CN108529152A - A kind of Rail logistics single track transmitting-receiving station and its control method - Google Patents
A kind of Rail logistics single track transmitting-receiving station and its control method Download PDFInfo
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- CN108529152A CN108529152A CN201810361609.XA CN201810361609A CN108529152A CN 108529152 A CN108529152 A CN 108529152A CN 201810361609 A CN201810361609 A CN 201810361609A CN 108529152 A CN108529152 A CN 108529152A
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000005303 weighing Methods 0.000 claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 238000004891 communication Methods 0.000 claims description 45
- 238000001514 detection method Methods 0.000 claims description 29
- 230000009897 systematic effect Effects 0.000 claims description 13
- 238000012937 correction Methods 0.000 claims description 7
- 230000037361 pathway Effects 0.000 claims description 7
- 230000006870 function Effects 0.000 description 4
- 230000007257 malfunction Effects 0.000 description 4
- 206010033799 Paralysis Diseases 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000010836 blood and blood product Substances 0.000 description 1
- 229940125691 blood product Drugs 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001802 infusion Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000007170 pathology Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- 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
-
- 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
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
Abstract
The present invention relates to a kind of Rail logistics single track transmitting-receiving stations, which is characterized in that including：Other equipment in DC tracks, transmitting-receiving station control panel, touch screen 7, weighing unit 9, small rail car and region；The DC tracks are connect with the transmitting-receiving station control panel, are powered for the transmitting-receiving station control panel；Transmitting-receiving station control panel one end is connect with the touch screen 7 and the weighing unit 9；The transmitting-receiving station control panel other end is connect with other equipment in the small rail car and the region；The Rail logistics single track transmitting-receiving station of the present invention is a kind of complete, distributed, with independent transmitting-receiving ability intelligent work terminal unit, every transmitting-receiving station has intelligent receive-transmit and control method, the transmission of autonomous completion vehicle completely independent from one another receives, rather than transmitting-receiving task is executed by zone controller or system server, so that working efficiency is maximized.
Description
Technical field
The present invention relates to a kind of Rail logistics transmission field more particularly to a kind of Rail logistics single track transmitting-receiving station and its controls
Method.
Background technology
Currently, various regions hospital just gradually by single diagnoses and treatment be changed into collection prevention, emergency treatment, diagnosis, treatment, rehabilitation and
Study the comprehensive medical service organization being integrated.Incident personnel's high concentration, logistics demand increasingly increase, and examine sample
Sheet, pathology sample, various drug infusions, blood product, perform the operation packet and paper etc. can not ensure under traditional logistics mode
Transmission promptly and accurately.The lagging in development of logistics has become the bottleneck for restricting and realizing modern hospital in institute, high efficient and reliable
To improving diagnosis rate, the life for reducing treatment cost or even redemption patient all plays immeasurable effect for logistics.
The transmitting-receiving station of existing Rail logistics Transmission system is simple operating terminal at present, and transmitting-receiving station is only responsible for acquisition
The mission bit stream that touch screen is sent, then mission bit stream is sent to zone controller or system server, do not participating in other works
Make, such mode is the serial control mode of centralization, and such transmitting-receiving station is usually not with vehicle communication function and without certainly
Master scheduling function；Therefore needing whole system being divided into multiple minimum regions could work normally, the complicated network structure, work
Make it is extremely inefficient, once and zone controller or system server paralysis, whole region or system will be at a standstill.
In view of above-mentioned existing defect, the present inventor manufactures practical experience abundant for many years based on such product design is engaged in
And professional knowledge, and coordinate the utilization of scientific principle, be actively subject to research and innovation, to found a kind of Rail logistics single track transmitting-receiving station and
Its working method makes it have more practicability.By constantly studying, designing, and after studying sample repeatedly and improving, finally
Create the present invention having practical value.
Invention content
In order to solve the above technical problems, the object of the present invention is to provide a kind of Rail logistics single track transmitting-receiving station and its controlling parties
Method can store the parameter information needed for normal work, obtain local vehicle mission bit stream, believe in conjunction with local information of vehicles, state
Breath and routing information, complete independently vehicle receive and send work.
The object of the invention to solve the technical problems is realized using following technical scheme.
