicle in an embodiment of a guidance method of the automated guided vehicle according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, fig. 1 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present invention.
The guiding device of the automatic guided vehicle in the embodiment of the invention can be a server, a PC, or a computer and other terminal equipment with a data calculation processing function.
As shown in fig. 1, the apparatus may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration of the device shown in fig. 1 is not intended to be limiting of the device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is one type of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a guidance program of the automated guided vehicle.
In the apparatus shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to call up the guidance program of the automated guided vehicle stored in the memory 1005, and perform the following operations:
when the automatic guided vehicle is in a first monitoring area, acquiring a first monitoring image shot by a first target camera corresponding to the first monitoring area, and acquiring trolley position information of the automatic guided vehicle in the first monitoring image;
acquiring identity information of the automatic guided vehicle according to the first monitoring image;
acquiring moving path information of the automatic guided vehicle according to the identity information;
and generating a guide instruction according to the moving path information and the trolley position information, and sending the guide instruction to the automatic guide vehicle so that the automatic guide vehicle can execute the action corresponding to the guide instruction.
Further, the processor 1001 may call the guidance program of the automated guided vehicle stored in the memory 1005, and also perform the following operations:
acquiring a running image shot by a mobile camera preset on the automatic guided vehicle;
calculating the movement offset of the automatic guided vehicle relative to the path marking according to the driving image;
and generating an adjusting instruction corresponding to the movement offset, and sending the adjusting instruction to the automatic guided vehicle so that the automatic guided vehicle can adjust the movement posture according to the adjusting instruction.
Further, when the automated guided vehicle is located in the first monitoring area, acquiring a first monitoring image shot by a first target camera corresponding to the first monitoring area, and before acquiring the vehicle position information of the automated guided vehicle in the first monitoring image, the method includes:
acquiring local monitoring images shot by each camera in a monitoring area, and constructing an overall path image of the monitoring area according to all the local monitoring images;
acquiring coordinate position information of each target node in the overall path image in the corresponding local monitoring image, wherein each target node in the overall path image at least comprises: and each intersection and stop point in the whole path image.
Further, the generating a guidance instruction according to the moving path information and the trolley position information includes:
acquiring coordinate position information of the intersection contained in the first monitoring image;
and when the trolley position information is consistent with the coordinate position information of any intersection, generating a steering instruction according to the moving path information.
Further, the generating a guidance instruction according to the moving path information and the trolley position information further includes:
acquiring coordinate position information of a stop point contained in the first monitoring image;
and when the position information of the trolley is consistent with the coordinate position information of any stop point, generating a stop instruction according to the moving path information.
Further, the acquiring identity information of the automated guided vehicle according to the first monitoring image includes:
and identifying identification information preset on the automatic guided vehicle according to the first monitoring image, and acquiring the identity information of the automatic guided vehicle according to the identification information.
Further, the obtaining of the moving path information of the automated guided vehicle according to the identity information includes:
searching moving path information corresponding to the identity information in a preset database according to the identity information;
and acquiring the moving path information.
Further, the method includes the steps that at least a first target camera and a second target camera exist in a working area of the automated guided vehicle, a second monitoring area corresponding to the second target camera and a first monitoring area corresponding to the first target camera have mutually overlapped monitoring areas, edge positioning points are arranged in the mutually overlapped monitoring areas, a guiding instruction is generated according to the moving path information and the trolley position information, and the guiding instruction is sent to the automated guided vehicle so that the automated guided vehicle can execute actions corresponding to the guiding instruction, and then the method includes the following steps:
when the fact that the automatic guided vehicle moves to the edge positioning point is detected, whether the current moving direction of the automatic guided vehicle points to a second monitoring area or not is detected according to moving path information of the automatic guided vehicle;
if the current moving direction of the automatic guided vehicle points to a second monitoring area, sending a starting instruction to the second target camera so that the second target camera can shoot the second monitoring area after receiving the starting instruction;
and acquiring a second monitoring image shot by a second target camera, and guiding the automatic guided vehicle according to the moving path information and the second monitoring image.
Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the guiding method of the automatic guided vehicle according to the present invention.
