CN108363385A - AGV is the same as field work Synergistic method, electronic equipment, storage medium and system - Google Patents
AGV is the same as field work Synergistic method, electronic equipment, storage medium and system Download PDFInfo
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- CN108363385A CN108363385A CN201711251842.4A CN201711251842A CN108363385A CN 108363385 A CN108363385 A CN 108363385A CN 201711251842 A CN201711251842 A CN 201711251842A CN 108363385 A CN108363385 A CN 108363385A
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- field work
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- 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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control 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
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The invention discloses AGV with field work Synergistic method, includes the following steps：The handing-over area of working region is provided with the shared point that can be occupied for the first AGV, the 2nd AGV；According to the target location of object to be handled, judge whether to need by different working regions, if desired, generate first and carry assignment instructions, the second carrying assignment instructions；The first carrying assignment instructions are assigned to the first AGV, the second carrying assignment instructions are assigned to the 2nd AGV；The point request instruction for receiving the first AGV, the 2nd AGV judges whether requested shared point is occupied, if unoccupied, send to occupy and successfully instructs.The invention also discloses a kind of electronic equipment, a kind of computer readable storage medium and AGV with field work cooperative system.The shared point that the present invention can be occupied by the way that a difference AGV is arranged, to complete cargo docking of the cargo under different operating region, to improve AGV working efficiencies.
Description
Technical field
The present invention relates to a kind of AGV traffic management technologies fields more particularly to AGV to be set with field work Synergistic method, electronics
Standby, storage medium and system.
Background technology
The important tool that AGV is carried as automatic transportation, for traditional artificial carrying, AGV can accomplish standard
Really, safe, intelligent cargo transshipment and automatic shelf etc. up and down.AGV so far, has derived a variety of navigation sides from invention
Formula, each navigation mode have the unique distinction of oneself.Navigation mode popular at this stage has：Electromagnetic navigation, optics are led
Boat, tape navigation, laser navigation, ultrasonic wave navigation, inertial navigation, vision guided navigation, GPS navigation etc..
Wherein, the navigation mode view-based access control model airmanship of two-dimension code navigation AGV, the visual sensing that robot passes through bottom
Device quickly identifies ground two-dimensional code label, and is travelled along Quick Response Code, accurately finds target shelf.The navigation side of laser navigation AGV
Formula is then to be merged natural navigation technology based on the technology after laser navigation and vision guided navigation fusion, do not needed any aid mark,
Autonomous positioning and the walking that robot can be realized, with need to be laid with magnetic stripe, magnetic is followed closely, production line generates high be transformed into once becoming
This AGV is different.
Although two-dimension code navigation AGV can be run on a very spacious place, the requirement for environment comes relatively
Say harsher, light, visibility, shade etc. can all influence identifications of the two-dimension code navigation AGV for Quick Response Code, so Quick Response Code
The AGV that navigates more is applicable under unmanned environment, i.e., people cannot enter place, once road detects barrier, two-dimension code navigation
The process that AGV resumes work is more complicated.Laser navigation AGV is positioned due to needing laser point, so being not suitable for spacious field
Ground, and in the environment of having too many shelf leg, can not position well, still, laser navigation AGV but can be in the ring of someone
It walks under border.It can be seen that the advantage and disadvantage of two-dimension code navigation AGV and laser navigation AGV are actually complementary.
In practical application at this stage, two-dimension code navigation AGV accurate positionings are laid with change path and are easy, logical convenient for control
News need not waste the memory space in warehouse instead moreover, under general storage environment with the presence of worker, artificial intervention.Worker
Intervention influence whether identifications of the two-dimension code navigation AGV to Quick Response Code, if if thering is worker to release shelf push-in, entire two dimension
The system of code navigation AGV will be out of service when shelf pass in and out this place, especially big on working efficiency influence in this way, this
When, the intervention of laser navigation AGV then becomes a suitable solution.
Invention content
For overcome the deficiencies in the prior art, one of the objects of the present invention is to provide AGV with field work Synergistic method, if
The shared point that a difference AGV can be occupied is set, to complete cargo docking of the cargo under different operating region, to carry
High AGV working efficiencies.