A kind of Rail logistics single track transmitting-receiving station, including：DC tracks, transmitting-receiving station control panel, touch screen, weighing unit, track are small
Other equipment in vehicle and region；The DC tracks are connect with the transmitting-receiving station control panel, transmitting-receiving station control panel one end and institute
Touch screen is stated to connect with the weighing unit；In the transmitting-receiving station control panel other end and the small rail car and the region other
Equipment connects；
Further, the transmitting-receiving station control panel includes：DC power module, MCU minimum systematic modules, data memory module, track
Communication module, CAN communication module, serial communication module, overload detection module and LED display module；
The DC power module is connect with the DC tracks, and it is the transmitting-receiving station control to obtain the power cord all the way on the DC tracks
Making sheet, the touch screen and the weighing unit are powered；
The data memory module is connect with the MCU minimum systematic modules, for store network connection system server and
The configuration information that touch screen is sent；The LED display module is connect with the MCU minimum systematic modules, is used for state instruction；
MCU minimum systematic modules one end is divided into two-way, connects respectively with the railroad communications module and the CAN communication module
It connects, information and output information is obtained for transmitting-receiving station control panel；The railroad communications module is connect with the small rail car, is used for
It obtains local track information of vehicles and management is scheduled to vehicle according to information of vehicles；The CAN communication module（5）With it is described
Other equipment connects in region, for obtaining and locally associated information；
The MCU minimum modules other end is divided into two-way, connects respectively with the serial communication module and the overload detection module
It connects；The step serial communication module is connect with the touch screen, for obtaining the mission bit stream of the touch screen transmission, matching confidence
Breath, querying command etc.；The overload detection module is connect with the weighing unit, the overload letter sent for acquiring the weighing unit
Breath.
Further, control method for vehicle is sent to include the following steps：
Step 1：Mission bit stream is obtained, transmitting-receiving station control panel receives the car number and mission bit stream that touch screen is sent；
Step 2 overload detection, step 3 is then directly executed if empty wagons；If bogie, vehicle is moved to weighing unit and is executed
Overload detection, detection, which passes through, executes step 3, otherwise alarm；
Step 3：Path detection checks that forward path, free pathway execute step 4, otherwise prompt alarm；
Step 4：Vehicle scheduling sends out control instruction to vehicle, is performed simultaneously path navigation and error code correction.
Further, control method for vehicle is received to include the following steps：
Step 1：Acquisition task obtains enter the station information of vehicles, including status information and mission bit stream；
Step 2：Path detection checks that the route conditions that enter the station, free pathway execute third step, otherwise wait for；
Step 3：Vehicle scheduling sends out control instruction to vehicle, is performed simultaneously path navigation and error code correction, makes vehicle pull-in
And it is parked in corresponding position.
Using above-mentioned technical proposal, following technique effect can be realized：
1, be that transmitting-receiving station control panel, touch screen, weighing unit are powered by DC tracks, transmitting-receiving station control panel and small rail car and
Other equipment connects in region, can obtain and output information；It is not by zone controller or system server collection between transmitting-receiving station
Chinese style Serial Control completes work, but complete parallel completes work, and region division is only by communication line length and supply lines
The limitation of road length, region quantity divides less, network structure is simple, and system server failure does not influence system normal operation, area
Domain controller failure does not influence normal operation in one's respective area, local transceiver station failure does not influence other transmitting-receiving stations normal work,
So operational efficiency higher, more reliable；
2, transmitting-receiving station obtains the mission bit stream that touch screen is sent by serial communication module；Pass through the detection module acquisition overload that overloads
Signal；By railroad communications module and vehicle communication interface, local information of vehicles can be obtained in real time, while carrying out to local vehicle
Control and management；It, can be by local running conditions of vehicle and this by the communication interface of other equipment in CAN communication module and region
Ground status information is published to other equipment, while obtaining other relevant informations；
3, by data memory module, the relevant parameter and grid topology knot needed for transmitting-receiving station control board work can be stored
Pattern data, and power down is not lost, and is the premise of transmitting-receiving station control panel normal work and execution scheduling；
4, transmitting-receiving station has the independent ability for completing work, built-in intelligence scheduling and a control algolithm, directly acquisition it is local with
Relevant information locally executes logical operation, decision, and finally completing vehicle according to operation result receives and send work, makes work
Make efficiency maximization.
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.
Description of the drawings
Fig. 1 is a kind of Rail logistics single track transmitting-receiving station hardware structure diagram of the present invention；
Fig. 2 is that a kind of Rail logistics single track transmitting-receiving station of the present invention sends vehicle operation flow chart；
Fig. 3 is that a kind of Rail logistics single track transmitting-receiving station of the present invention receives vehicle operation flow chart；
Description of the drawings：1-DC power modules, 2-MCU minimum systematic modules, 3- data memory modules, 4- railroad communications modules, 5-
CAN communication module, 6- serial communication modules, 7- touch screens, 8- overload detection modules, 9- weighing units, 10-LED display modules.
Specific implementation mode
With reference to the accompanying drawings and examples, the specific implementation mode of the present invention is described in further detail, is implemented below
Example is not limited to the scope of the present invention for illustrating the present invention.