In one embodiment, the guiding method of the automatic guided vehicle comprises the following steps:
step S10, when the automated guided vehicle is in the first monitoring area, acquiring a first monitoring image shot by a first target camera corresponding to the first monitoring area, and acquiring trolley position information of the automated guided vehicle in the first monitoring image;
in an embodiment of the invention, the working scene of the automatic guided vehicle is a factory workshop. A plurality of cameras, which may be fisheye cameras, are mounted on the factory floor ceiling, a fisheye lens being a lens with a focal length of 1.6mm or less and a viewing angle close to or equal to 180 °. It is an extreme wide-angle lens, and the "fish-eye lens" is its common name. In order to maximize the angle of view of the lens, the front lens of the lens is short in diameter and is parabolic and convex toward the front of the lens, much like the fish eye, so called "fish-eye lens". Each fisheye camera corresponds to one monitoring area. And each two adjacent monitoring areas have a common monitoring area, and an edge positioning point is arranged in the common monitoring area. Referring to fig. 3, fig. 3 is a schematic view illustrating monitoring of a working scene in an embodiment of a guidance method of an automated guided vehicle according to the present invention. In this embodiment, the 3 fisheye cameras are used for monitoring a factory workshop, that is, monitoring a working scene of the automated guided vehicle is realized. The camera 1 is used for monitoring and shooting a monitoring area A; the camera 2 is used for monitoring and shooting the monitoring area B; and the camera 3 is used for monitoring and shooting the monitoring area C. The edge positioning point in the common monitoring area of the monitoring area a and the monitoring area B is X1, and the edge positioning point in the common monitoring area of the monitoring area B and the monitoring area C is X2. In this embodiment, first, monitoring pictures shot by all cameras are obtained, if the automated guided vehicle exists in the monitoring picture corresponding to the monitoring area a, the monitoring area a is the first monitoring area, a closing instruction is sent to the camera 2 and the camera 3, only the first monitoring picture shot by the camera 1 is obtained, and position information of the automated guided vehicle in the first monitoring picture is determined.
Step S20, acquiring identity information of the automatic guided vehicle according to the first monitoring image;
in this embodiment, the automated guided vehicle is preset with identification information, for example, a graphic code, and the graphic code is attached to the automated guided vehicle by means of pasting or printing, and the graphic code includes identity information of the automated guided vehicle, and the identity information may be a string of numbers. And (3) extracting image characteristics of the first monitoring image, acquiring a graphic code on the automatic guided vehicle, and decoding the graphic code to obtain a series of serial numbers, such as '123'.
Step S30, obtaining the moving path information of the automatic guided vehicle according to the identity information;
in this embodiment, the automated guided vehicle is configured to execute a movement task, a movement path of the automated guided vehicle is preset and planned by an operator, and the planned movement path information and the identity information of the automated guided vehicle are stored in a guidance device of the automated guided vehicle in a correlated manner. As shown in table 1, table 1 is an associated record table of moving path information and identity information in an embodiment.
TABLE 1
| Identity information | Movement path information |
| 123 | Moving path 1 |
| 456 | |
| 789 | |
Referring to fig. 4, fig. 4 is a schematic view of a scene of moving path information in an embodiment of a guidance method of an automated guided vehicle according to the present invention. In fig. 4, the dashed lines with arrows show the moving path and the moving direction of the automated guided vehicle, and there are two stop points on the moving path, respectively T1 and T2, two intersections, respectively L1 and L2, and two edge positioning points, respectively X1 and X2.
And step S40, generating a guide instruction according to the moving path information and the trolley position information, and sending the guide instruction to the automatic guide vehicle so that the automatic guide vehicle can execute the action corresponding to the guide instruction.