The second object of the present invention is to provide a kind of electronic equipment, the common point that one difference AGV of setting can be occupied
Position, to complete cargo docking of the cargo under different operating region, to improve AGV working efficiencies.
The third object of the present invention is to provide a kind of computer readable storage medium, and one difference AGV of setting can be accounted for
Shared point, to complete cargo docking of the cargo under different operating region, to improve AGV working efficiencies.
The fourth object of the present invention is to provide AGV with field work cooperative system, is arranged what a difference AGV can be occupied
Point is shared, to complete cargo docking of the cargo under different operating region, to improve AGV working efficiencies.
An object of the present invention adopts the following technical scheme that realization：
AGV includes the following steps with field work Synergistic method：
Setting shares point, is provided with for the first AGV, the in the handing-over area of the first working region and the second working region
The shared point that two AGV can be occupied, the first AGV run on first working region, and the 2nd AGV runs on institute
State the second working region；
Assignment instructions are generated to judge whether to need by different working regions according to the target location of object to be handled, if
It needs, generates the first carrying assignment instructions executed in first working region, executed in second working region
Second carry assignment instructions；
Assign a task instruction, and the first carrying assignment instructions are assigned to the first AGV, and the second carrying task is assigned to the 2nd AGV
Instruction；
Point position control receives the point request instruction of the first AGV, the 2nd AGV, judges requested common point
Whether position is occupied, if unoccupied, send to occupy and successfully instructs.
Further, the step point position control further includes as follows：If occupied, occupancy failure command is sent.
Further, further comprising the steps of：
Display location receives the location information of the first AGV, the 2nd AGV, shows the first AGV, described the
The current location of two AGV.
Further, further include：The first carrying task is described for the object to be handled to be carried to from initial position
Point is shared, the second carrying task is that the object to be handled is carried to target location from the shared point.
Further, the second carrying task is that the object to be handled is carried to the common point from initial position
Position, the first carrying task are that the object to be handled is carried to target location from the shared point.
Further, further comprising the steps of：
Label occupies, and transmission, which occupies, successfully to be instructed, and it is occupied to mark the shared point；
It marks vacant, receives point and release order, it is unoccupied to mark the shared point.
The second object of the present invention adopts the following technical scheme that realization：
A kind of electronic equipment, including：Processor；
Memory；And program, wherein described program is stored in the memory, and is configured to by processor
It executes, described program includes for executing above-mentioned AGV with field work Synergistic method.
The third object of the present invention adopts the following technical scheme that realization：
A kind of computer readable storage medium, is stored thereon with computer program, and the computer program is held by processor
The above-mentioned AGV of row is the same as field work Synergistic method.
The fourth object of the present invention adopts the following technical scheme that realization：
AGV with field work cooperative system, including：Server, the first AGV, the 2nd AGV, the server and described first
AGV, the 2nd AGV connections, the server include control map, the mark point for controlling map and including virtual, institute
Mark point is stated to include the first point, the second point, share point；
First AGV described in the server controls carries out cargo carrying, the server controls under the first working region
2nd AGV carries out cargo carrying under the second working region, by the shared point, completes cargo in first work
Make the docking in region and second working region.
Further, further include having Quick Response Code terrestrial reference, the first AGV is two-dimension code navigation AGV, and the 2nd AGV is
Laser navigation AGV, first point are corresponded with the Quick Response Code terrestrial reference.
Compared with prior art, the beneficial effects of the present invention are：
AGV further relates to a kind of electronic equipment, a kind of computer readable storage medium and AGV with field work Synergistic method
With field work cooperative system；Operation by different AGV in different operating region shares point by setting and exists to complete cargo
The docking in different operating region, to realize the fusion of a variety of working regions so that the present invention adapts to more building rings
The working efficiency of each AGV is improved in border；Simultaneously warehouse can be forged into nobody working environment, reduce It is not necessary to
People's walking space, to improve the warehousing ability in warehouse.
Above description is only the general introduction of technical solution of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, below with presently preferred embodiments of the present invention and after coordinating attached drawing to be described in detail such as.
The specific implementation mode of the present invention is shown in detail by following embodiment and its attached drawing.
