CN108334093A - A kind of automated workshop AGV trolley control systems - Google Patents

A kind of automated workshop AGV trolley control systems Download PDF

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Publication number
CN108334093A
CN108334093A CN201810178588.8A CN201810178588A CN108334093A CN 108334093 A CN108334093 A CN 108334093A CN 201810178588 A CN201810178588 A CN 201810178588A CN 108334093 A CN108334093 A CN 108334093A
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CN
China
Prior art keywords
station
host computer
module
agv
information
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201810178588.8A
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Chinese (zh)
Inventor
顾国东
顾志强
骆波
王磊
王莉
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Jiangsu Jieyang Technology Co Ltd
Original Assignee
Jiangsu Jieyang Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jiangsu Jieyang Technology Co Ltd filed Critical Jiangsu Jieyang Technology Co Ltd
Priority to CN201810178588.8A priority Critical patent/CN108334093A/en
Publication of CN108334093A publication Critical patent/CN108334093A/en
Pending legal-status Critical Current

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Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal

Abstract

The invention discloses a kind of automated workshop AGV trolley control systems, including communication module and terminal controller;Communication module connects host computer;In AGV car interiors, host computer is communicated to connect by communication module and terminal controller for the terminal controller setting, and host computer receives the signal that communication module sends over and sends control instruction with signal and is transferred in terminal controller by communication module;For the communication module using wireless ZigBee module, ZigBee module connects the sensor for countering in each process, and the count information of sensor for countering is passed to host computer, and receives the information of host computer and pass information to terminal controller.Reasonable design of the present invention coordinates 18 stations in clothes airing machine automatic production line to be coordinated, and realizes the Automatic Control of moving of car and feeding, without manual control, efficiency, feeding precise and high efficiency are improved, it is convenient to use, working efficiency is improved, is suitable for promoting.