In this embodiment, the movement path information indicates the movement plan of the entire automated guided vehicle. Referring to fig. 5, fig. 5 is a schematic view of a scene of guiding an automated guided vehicle according to an embodiment of the guidance method of the automated guided vehicle of the present invention. When the automatic guided vehicle moves to the position W1, because the automatic guided vehicle is in the monitoring area a at this time, the guiding device of the automatic guided vehicle only obtains the monitoring image 1 shot by the camera 1, the position of W1 is not at the intersection or the stop point, the generated guiding instruction is "straight going" according to the moving path information, the command of "straight going" is sent to the automatic guided vehicle, and the automatic guided vehicle executes the action of straight going; the automated guided vehicle continues to move, when the automated guided vehicle moves to a stop point T1 (i.e. at this time, the position of the automated guided vehicle in the monitored image 1 is consistent with the position of the stop point T1 in the monitored image 1), the generated guidance instruction is "stop", a command of "stop" is sent to the automated guided vehicle, the automated guided vehicle performs the action of stopping, and after stopping for a certain time (for example, preset to 1 minute), the automated guided vehicle continues to move along the current direction; when the automatic guided vehicle moves to an intersection L1 (namely the position of the automatic guided vehicle in the monitoring image 1 is consistent with the position of the intersection L1 in the monitoring image 1 at the moment), the generated guiding instruction is 'turn right', a command of 'turn right' is sent to the automatic guided vehicle, and the automatic guided vehicle executes a right-turn action; the automatic guided vehicle continues to move, when the automatic guided vehicle moves to an edge positioning point X1, according to the information of a moving path of the automatic guided vehicle, the automatic guided vehicle is about to drive away from a monitoring area A and enter a monitoring area B, at the moment, a guiding device of the automatic guided vehicle sends a starting command to a camera 2, sends a closing command to the camera 1, stops receiving video data of the camera 1, starts to receive a monitoring image 2 shot by the camera 2, determines the real-time position of the automatic guided vehicle in the monitoring image 2, and when the position of the automatic guided vehicle in the monitoring image 2 is consistent with the position of an intersection L2 in the monitoring image 2, according to the information of the moving path, the generated guiding command is 'turn right', sends the 'turn right' command to the automatic guided vehicle, and the automatic guided vehicle executes a turn right action; when the position of the automated guided vehicle in the monitoring image 2 is consistent with the position of the stop point T2 in the monitoring image 2, the generated guidance instruction is "stop", the "stop" command is sent to the automated guided vehicle, the automated guided vehicle executes the stop action, and after stopping for a certain time (for example, preset to 1 minute), the automated guided vehicle continues to move along the current direction; when the automated guided vehicle moves to the edge positioning point X2, it is known according to the moving path information of the automated guided vehicle that the automated guided vehicle is about to drive away from the monitoring area B and enter the monitoring area C, at this time, the guiding device of the automated guided vehicle sends a start command to the camera 3, sends a close command to the camera 2, stops receiving the video data of the camera 2, starts receiving the monitoring image 3 shot by the camera 3, determines the real-time position of the automated guided vehicle in the monitoring image 3, and then guides the automated guided vehicle according to the similar guiding method until the moving action of the automated guided vehicle is finished, which is not described herein again.
In the embodiment, when the automatic guided vehicle is in the first monitoring area, the first monitoring image of the first monitoring area is taken, and the vehicle position information of the automatic guided vehicle in the first monitoring image is obtained according to the first monitoring image; further determining the identity information of the automatic guided vehicle according to the first monitoring image, and acquiring the moving path information corresponding to the identity information; and generating a guide instruction according to the moving path information and the trolley position information, and sending the guide instruction to the automatic guided vehicle to realize the control of the automatic guided vehicle. Through this embodiment, can realize the guide to the automated guided vehicle based on the mode of vision guide, need not to lay the guide rail, the cost is reduced, and the automated guided vehicle need not to travel along fixed guide rail for the route of traveling of automated guided vehicle is more nimble.
Further, in an embodiment of the guidance method for an automated guided vehicle according to the present invention, a path marking is preset on a moving path of the automated guided vehicle, and the guidance method for an automated guided vehicle further includes:
acquiring a running image shot by a mobile camera preset on the automatic guided vehicle;
calculating the movement offset of the automatic guided vehicle relative to the path marking according to the driving image;
and generating an adjusting instruction corresponding to the movement offset, and sending the adjusting instruction to the automatic guided vehicle so that the automatic guided vehicle can adjust the movement posture according to the adjusting instruction.
In this embodiment, a moving camera is preset on the automated guided vehicle, and a camera shooting direction of the camera points to an advancing direction of the automated guided vehicle and is deflected downward by a certain angle, for example, 15 degrees. And in the moving process of the automatic guided vehicle, the moving camera shoots in real time, the shot driving image is uploaded to a guiding device of the automatic guided vehicle in real time, and the device processes the driving image according to perspective transformation after receiving the driving image to obtain a moving scene graph of the automatic guided vehicle. Referring to fig. 6, fig. 6 is a schematic view illustrating a moving scene of the automated guided vehicle according to an embodiment of the guidance method of the automated guided vehicle of the present invention. The method comprises the steps that image analysis is carried out on a moving scene schematic diagram of the automatic guided vehicle by a guiding device of the automatic guided vehicle, the transverse offset of the current automatic guided vehicle relative to a path marking is S, and the course angle offset relative to the path marking is alpha. If the horizontal offset of the pre-planned automatic guided vehicle relative to the path marking is S, the horizontal offset is not required to be adjusted, if the horizontal offset of the pre-planned automatic guided vehicle relative to the path marking is zero, the generated adjusting instruction is 'the course angle is deflected relative to the path marking by-alpha', and after the automatic guided vehicle receives the adjusting instruction, the current course angle is adjusted, so that the horizontal offset of the automatic guided vehicle relative to the path marking is zero.