Description of the drawings
Attached drawing described herein is used to provide further understanding of the present invention, and is constituted part of this application, this hair
Bright illustrative embodiments and their description are not constituted improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is basic procedure schematic diagrames of the AGV with field work Synergistic method of the present invention；
Fig. 2 is the flow diagram of the present invention that object to be handled is carried to someone's environment from unmanned environment；
Fig. 3 is the point schematic diagram of presently preferred embodiments of the present invention.
Wherein, 1-7, Quick Response Code point；B-e, laser point；8a, point is shared.
Specific implementation mode
In the following, in conjunction with attached drawing and specific implementation mode, the present invention is described further, it should be noted that not
Under the premise of conflicting, new implementation can be formed between various embodiments described below or between each technical characteristic in any combination
Example.
AGV is with field work Synergistic method, as shown in Figure 1, including the following steps：
Setting shares point, is provided with for the first AGV, the in the handing-over area of the first working region and the second working region
The shared point that two AGV can be occupied, the first AGV run on first working region, and the 2nd AGV runs on second work
Make region；
Assignment instructions are generated to judge whether to need by different working regions according to the target location of object to be handled, if
It needs, generates the first carrying assignment instructions executed in the first working region, second executed in the second working region removes
Transport assignment instructions；
Assign a task instruction, and the first carrying assignment instructions are assigned to the first AGV, and the second carrying task is assigned to the 2nd AGV
Instruction；
Point position control receives the point request instruction of the first AGV, the 2nd AGV, whether to judge requested shared point
It is occupied, if unoccupied, send to occupy and successfully instruct.
For server, not colliding to control AGV, each point only allows an AGV to be occupied,
When the mark point is not occupied by any AGV, server just can send out to occupy and successfully instruct to the AGV of request.
For carrying task, when needing through different working regions, then illustrate that cargo is needed in the first working region
It is carried in the second working region, in the case, carrying task is divided into first executed in the first working region and is removed
Fortune task, the second carrying task executed in the second working region, first, which carries task and second, carries task in common point
Object docking to be handled is completed on position, and carries out the carrying of object to be handled by the first AGV, the 2nd AGV respectively, to make object to be handled
Reach target location.
For step point position control, if requested mark point is occupied, occupancy failure command is sent.
Wherein, further comprising the steps of：
Display location receives the location information of the first AGV, the 2nd AGV, shows the current location of the first AGV, the 2nd AGV.
First AGV, the 2nd AGV are sent to server after determining self-position, by current location, are shown by server front end
Show the current location of the first AGV, the 2nd AGV, convenient for the working condition of the first AGV of user monitoring, the 2nd AGV.
In one embodiment, if object to be handled is to need to be carried in the second working region from the first working region, the
One carrying task is that object to be handled is carried to shared point from initial position, and second to carry task be by object to be handled from sharing
Point is carried to target location.
In one embodiment, if object to be handled is to need to be carried in the first working region from the second working region, the
Two carrying tasks are that object to be handled is carried to shared point from initial position, and first to carry task be by object to be handled from sharing
Point is carried to target location.
In one embodiment, further comprising the steps of：
Label occupies, and transmission, which occupies, successfully to be instructed, and it is occupied to mark the shared point；
It marks vacant, receives point and release order, it is unoccupied to mark the shared point.
Wherein, shared point is then received into the point request instruction that other AGV are sent labeled as occupied again, then to
Other AGV send out occupancy failure command；By shared point labeled as unoccupied, then the point that other AGV are sent is received again and is asked
Instruction is asked, then sends out to occupy to other AGV and successfully instructs.