Description

A kind of automated workshop AGV trolley control systems
Technical field
The invention belongs to cloth fields, more specifically to a kind of automated workshop AGV trolley control systems.
Background technology
AGV trolleies (AutomatedGuidedVehicle, i.e.,:Automated guided vehicle) refer to being equipped with electricity magnetically or optically The transport vehicle of equal homing guidances device, it can be travelled along defined guide path.
Currently, the fast development in the automatic vehicle workshop of production clothes airing machine, in logistic industry, the frequency of use of AGV trolleies It is more and more universal.By AGV trolley automatic Pilots, automatic Pilot arrives at the destination, and reduces the quantity of operating personnel, to save About cost of human resources, it is higher and higher to the traveling required precision of AGV trolley travel directions due to the diminution of road, to avoid It crashes between AGV trolleies and other equipment, it is therefore desirable to the prior art be improved, obstacle is more intelligently avoided Object, and it is more efficient to the information processing on periphery, and control is more stablized.
Invention content
In view of the deficiencies of the prior art, the present invention intends to provide a kind of automated workshop AGV trolley controls System processed, reasonable design coordinate 18 stations in clothes airing machine automatic production line to be coordinated, using based on CC2530's ZigBee module realizes the communication between AGV trolleies and host computer by radio-frequency technique, realize moving of car and feeding it is complete from Dynamic control, is not necessarily to manual control, improves efficiency, and feeding precise and high efficiency is convenient to use, working efficiency is improved, suitable for pushing away Extensively.
To achieve the above object, the present invention provides following technical solutions:
A kind of automated workshop AGV trolley control systems have 18 stations in automated workshop, respectively include:Bottom plate work Position, fixed sheet metal component station, fixed pulley station, integrated box station, LED ballast station, UV lamp ballast station, UV lamp holder Station, UV lamp lampshade station, UV lamp lamp cap station, display station, load of key station, front outer cover station, rear outer cover station, Left and right outer cover station, LED light station, left sealing plate station, right sealing plate station are both provided with sensor for countering on above-mentioned station, count Number sensor is connected with the host computer in automated workshop, it is characterised in that:AGV trolley control systems include communication module and end Side controller;Communication module connects host computer;The terminal controller setting is in AGV car interiors, and host computer is by communicating mould Block is communicated to connect with terminal controller, and host computer receives the signal that communication module sends over and sends control instruction with signal It is transferred in terminal controller by communication module;The terminal controller includes main control module, main control module and communication mould Block communicates to connect, to receive and process the external information in the system of being transmitted in;The communication module is using wireless ZigBee Module, ZigBee module connect the sensor for countering in each process, and the count information of sensor for countering are passed to upper Machine, and receive the information of host computer and pass information to terminal controller.
As a kind of technical solution of optimization, the control flow of the control system is:18 stations in automated workshop Scarce material information pass to host computer, host computer is by the outbound position of material and lacks the information of material station and is assisted by Webservice View sends terminal controller on AGV trolleies to, and AGV trolleies receive the instruction of scheduling system from the charging area that awaits orders, and remove semi-finished product The product turnover box in library is taken out in library outlet, and interactive signal is docked with outbound pipeline by radio-frequency communication, and AGV pickings are completed will Body feed tank is sent to corresponding specified scarce material station, and by radio-frequency communication mode and assembly line station information exchange, case is sent to finish AGV returns to the area that awaits orders;The empty turnover box information of 18 stations in automated workshop passes to host computer, and host computer is by the dress of empty van Wiring station position and send the terminal controller that the information of case address sends AGV trolleies to by Webservice agreements, AGV small Vehicle receives the instruction of scheduling system from the charging area that awaits orders, and goes to the outlet of assembly line subordinate line to take sky turnover box, and passes through radio-frequency communication side Formula and assembly line station information exchange, AGV trolleies receive empty van and send to the elevator of withdrawal, and by radio-frequency communication with Elevator delivery line docks interactive signal, and case is sent to complete to return to the area that awaits orders;The clear line of 18 stations in automated workshop is by operating Personnel click clear line button commands on mobile terminals, and mobile terminal connects host computer and by host computer and AGV trolleies Terminal controller, AGV trolleies from charging await orders area receive scheduling system instruction, go assembly line subordinate line outlet take defective material to have enough to meet the need Case, and it is sent to the residual tank inlet of vertical library, wherein docking radio-frequency communication mode of taking with Roller conveyor, clear line is completed to return to the area that awaits orders.