In this embodiment, in practical application, due to uneven road surface and other reasons, the lateral offset and the course angle of the automated guided vehicle relative to the route marking may change during moving, and a corresponding adjustment instruction is generated according to the acquired running image shot by the mobile camera preset on the automated guided vehicle, so as to adjust the moving posture of the automated guided vehicle in real time, and ensure the moving accuracy of the automated guided vehicle.
Further, in an embodiment of the guiding method of the automated guided vehicle of the present invention, step S10 includes:
acquiring local monitoring images shot by each camera in a monitoring area, and constructing an overall path image of the monitoring area according to all the local monitoring images;
acquiring coordinate position information of each target node in the overall path image in the corresponding local monitoring image, wherein each target node in the overall path image at least comprises: and each intersection and stop point in the whole path image.
In this embodiment, referring to fig. 3, fig. 3 is a schematic view of monitoring a working scene in an embodiment of a guidance method of an automated guided vehicle according to the present invention. In this embodiment, the 3 fisheye cameras are used for monitoring a factory workshop, that is, monitoring a working scene of the automated guided vehicle is realized. The camera 1 is used for monitoring and shooting a monitoring area A; the camera 2 is used for monitoring and shooting the monitoring area B; and the camera 3 is used for monitoring and shooting the monitoring area C. The edge positioning point in the common monitoring area of the monitoring area a and the monitoring area B is X1, and the edge positioning point in the common monitoring area of the monitoring area B and the monitoring area C is X2. The intersection L1, the stop point T1 and the edge positioning point X1 exist in the monitored area A, and the coordinate position information of the intersection L1 in the monitored area A, the coordinate position information of the stop point T1 in the monitored area A and the coordinate position information of the edge positioning point X1 in the monitored area A are stored in the file 1 corresponding to the monitored area A. The monitored area B is provided with an intersection L2, a stop point T2, an edge positioning point X1 and an edge positioning point X2, and coordinate position information of the intersection L2, the stop point T2, the edge positioning point X1 and the edge positioning point X2 in the monitored area B is stored in a file 2 corresponding to the monitored area B. An edge positioning point X2 exists in the monitored area C, and the coordinate position information of the edge positioning point X2 in the monitored area C is stored in a file 3 corresponding to the monitored area C.
In the embodiment, the whole path image is constructed according to the local monitoring image, so that a user can directly plan the moving path information corresponding to the automatic guided vehicle on the whole path image according to actual needs. Subsequently, when the automated guided vehicle reaches a certain target node, a corresponding guiding instruction is triggered according to the moving path information, and guidance of the automated guided vehicle can be realized based on a visual guidance mode.
Further, in an embodiment of the guidance method for an automated guided vehicle according to the present invention, the generating a guidance instruction according to the moving path information and the cart position information includes:
acquiring coordinate position information of the intersection contained in the first monitoring image;
and when the trolley position information is consistent with the coordinate position information of any intersection, generating a steering instruction according to the moving path information.
In this embodiment, when the currently received first monitoring image is, for example, when the first monitoring image is the monitoring image a, the coordinate position information of the intersection L1 in the monitoring image a is acquired from the file 1 corresponding to the monitoring image a. When the position information of the automated guided vehicle in the monitoring image a is detected to be consistent with the coordinate position information of the intersection L1 in the monitoring image a, the current steering direction is determined according to the moving path information, for example, if the current steering is required to be right, the generated steering instruction is "right steering".
In this embodiment, when the moving posture of the automated guided vehicle needs to be adjusted, guidance of the automated guided vehicle can be realized based on a visual guidance mode, a guide rail does not need to be laid, and cost is reduced.
Further, in an embodiment of the guidance method for an automated guided vehicle according to the present invention, the generating a guidance instruction according to the moving path information and the cart position information further includes:
acquiring coordinate position information of a stop point contained in the first monitoring image;
and when the position information of the trolley is consistent with the coordinate position information of any stop point, generating a stop instruction according to the moving path information.
In this embodiment, when the currently received first monitoring image is, for example, when the first monitoring image is the monitoring image a, the coordinate position information of the stop point T1 in the monitoring image a is acquired from the file 1 corresponding to the monitoring image a. When the position information of the automated guided vehicle in the monitoring image a is detected to be consistent with the coordinate position information of the stop point T1 in the monitoring image a, whether the automated guided vehicle needs to stop at present is judged according to the moving path information, and if the automated guided vehicle needs to stop, a stop instruction is generated, for example, the moving path information includes information that the automated guided vehicle needs to stop at the stop point T1, and the stop instruction is generated.