It is as described above about the control method performed by server, but in order to better illustrate the present invention, such as Fig. 2 institutes
Showing, the first AGV of the invention is two-dimension code navigation AGV, the 2nd AGV is laser navigation AGV, and laser navigation AGV is also referred to as IAGV,
First working region is the unmanned environment of two-dimension code navigation AGV operations, and the second working region is someone of laser navigation AGV operations
Environment, after the Synergistic method with the present invention, the procedure declaration that object to be handled is carried to someone's environment from unmanned environment is as follows：
Two-dimension code navigation AGV receives first and carries assignment instructions, carries assignment instructions according to first, planning the first row is walked
Diameter, the first walking path are that object to be handled is carried to shared point from initial position, and two-dimension code navigation AGV asks to occupy successively
Quick Response Code point on first walking path, the Quick Response Code terrestrial reference by scanning ground determine the current location of oneself, are asking
After occupying successfully, two-dimension code navigation AGV is occupied successively, and runs to shared point, at this point, level to be handled is in shared point
On；
IAGV receives second and carries assignment instructions, carries assignment instructions according to second, plans the second walking path, the second row
It is that object to be handled is carried to target location from shared point to walk path, and IAGV is carried out in the laser point shared near point
It waits for, and asks to occupy shared point, object to be handled is positioned in shared point and discharges this in two-dimension code navigation AGV shares
After point, IAGV requests, which occupy, shares point success, and to carry the object to be handled shared in point, request occupies successively later
Laser point on second walking path, after request occupies successfully, IAGV is occupied successively, and object to be handled is finally carried to mesh
Cursor position.
Using the above method, warehouse can be forged into nobody working environment, completely by two-dimension code navigation AGV into
Crudely-made articles object is carried, and the people's walking space being not necessarily to is reduced, to improve the warehousing ability in warehouse.
Wherein, the first working region can be unmanned environment or someone's environment, and the second working region may be unmanned ring
Border or someone's environment, different working regions are divided with the type of AGV, i.e., there is also multiple and different in unmanned environment
Working region can refer to described above as long as carrying out cargo docking in different working region.
Such as Fig. 3, it is presently preferred embodiments of the present invention, includes two working regions on the map, one is two-dimension code navigation
The working regions AGV belong to unmanned environment, are the bold portion in Fig. 3, and wherein "+" indicates that Quick Response Code point, Quick Response Code point are
The point that two-dimension code navigation AGV is used；One is the working regions IAGV, belongs to someone's environment, is the dotted portion in Fig. 3,
Orbicular spot indicates laser point, and laser point is the point used for laser navigation AGV；Now with an object to be handled, need from
Quick Response Code point 1 is transported to laser point b, then needs by following steps：
Setting shares point, and the handing-over area of the working regions two-dimension code navigation AGV and the working regions IAGV is provided with confession
The shared point 8a that two-dimension code navigation AGV, IAGV can occupy；
Generate assignment instructions, the target location according to object to be handled is laser point b, learn the object to be handled need by
Different working regions then generates first executed in the working regions two-dimension code navigation AGV and carries assignment instructions, in IAGV works
Make the executed in region second carrying assignment instructions, wherein as shown in figure 3, first to carry assignment instructions be by object to be handled from two
Dimension code-point position 1 is carried to shared point 8a, and the second carrying assignment instructions are that object to be handled is carried to laser from shared point 8a
Point b；
Assign a task instruction, and the first carrying assignment instructions are assigned to two-dimension code navigation AGV, assigns the second carrying to IAGV and appoints
Business instruction；
Point position control receives the point request instruction of two-dimension code navigation AGV, IAGV, judges that requested mark point is
It is no occupied, if unoccupied, send to occupy and successfully instruct.
As described above, when two-dimension code navigation AGV receives the first carrying assignment instructions, the first walking path is planned, first
Walking path is mark point 1-2-3-4-8a, and two-dimension code navigation AGV asks to occupy the identification point on the first walking path successively
Position 1-2-3-4-8a, the Quick Response Code terrestrial reference by scanning ground determines the current location of oneself, after request occupies successfully, two dimension
Code navigation AGV is occupied successively, and runs to shared point 8a, at this point, level to be handled is in 8a in shared point；
IAGV receives second and carries assignment instructions, plans that the second walking path, the second walking path are mark point 8a-e-
D-c-b, IAGV are waited on the laser point e for sharing point 8a attachmentes, and ask to occupy shared point 8a, in Quick Response Code
After object to be handled is positioned on shared point 8a and discharges the shared point 8a by navigation AGV, IAGV requests, which occupy, shares point
8a successes, to carry the object to be handled shared on point 8a, request occupies the identification point on the second walking path successively later
Position 8a-e-d-c-b, after request occupies successfully, IAGV is occupied successively, and object to be handled, which is finally carried to laser point b, completes
Carrying task.