As a kind of technical solution of optimization, the terminal controller further includes navigation guide module, motor drive module And supply unit, navigation guide module are connected to main control module, to input routing information in the input terminal of main control module, master control mould The output end of block is connected to motor drive module, controls stepper motor to export different pulse signals, is arranged on supply unit There are multiple voltage output ends, each output end of supply unit to be sequentially connected main control module, communication module, navigation guide module and electricity Machine drive module.
As a kind of technical solution of optimization, the main control module include A/D conversion circuits, PWM output circuits, chip and I/O receiving circuits, A/D conversion circuits are set there are two output end, and PWM output circuits are connected to motor drive module, and I/O receives electricity Road connection input keyboard.
As a kind of technical solution of optimization, the motor drive module includes motor servo driver, and servo motor drives Dynamic device is connected to the output end of main control module, is rotated with receiving different voltage signal driving motors.
As a kind of technical solution of optimization, the servo motor bottom is equipped with photoelectric encoder, and photoelectric encoder is electrically connected It is connected to servo motor, to receive the movable information of trolley and be converted into electric signal output in servo motor.
As a kind of technical solution of optimization, the trolley both sides are respectively equipped with obstacle detecting device and gray-scale sensor, The output end of obstacle detecting device is connected to controller by A/D conversion circuits, to export different electric signal transmissions in control The output end of device, gray-scale sensor is connected to controller by the A/D conversion circuits of the other end, to export different pulse signals It is transmitted in controller.
As a kind of technical solution of optimization, the controller uses the chip of model STM32, and coordinates use The direct memories of DMA.
By adopting the above-described technical solution, compared with prior art, reasonable design of the present invention, cooperation clothes airing machine automation 18 stations in production line are coordinated, and using the ZigBee module based on CC2530, AGV trolleies are realized by radio-frequency technique The Automatic Control of moving of car and feeding is realized in communication between host computer, is not necessarily to manual control, is improved efficiency, send Expect precise and high efficiency, it is convenient to use, working efficiency is improved, is suitable for promoting.
Specific implementation mode
Embodiment
A kind of automated workshop AGV trolley control systems have 18 stations in automated workshop, respectively include:Bottom plate work Position, fixed sheet metal component station, fixed pulley station, integrated box station, LED ballast station, UV lamp ballast station, UV lamp holder Station, UV lamp lampshade station, UV lamp lamp cap station, display station, load of key station, front outer cover station, rear outer cover station, Left and right outer cover station, LED light station, left sealing plate station, right sealing plate station are both provided with sensor for countering on above-mentioned station, count Number sensor is connected with the host computer in automated workshop.
AGV trolley control systems include communication module and terminal controller;Communication module connects host computer.
The terminal controller is arranged in AGV car interiors, and host computer passes through communication module and terminal controller communication link It connects, host computer receives the signal that communication module sends over and sends control instruction with signal is transferred to end by communication module In side controller.The terminal controller includes main control module, and main control module is communicated to connect with communication module, to receive and locate Reason is transmitted in the external information in system.The terminal controller further includes navigation guide module, motor drive module and power supply Device, navigation guide module are connected to main control module, to input routing information in the input terminal of main control module, main control module it is defeated Outlet is connected to motor drive module, controls stepper motor to export different pulse signals, is provided on supply unit multiple Each output end of voltage output end, supply unit is sequentially connected main control module, communication module, navigation guide module and motor driving Module.The main control module includes A/D conversion circuits, PWM output circuits, chip and I/O receiving circuits, and A/D conversion circuits are set There are two output end, PWM output circuits are connected to motor drive module, I/O receiving circuits connection input keyboard.