In this embodiment, when the moving posture of the automated guided vehicle needs to be adjusted, guidance of the automated guided vehicle can be realized based on a visual guidance mode, a guide rail does not need to be laid, and cost is reduced.
Further, in an embodiment of the guiding method of the automated guided vehicle of the present invention, step S20 includes:
and identifying identification information preset on the automatic guided vehicle according to the first monitoring image, and acquiring the identity information of the automatic guided vehicle according to the identification information.
In this embodiment, the automated guided vehicle is preset with identification information, for example, a graphic code, and the graphic code is attached to the automated guided vehicle by means of pasting or printing, and the graphic code includes identity information of the automated guided vehicle, and the identity information may be a string of numbers. The image feature extraction may be performed on the first monitoring image to obtain a graphic code on the automated guided vehicle, and the graphic code is decoded to obtain a series of numbers, such as "123".
In this embodiment, the automatic guided vehicle presets the identification information, so that the scheme of this embodiment can be applied to a plurality of automatic guided vehicles, and the application range of this embodiment is expanded.
Further, in an embodiment of the guiding method of the automated guided vehicle of the present invention, step S30 includes:
searching moving path information corresponding to the identity information in a preset database according to the identity information;
and acquiring the moving path information.
In this embodiment, the automated guided vehicle is configured to execute a movement task, a movement path of the automated guided vehicle is preset and planned by an operator, and the planned movement path information and the identity information of the automated guided vehicle are stored in a guidance device of the automated guided vehicle in a correlated manner. As shown in table 1, table 1 is an associated record table of moving path information and identity information in an embodiment.
TABLE 1
| Identity information | Movement path information |
| 123 | Moving path 1 |
| 456 | |
| 789 | |
Referring to fig. 4, fig. 4 is a schematic view of a scene of moving path information in an embodiment of a guidance method of an automated guided vehicle according to the present invention. In fig. 4, the dashed lines with arrows show the moving path and the moving direction of the automated guided vehicle, and there are two stop points on the moving path, respectively T1 and T2, two intersections, respectively L1 and L2, and two edge positioning points, respectively X1 and X2.
In this embodiment, different moving path information can be configured for different automatic guided vehicles, so that the application range of this embodiment is wider.
Further, the method includes the steps that at least a first target camera and a second target camera exist in a working area of the automated guided vehicle, a second monitoring area corresponding to the second target camera and a first monitoring area corresponding to the first target camera have mutually overlapped monitoring areas, edge positioning points are arranged in the mutually overlapped monitoring areas, a guiding instruction is generated according to the moving path information and the trolley position information, and the guiding instruction is sent to the automated guided vehicle so that the automated guided vehicle can execute actions corresponding to the guiding instruction, and then the method includes the following steps:
when the fact that the automatic guided vehicle moves to the edge positioning point is detected, whether the current moving direction of the automatic guided vehicle points to a second monitoring area or not is detected according to moving path information of the automatic guided vehicle;
if the current moving direction of the automatic guided vehicle points to a second monitoring area, sending a starting instruction to the second target camera so that the second target camera can shoot the second monitoring area after receiving the starting instruction;
and acquiring a second monitoring image shot by a second target camera, and guiding the automatic guided vehicle according to the moving path information and the second monitoring image.