In the foregoing description, it should be noted that share point 8a as can be by two-dimension code navigation AGV and IAGV occupancy
Point is identified, can be considered as Quick Response Code point again when two-dimension code navigation AGV is occupied, can be considered as again when IAGV is occupied
Laser point, wherein Quick Response Code point, laser point, shared point are referred to as mark point again.
A kind of electronic equipment, including：Processor；Memory；And program, Program are stored in memory, and
And be configured to be executed by processor, program includes for executing above-mentioned AGV with field work Synergistic method；A kind of computer can
Storage medium is read, computer program is stored thereon with, computer program is executed by processor above-mentioned AGV with field work collaborative party
Method.
AGV with field work cooperative system, including：Server, the first AGV, the 2nd AGV, server and the first AGV, second
AGV connections, server include control map, and control map includes virtual mark point, and mark point includes the first point, the
Two points share point；The first AGV of server controls carries out cargo carrying, server controls second under the first working region
AGV carries out cargo carrying under the second working region, by sharing point, completes cargo and works in the first working region and second
The docking in region.
For server, pass through the instruction that assigns a task, processing request instruction etc., to control two-dimension code navigation
The walking of AGV, the 2nd AGV.
For the first AGV, the first AGV is two-dimension code navigation AGV in the present embodiment, then system further includes Quick Response Code
Mark is designated as to Quick Response Code that two-dimension code label on the ground is arranged, and the first point is Quick Response Code point, Quick Response Code point and two dimension
Code terrestrial reference corresponds；The instruction that two-dimension code navigation AGV is received and execute server is sent out generates the path for completing assignment instructions
Planning, the Quick Response Code terrestrial reference by scanning ground is presently in position to identify, and location information is sent to server.
For the 2nd AGV, the 2nd AGV is laser navigation AGV in the present embodiment, and the second point is laser point, is swashed
The instruction that light guide AGV is received and execute server is sent out generates the path planning for completing assignment instructions, by SLAM technologies into
Row positions immediately and map structuring, and during laser navigation AGV walks, electronic map is the laser of laser navigation AGV
Tens of thousands of a coordinate points splicings per second generate, laser navigation AGV in travelling motion process in real time with known control map reference
It is matched, until reaching requested mark point.
In conclusion server is according to the object to be handled target location to be reached, assign a task instruction, and by assignment instructions
It is sent to two-dimension code navigation AGV, laser navigation AGV, two-dimension code navigation AGV, laser navigation AGV are suitable according to respectively cooking up
Walking path, during walking, the method for server by utilizing point bit occupancy is controlled by two-dimension code navigation AGV, laser navigation AGV
The walking of two-dimension code navigation AGV, laser navigation AGV processed, and make two-dimension code navigation AGV, laser navigation AGV on sharing point
Complete the docking of cargo.
AGV further relates to a kind of electronic equipment, a kind of computer readable storage medium and AGV with field work Synergistic method
With field work cooperative system；Operation by different AGV in different operating region shares point by setting and exists to complete cargo
The docking in different operating region, to realize the fusion of a variety of working regions so that the present invention adapts to more building rings
The working efficiency of each AGV is improved in border；Simultaneously warehouse can be forged into nobody working environment, reduce It is not necessary to
People's walking space, to improve the warehousing ability in warehouse.
More than, only presently preferred embodiments of the present invention is not intended to limit the present invention in any form；All one's own professions
The those of ordinary skill of industry can be shown in by specification attached drawing and above and swimmingly implement the present invention；But all to be familiar with sheet special
The technical staff of industry without departing from the scope of the present invention, is made a little using disclosed above technology contents
The equivalent variations of variation, modification and evolution are the equivalent embodiment of the present invention；Meanwhile all substantial technologicals according to the present invention
To the variation, modification and evolution etc. of any equivalent variations made by above example, technical scheme of the present invention is still fallen within
Within protection domain.