The motor drive module includes motor servo driver, and motor servo driver is connected to the output of main control module End is rotated with receiving different voltage signal driving motors.The servo motor bottom is equipped with photoelectric encoder, photoelectric encoder It is electrically connected to servo motor, to receive the movable information of trolley and be converted into electric signal output in servo motor.The trolley two Side is respectively equipped with obstacle detecting device and gray-scale sensor, and the output end of obstacle detecting device is connected to by A/D conversion circuits Controller, to export different electric signal transmissions in controller, the output end of gray-scale sensor converts electricity by the A/D of the other end Road is connected to controller, to export different pulse signal transmissions in controller.The controller uses the core of model STM32 Piece, and coordinate using the direct memories of DMA.
For the communication module using wireless ZigBee module, ZigBee module connects the sensing of the counting in each process Device, and the count information of sensor for countering is passed into host computer, and receive the information of host computer and pass information to end Side controller.
The control flow of the control system is:The scarce material information of 18 stations in automated workshop passes to host computer, The information of the outbound position of material and scarce material station is sent to the end on AGV trolleies by host computer by Webservice agreements Controller, AGV trolleies from charging await orders area receive scheduling system instruction, go semifinished product warehouse outlet take out library product turnover Case, and interactive signal is docked with outbound pipeline by radio-frequency communication, AGV pickings are completed body feed tank being sent to corresponding specified lack Expect station, and by radio-frequency communication mode and assembly line station information exchange, send case to finish AGV and return to the area that awaits orders;Automate vehicle The empty turnover box information of 18 interior stations passes to host computer, and host computer is by the assembly line station position of empty van and send case address Information send the terminal controllers of AGV trolleies to by Webservice agreements, AGV trolleies receive scheduling from the charging area that awaits orders The instruction of system goes to the outlet of assembly line subordinate line to take sky turnover box, and by radio-frequency communication mode and assembly line station information exchange, AGV trolleies receive empty van and send to the elevator of withdrawal, and interact letter with the docking of elevator delivery line by radio-frequency communication Number, send case to complete to return to the area that awaits orders;The clear line of 18 stations in automated workshop is clicked clearly on mobile terminals by operating personnel Line button commands, mobile terminal connect host computer and by the terminal controllers of host computer and AGV trolleies, and AGV trolleies are from filling The electricity area that awaits orders receives the instruction of scheduling system, goes to the outlet of assembly line subordinate line to take defective material turnover box, and is sent to the residual tank inlet of vertical library, In dock radio-frequency communication mode of taking with Roller conveyor, clear line is completed to return to the area that awaits orders.
When signal transmission resting state, terminal in a dormant state, to reduce the energy consumption of system, energy conservation and environmental protection;And by The differential regulating system based on gray-scale sensor is devised in system, fully achieves the letter between host computer and AGV trolleies Breath interaction increases the function of reasonable avoidance in trolley automatic running, and by wireless with host computer during moving of car Trolley self-feeding is realized in communication, convenient to use, improves working efficiency.
Reasonable design of the present invention, coordinate clothes airing machine automatic production line in 18 stations coordinated, using based on The ZigBee module of CC2530 realizes the communication between AGV trolleies and host computer by radio-frequency technique, realizes moving of car and send The Automatic Control of material is not necessarily to manual control, improves efficiency, and feeding precise and high efficiency is convenient to use, improves work effect Rate is suitable for promoting.
Protection scope of the present invention is not limited merely to above-described embodiment, and all technical solutions belonged under thinking of the present invention are equal It belongs to the scope of protection of the present invention.It should be pointed out that for those skilled in the art, not departing from the present invention Several improvements and modifications under the premise of principle, these improvements and modifications also should be regarded as protection scope of the present invention.