In this embodiment, the movement path information indicates the movement plan of the entire automated guided vehicle. Referring to fig. 5, fig. 5 is a schematic view of a scene of guiding an automated guided vehicle according to an embodiment of the guidance method of the automated guided vehicle of the present invention. When the automatic guided vehicle moves to the position W1, because the automatic guided vehicle is in the monitoring area a at this time, the guiding device of the automatic guided vehicle only obtains the monitoring image 1 shot by the camera 1, the position of W1 is not at the intersection or the stop point, the generated guiding instruction is "straight going" according to the moving path information, the command of "straight going" is sent to the automatic guided vehicle, and the automatic guided vehicle executes the action of straight going; the automated guided vehicle continues to move, when the automated guided vehicle moves to a stop point T1 (i.e. at this time, the position of the automated guided vehicle in the monitored image 1 is consistent with the position of the stop point T1 in the monitored image 1), the generated guidance instruction is "stop", a command of "stop" is sent to the automated guided vehicle, the automated guided vehicle performs the action of stopping, and after stopping for a certain time (for example, preset to 1 minute), the automated guided vehicle continues to move along the current direction; when the automatic guided vehicle moves to an intersection L1 (namely the position of the automatic guided vehicle in the monitoring image 1 is consistent with the position of the intersection L1 in the monitoring image 1 at the moment), the generated guiding instruction is 'turn right', a command of 'turn right' is sent to the automatic guided vehicle, and the automatic guided vehicle executes a right-turn action; the automatic guided vehicle continues to move, when the automatic guided vehicle moves to an edge positioning point X1, according to the information of a moving path of the automatic guided vehicle, the automatic guided vehicle is about to drive away from a monitoring area A and enter a monitoring area B, at the moment, a guiding device of the automatic guided vehicle sends a starting command to a camera 2, sends a closing command to the camera 1, stops receiving video data of the camera 1, starts to receive a monitoring image 2 shot by the camera 2, determines the real-time position of the automatic guided vehicle in the monitoring image 2, and when the position of the automatic guided vehicle in the monitoring image 2 is consistent with the position of an intersection L2 in the monitoring image 2, according to the information of the moving path, the generated guiding command is 'turn right', sends the 'turn right' command to the automatic guided vehicle, and the automatic guided vehicle executes a turn right action; when the position of the automated guided vehicle in the monitoring image 2 is consistent with the position of the stop point T2 in the monitoring image 2, the generated guidance instruction is "stop", the "stop" command is sent to the automated guided vehicle, the automated guided vehicle executes the stop action, and after stopping for a certain time (for example, preset to 1 minute), the automated guided vehicle continues to move along the current direction; when the automated guided vehicle moves to the edge positioning point X2, it is known according to the moving path information of the automated guided vehicle that the automated guided vehicle is about to drive away from the monitoring area B and enter the monitoring area C, at this time, the guiding device of the automated guided vehicle sends a start command to the camera 3, sends a close command to the camera 2, stops receiving the video data of the camera 2, starts receiving the monitoring image 3 shot by the camera 3, determines the real-time position of the automated guided vehicle in the monitoring image 3, and then guides the automated guided vehicle according to the similar guiding method until the moving action of the automated guided vehicle is finished, which is not described herein again.
In this embodiment, when the automated guided vehicle moves to a certain monitoring area, the automated guided vehicle acquires a monitoring image of the monitoring area, so that bandwidth pressure can be reduced, and transmission of the monitoring image is smoother.
Furthermore, an embodiment of the present invention further provides a computer-readable storage medium, where a guidance program of an automated guided vehicle is stored, and when the guidance program of the automated guided vehicle is executed by a processor, the steps of the embodiments of the guidance method of the automated guided vehicle described above are implemented.
The specific embodiment of the computer-readable storage medium of the present invention is substantially the same as the embodiments of the guidance method for an automated guided vehicle, and will not be described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (9)
1. A guidance method of an automated guided vehicle is characterized by comprising the following steps:
when the automatic guided vehicle is in a first monitoring area, acquiring a first monitoring image shot by a first target camera corresponding to the first monitoring area, and acquiring trolley position information of the automatic guided vehicle in the first monitoring image;
acquiring identity information of the automatic guided vehicle according to the first monitoring image;
acquiring moving path information of the automatic guided vehicle according to the identity information;
generating a guide instruction according to the moving path information and the trolley position information, and sending the guide instruction to the automatic guide vehicle so that the automatic guide vehicle can execute the action corresponding to the guide instruction;
at least a first target camera and a second target camera exist in a working area of the automatic guided vehicle, a second monitoring area corresponding to the second target camera and a first monitoring area corresponding to the first target camera have mutually overlapped monitoring areas, edge positioning points are arranged in the mutually overlapped monitoring areas, a guide instruction is generated according to the moving path information and the trolley position information, and the guide instruction is sent to the automatic guided vehicle so that the automatic guided vehicle comprises the following steps of:
when the fact that the automatic guided vehicle moves to the edge positioning point is detected, whether the current moving direction of the automatic guided vehicle points to a second monitoring area or not is detected according to moving path information of the automatic guided vehicle;
if the current moving direction of the automatic guided vehicle points to a second monitoring area, sending a starting instruction to the second target camera so that the second target camera can shoot the second monitoring area after receiving the starting instruction;
and acquiring a second monitoring image shot by a second target camera, and guiding the automatic guided vehicle according to the moving path information and the second monitoring image.
2. The method of guiding by an automated guided vehicle according to claim 1, wherein a path marker is placed in advance on a moving path of the automated guided vehicle, and the method further comprises:
acquiring a running image shot by a mobile camera preset on the automatic guided vehicle;
calculating the movement offset of the automatic guided vehicle relative to the path marking according to the driving image;
and generating an adjusting instruction corresponding to the movement offset, and sending the adjusting instruction to the automatic guided vehicle so that the automatic guided vehicle can adjust the movement posture according to the adjusting instruction.