Claims (10)
1.AGV is the same as field work Synergistic method, it is characterised in that includes the following steps：
Setting shares point, is provided with for the first AGV, second in the handing-over area of the first working region and the second working region
The shared point that AGV can be occupied, the first AGV run on first working region, and the 2nd AGV runs on described
Second working region；
It generates assignment instructions to judge whether to need by different working regions according to the target location of object to be handled, if needing
It wants, generates the first carrying assignment instructions executed in first working region, executes in second working region
Second carries assignment instructions；
Assign a task instruction, and the first carrying assignment instructions are assigned to the first AGV, and the second carrying assignment instructions are assigned to the 2nd AGV；
Point position control receives the point request instruction of the first AGV, the 2nd AGV, judges that requested shared point is
It is no occupied, if unoccupied, send to occupy and successfully instruct.
2. AGV as described in claim 1 works Synergistic method with field, which is characterized in that the step point position control further includes
It is as follows：If occupied, occupancy failure command is sent.
3. AGV as described in claim 1 is the same as field work Synergistic method, it is characterised in that further comprising the steps of：
Display location receives the location information of the first AGV, the 2nd AGV, shows the first AGV, described second
The current location of AGV.
4. AGV as described in claim 1 is the same as field work Synergistic method, it is characterised in that further include：Described first carries task
For the object to be handled is carried to the shared point from initial position, the second carrying task is by the object to be handled
It is carried to target location from the shared point.
5. AGV as described in claim 1 is the same as field work Synergistic method, it is characterised in that：Described second carries task as by institute
It states object to be handled and is carried to the shared point from initial position, described first to carry task be by the object to be handled from described
Shared point is carried to target location.
6. AGV as described in claim 1 is the same as field work Synergistic method, it is characterised in that further comprising the steps of：
Label occupies, and transmission, which occupies, successfully to be instructed, and it is occupied to mark the shared point；
It marks vacant, receives point and release order, it is unoccupied to mark the shared point.
7. a kind of electronic equipment, it is characterised in that including：Processor；
Memory；And program, wherein described program is stored in the memory, and is configured to be held by processor
Row, described program include the method required for perform claim described in 1-6 any one.
8. a kind of computer readable storage medium, is stored thereon with computer program, it is characterised in that：The computer program quilt
Processor executes method as claimed in any one of claims 1 to 6.
9.AGV is the same as field work cooperative system, it is characterised in that including：Server, the first AGV, the 2nd AGV, the server with
First AGV, the 2nd AGV connections, the server include control map, the mark for controlling map and including virtual
Point, the mark point include the first point, the second point, share point；
First AGV described in the server controls carries out cargo carrying under the first working region, described in the server controls
2nd AGV carries out cargo carrying under the second working region, by the shared point, completes cargo in first workspace
The docking in domain and second working region.
10. AGV as claimed in claim 9 is the same as field work cooperative system, it is characterised in that：Further include having Quick Response Code terrestrial reference, institute
It is two-dimension code navigation AGV to state the first AGV, and the 2nd AGV is laser navigation AGV, and first point is with the Quick Response Code
Mark corresponds.
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| CN201711251842.4A CN108363385A (en) | 2017-12-01 | 2017-12-01 | AGV is the same as field work Synergistic method, electronic equipment, storage medium and system |
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| CN201711251842.4A CN108363385A (en) | 2017-12-01 | 2017-12-01 | AGV is the same as field work Synergistic method, electronic equipment, storage medium and system |
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| CN110825035A (en) * | 2019-11-28 | 2020-02-21 | 苏州威兹泰克软件科技有限公司 | Multi-axis device control method, computing device, and storage medium |
| CN111752229A (en) * | 2019-03-27 | 2020-10-09 | 杭州海康机器人技术有限公司 | Control system and control method for AGV cooperative transportation |
| CN111830952A (en) * | 2019-03-29 | 2020-10-27 | 阿里巴巴集团控股有限公司 | Method and device for scheduling transport vehicles in physical shop |
| CN112239038A (en) * | 2019-07-18 | 2021-01-19 | 杭州海康机器人技术有限公司 | Carrying method, device and warehousing system |
| CN112378405A (en) * | 2018-11-28 | 2021-02-19 | 浙江明度智控科技有限公司 | Navigation method based on park electronic map, server and storage medium |
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