Claims (8)

1. a kind of automated workshop AGV trolley control systems, there are 18 stations in automated workshop, respectively include:Bottom plate station, Fixed sheet metal component station, fixed pulley station, integrated box station, LED ballast station, UV lamp ballast station, UV lamp timberer Position, UV lamp lampshade station, UV lamp lamp cap station, display station, load of key station, front outer cover station, rear outer cover station, a left side Right outer cover station, LED light station, left sealing plate station, right sealing plate station are both provided with sensor for countering on above-mentioned station, count Sensor is connected with the host computer in automated workshop, it is characterised in that:AGV trolley control systems include communication module and end Controller;Communication module connects host computer;
In AGV car interiors, host computer is communicated to connect by communication module and terminal controller for the terminal controller setting, on Position machine receives the signal that communication module sends over and sends control instruction with signal is transferred to end control by communication module In device processed;The terminal controller includes main control module, and main control module is communicated to connect with communication module, is passed with receiving and processing It is defeated in the external information in system;
For the communication module using wireless ZigBee module, ZigBee module connects the sensor for countering in each process, And the count information of sensor for countering is passed into host computer, and receive the information of host computer and pass information to end control Device processed.
2. a kind of automated workshop AGV trolley control systems described in accordance with the claim 1, it is characterised in that:The control system The control flow of system is:
The scarce material information of 18 stations in automated workshop passes to host computer, and host computer is by the outbound position of material and lacks material work The information of position sends the terminal controller on AGV trolleies to by Webservice agreements, and AGV trolleies are received from the charging area that awaits orders The instruction of scheduling system goes to semifinished product warehouse outlet to take out the product turnover box in library, and passes through radio-frequency communication and outbound pipeline pair Interactive signal is connect, AGV pickings are completed body feed tank being sent to corresponding specified scarce material station, and pass through radio-frequency communication mode and assembly Line station information exchange send case to finish AGV and returns to the area that awaits orders;
The empty turnover box information of 18 stations in automated workshop passes to host computer, and host computer is by the assembly line station position of empty van The terminal controller for setting and sending the information of case address to send AGV trolleies to by Webservice agreements, AGV trolleies are waited for from charging The instruction that area receives scheduling system is ordered, goes to the outlet of assembly line subordinate line to take sky turnover box, and pass through radio-frequency communication mode and assembly line Station information exchange, AGV trolleies receive empty van and send to the elevator of withdrawal, and pass through radio-frequency communication and elevator delivery Line docks interactive signal, and case is sent to complete to return to the area that awaits orders;
The clear line of 18 stations in automated workshop is clicked clear line button commands, mobile terminal by operating personnel on mobile terminals Connect host computer and by the terminal controller of host computer and AGV trolleies, AGV trolleies are awaited orders area's reception scheduling system from charging Instruction, go to the outlet of assembly line subordinate line to take defective material turnover box, and be sent to the residual tank inlet of vertical library, penetrated wherein docking to take with Roller conveyor Frequency communication modes, clear line are completed to return to the area that awaits orders.
3. a kind of automated workshop AGV trolley control systems described in accordance with the claim 1, it is characterised in that:The end control Device processed further includes navigation guide module, motor drive module and supply unit, and navigation guide module is connected to main control module, with defeated Enter routing information in the input terminal of main control module, the output end of main control module is connected to motor drive module, different to export Pulse signal controls stepper motor, is provided with multiple voltage output ends on supply unit, each output end of supply unit connects successively Connect main control module, communication module, navigation guide module and motor drive module.
4. a kind of automated workshop AGV trolley control systems described in accordance with the claim 3, it is characterised in that:The master control mould Block includes A/D conversion circuits, PWM output circuits, chip and I/O receiving circuits, and A/D conversion circuits set that there are two output end, PWM Output circuit is connected to motor drive module, I/O receiving circuits connection input keyboard.
5. a kind of automated workshop AGV trolley control systems according to claim 4, it is characterised in that:The motor drives Dynamic model block includes motor servo driver, and motor servo driver is connected to the output end of main control module, to receive different electricity Press signal drive motor rotation.
6. a kind of automated workshop AGV trolley control systems according to claim 5, it is characterised in that:The servo electricity Motor spindle is equipped with photoelectric encoder, and photoelectric encoder is electrically connected to servo motor, to receive the movable information of trolley and be converted into Electric signal output is in servo motor.
7. a kind of automated workshop AGV trolley control systems according to claim 6, it is characterised in that:The trolley two Side is respectively equipped with obstacle detecting device and gray-scale sensor, and the output end of obstacle detecting device is connected to by A/D conversion circuits Controller, to export different electric signal transmissions in controller, the output end of gray-scale sensor converts electricity by the A/D of the other end Road is connected to controller, to export different pulse signal transmissions in controller.
8. a kind of automated workshop AGV trolley control systems according to claim 7, it is characterised in that:The controller Using the chip of model STM32, and coordinate using the direct memories of DMA.
CN201810178588.8A 2018-03-05 2018-03-05 A kind of automated workshop AGV trolley control systems Pending CN108334093A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110525948A (en) * 2019-08-21 2019-12-03 明门(中国)幼童用品有限公司 The material handover method of seat for children automatic assembly line
CN111062643A (en) * 2019-12-30 2020-04-24 上海燊星机器人科技有限公司 Upper computer ordering automatic communication ordering system
CN113190000A (en) * 2021-04-30 2021-07-30 长沙中联重科环境产业有限公司 Compactor operation control system and method and vertical garbage station
CN114115400A (en) * 2021-11-26 2022-03-01 中煤科工集团上海有限公司 Control system and method for head telescopic device

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Publication number Priority date Publication date Assignee Title
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CN114115400A (en) * 2021-11-26 2022-03-01 中煤科工集团上海有限公司 Control system and method for head telescopic device

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