3. The method as claimed in claim 1, wherein when the automated guided vehicle is in the first monitoring area, acquiring a first monitoring image captured by a first target camera corresponding to the first monitoring area, and before acquiring the vehicle position information of the automated guided vehicle in the first monitoring image, the method comprises:
acquiring local monitoring images shot by each camera in a monitoring area, and constructing an overall path image of the monitoring area according to all the local monitoring images;
acquiring coordinate position information of each target node in the overall path image in the corresponding local monitoring image, wherein each target node in the overall path image at least comprises: and each intersection and stop point in the whole path image.
4. The guidance method of an automated guided vehicle according to claim 3, wherein the generating a guidance instruction according to the movement path information and the cart position information comprises:
acquiring coordinate position information of the intersection contained in the first monitoring image;
and when the trolley position information is consistent with the coordinate position information of any intersection, generating a steering instruction according to the moving path information.
5. The method as claimed in claim 3, wherein the generating a guidance instruction according to the moving path information and the cart position information further comprises:
acquiring coordinate position information of a stop point contained in the first monitoring image;
and when the position information of the trolley is consistent with the coordinate position information of any stop point, generating a stop instruction according to the moving path information.
6. The guidance method of the automated guided vehicle according to claim 1, wherein the acquiring the identity information of the automated guided vehicle according to the first monitoring image comprises:
and identifying identification information preset on the automatic guided vehicle according to the first monitoring image, and acquiring the identity information of the automatic guided vehicle according to the identification information.
7. The guidance method of the automated guided vehicle according to claim 1, wherein the acquiring the moving path information of the automated guided vehicle according to the identity information includes:
searching moving path information corresponding to the identity information in a preset database according to the identity information;
and acquiring the moving path information.
8. A guidance device for a automated guided vehicle, the guidance device comprising: memory, a processor and a guidance program of a automated guided vehicle stored on the memory and executable on the processor, the guidance program of the automated guided vehicle, when executed by the processor, implementing the steps of the method of guidance of an automated guided vehicle according to any one of claims 1 to 7.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a guidance program of an automated guided vehicle, which, when executed by a processor, implements the steps of the guidance method of an automated guided vehicle according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711316906.4A CN108153302B (en) | 2017-12-08 | 2017-12-08 | Guiding method and device of automatic guided vehicle and computer readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711316906.4A CN108153302B (en) | 2017-12-08 | 2017-12-08 | Guiding method and device of automatic guided vehicle and computer readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108153302A CN108153302A (en) | 2018-06-12 |
| CN108153302B true CN108153302B (en) | 2021-04-20 |
Family
ID=62466109
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711316906.4A Active CN108153302B (en) | 2017-12-08 | 2017-12-08 | Guiding method and device of automatic guided vehicle and computer readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108153302B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111381263B (en) * | 2018-12-28 | 2022-09-13 | 沈阳美行科技股份有限公司 | Positioning method, positioning device, electronic equipment and storage medium |
| CN111829510A (en) * | 2019-04-15 | 2020-10-27 | 富华科精密工业（深圳）有限公司 | Automatic navigation method, server and storage medium |
| CN110162049B (en) * | 2019-05-22 | 2020-06-12 | 重庆大学 | Path finding method, device and storage medium |
| CN112172959B (en) * | 2019-07-05 | 2023-09-29 | 坎德拉（深圳）科技创新有限公司 | Outdoor robot |
| CN111846810B (en) * | 2020-07-17 | 2022-09-30 | 坎德拉（深圳）科技创新有限公司 | Distribution robot, automatic distribution method, robot system, and storage medium |
Family Cites Families (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10154009A (en) * | 1996-11-25 | 1998-06-09 | Toshiba Eng Co Ltd | Travel control method for unmanned carrier |
| JP2007156576A (en) * | 2005-11-30 | 2007-06-21 | Mitsubishi Heavy Ind Ltd | Method and device for adjusting odometry(wheel range finder) parameter for traveling carrier |
| CN104422440B (en) * | 2013-08-26 | 2017-09-29 | 深圳市赛格导航科技股份有限公司 | A kind of air navigation aid and system |
| CN104166400B (en) * | 2014-07-11 | 2017-02-22 | 杭州精久科技有限公司 | Multi-sensor fusion-based visual navigation AGV system |
| CN104182777B (en) * | 2014-08-13 | 2017-05-03 | 成都四威高科技产业园有限公司 | RFID (Radio Frequency Identification)-based AGV (Automatic Guided Vehicle) multi-task positioning method |
| CN104699104B (en) * | 2015-03-17 | 2018-02-02 | 武汉纺织大学 | A kind of stitching tracking of adaptive AGV vision guided navigation sight adjusting apparatus |
| DE102015004330A1 (en) * | 2015-04-09 | 2016-10-13 | Eisenmann Se | Position and position recognition for a conveyor |
| CN106647729A (en) * | 2015-11-03 | 2017-05-10 | 南京苏立机器人科技有限公司 | AGV navigation system based on image identification and wireless network and navigation method thereof |
| CN105426476B (en) * | 2015-11-17 | 2020-07-17 | Oppo广东移动通信有限公司 | Navigation route generation method and terminal |
| CN105549585B (en) * | 2015-12-07 | 2018-03-23 | 江苏木盟智能科技有限公司 | robot navigation method and system |
| CN105865471A (en) * | 2016-04-01 | 2016-08-17 | 深圳安迪尔智能技术有限公司 | Robot navigation method and navigation robot |
| CN205959069U (en) * | 2016-08-10 | 2017-02-15 | 河南森源电气股份有限公司 | AGV vision guidance system |
| CN106774315B (en) * | 2016-12-12 | 2020-12-01 | 深圳市智美达科技股份有限公司 | Autonomous navigation method and device for robot |
| CN106990781A (en) * | 2017-03-31 | 2017-07-28 | 清华大学 | Automatic dock AGV localization methods based on laser radar and image information |
| CN107368074A (en) * | 2017-07-27 | 2017-11-21 | 南京理工大学 | A kind of autonomous navigation method of robot based on video monitoring |
-
2017
- 2017-12-08 CN CN201711316906.4A patent/CN108153302B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108153302A (en) | 2018-06-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108153302B (en) | Guiding method and device of automatic guided vehicle and computer readable storage medium | |
| CN110974088B (en) | Sweeping robot control method, sweeping robot and storage medium | |
| AU2020202629B2 (en) | Systems and methods for automatic vehicle imaging | |
| CN106740841B (en) | Method for detecting lane lines, device and mobile unit based on dynamic control | |
| CN109358648B (en) | Unmanned aerial vehicle autonomous flight method and device and unmanned aerial vehicle | |
| CN111695546B (en) | Traffic signal lamp identification method and device for unmanned vehicle | |
| CN112585659A (en) | Navigation method, device and system | |
| KR100879623B1 (en) | Automated wide area surveillance system using ptz camera and method therefor | |
| CN104635735A (en) | Novel AGV visual navigation control method | |
| CN111988524A (en) | Unmanned aerial vehicle and camera collaborative obstacle avoidance method, server and storage medium | |
| CN110858452A (en) | Parking management system and method | |
| US20240045423A1 (en) | Systems and methods for monitoring a self-driving vehicle | |
| CN110187720B (en) | Unmanned aerial vehicle guiding method, device, system, medium and electronic equipment | |
| CN114089735A (en) | Method and device for adjusting shelf pose of movable robot | |
| CN114495568A (en) | Parking method, parking equipment, storage medium and parking system | |
| CN111247792B (en) | Control method of unmanned aerial vehicle, unmanned aerial vehicle and computer readable storage medium | |
| CN113189989B (en) | Vehicle intention prediction method, device, equipment and storage medium | |
| KR20170003917U (en) | Logistic management system with drone | |
| CN111380535A (en) | Navigation method and device based on visual label, mobile machine and readable medium | |
| CN114758163B (en) | Forklift movement control method and device, electronic equipment and storage medium | |
| CN111832338A (en) | Object detection method and device, electronic equipment and storage medium | |
| JP2017096635A (en) | Destination setting system, method and program | |
| CN115407355A (en) | Library position map verification method and device and terminal equipment | |
| CN113298044B (en) | Obstacle detection method, system, device and storage medium based on positioning compensation | |
| CN113031588B (en) | Mall robot navigation system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Guidance method, device and computer readable storage medium of automatic guided vehicle Effective date of registration: 20220623 Granted publication date: 20210420 Pledgee: Industrial and Commercial Bank of China Limited Shenzhen Fuyong sub branch Pledgor: SHENZHEN ECHIEV AUTONOMOUS DRIVING TECHNOLOGY Co.,Ltd. Registration number: Y2022980008778 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20230818 Granted publication date: 20210420 Pledgee: Industrial and Commercial Bank of China Limited Shenzhen Fuyong sub branch Pledgor: SHENZHEN ECHIEV AUTONOMOUS DRIVING TECHNOLOGY Co.,Ltd. Registration number: Y2022980008778 |