Referring to Fig. 1, a kind of Rail logistics single track transmitting-receiving station, including：DC tracks, touch screen 7, are weighed at transmitting-receiving station control panel
Other equipment in platform 9, small rail car and region；DC tracks are connect with transmitting-receiving station control panel, transmitting-receiving station control panel one end and touch
Screen 7 and weighing unit 9 connect；The transmitting-receiving station control panel other end is connect with other equipment in small rail car and region；
By one section of power cord of DC tracks be transmitting-receiving station control panel, touch screen 7, weighing unit 9 are powered, transmitting-receiving station control panel
It connect, can obtain and output information with other equipment in small rail car and region；Be not between transmitting-receiving station by zone controller or
System server centralization Serial Control completes work, but complete parallel completes work, and region division is only by communication line
The limitation of length and supply line's length, region quantity divides less, network structure is simple, and system server failure does not influence system
Normal operation, zone controller failure do not influence normal operation in one's respective area, local transceiver station failure does not influence other transmitting-receivings
It stands normal work, so operational efficiency higher, more reliable；Transmitting-receiving station has the independent ability for completing work, built-in intelligence
Scheduling and control algolithm, directly acquisition locally execute logical operation, decision, finally according to operation knot locally with relevant information
Fruit completes vehicle and receives and send work, and working efficiency is made to maximize.
Transmitting-receiving station control panel includes：DC power module 1, MCU minimum systematic modules 2, data memory module 3, railroad communications
Module 4, CAN communication module 5, serial communication module 6, overload detection module 8 and LED display module 10；DC power module 1 with
DC tracks connect, and it is that transmitting-receiving station control panel, touch screen 7 and weighing unit 9 are powered to obtain the power cord all the way on DC tracks；
Data memory module 3 is connect with MCU minimum systematic modules 2, the system server for storing network connection and touch screen 7
The configuration information of transmission；Data memory module 3 includes underlying parameter information, track relevant parameter information, vehicle related parameters letter
Breath, garage information, expanded function parameter information and other parameters information；Wherein underlying parameter information is the category of transmitting-receiving station itself
Property information, such as the coding of itself, type of site, operating mode etc.；Other parameters information is that transmitting-receiving station completion work institute is necessary
Parameter information；By data memory module 3, the relevant parameter and grid needed for transmitting-receiving station control board work can be stored
Topological structure diagram data, and power down is not lost, and is the premise of transmitting-receiving station control panel normal work and execution scheduling.
LED display module 10 is connect with MCU minimum systematic modules 2, is used for state instruction, including operating status, communication shape
The indicative function of state and malfunction etc..
MCU minimum systematic modules 2 are central processing unit, built-in intelligence scheduling and control process algoritic module, are responsible for logical
It crosses railroad communications module 4 and CAN communication module 5 acquires locally associated vehicle, orbit information executes logical operation on this basis
With decision, and vehicle is controlled according to result of calculation, completes vehicle scheduling and management role.Therefore, in the application, MCU minimums system
2 one end of system module is divided into two-way, connect with railroad communications module 4 and CAN communication module 5, is obtained for transmitting-receiving station control panel respectively
It wins the confidence breath and output information；Railroad communications module 4 is the interaction channel with vehicle, CAN module 5 be with other equipment in region into
The interface that row information exchanges, the mission bit stream, location information, quantity of local track vehicle can be obtained by railroad communications module 4
Information, status information, track status information etc., and management, output vehicle debugging life are scheduled to vehicle according to information of vehicles
Enable, path navigation order, error correcting order etc., therefore, in the application, railroad communications module 4 is connect with small rail car, is used for
It obtains local track information of vehicles and management is scheduled to vehicle according to information of vehicles；The CAN communication module（5）With it is described
Other equipment connects in region, for obtaining and locally associated information；
2 other end of MCU minimum modules is divided into two-way, is connect respectively with serial communication module 6 and overload detection module 8；Walk serial ports
Communication module 6 is connect with touch screen 7, and serial communication module 6 is the channel that data interaction is carried out with touch screen 7, tactile for obtaining
Touch mission bit stream, configuration information, the querying command etc. that screen 7 is sent；Overload detection module 8 is connect with weighing unit 9, is claimed for acquiring
The loaded information that weight platform 9 is sent.
Referring to Fig. 2, a kind of transmission control method for vehicle of Rail logistics single track transmitting-receiving station of the application includes the following steps：
Step 1：Mission bit stream is obtained, transmitting-receiving station control panel receives the car number and mission bit stream that touch screen 7 is sent；It receives
The mission bit stream that touch screen is sent, including car number, task objective website, task priority, running velocity etc.
Whether grade task type, encrypts.
Step 2：Overload detection, step 3 is then directly executed if empty wagons；If bogie, vehicle is moved to and is weighed
Platform executes overload detection, and detection, which passes through, executes step 3, otherwise alarm；If execute empty wagons be put in storage task, empty wagons without
Overload detection need to be executed and directly execute step 3；It is put in storage task if not empty wagons, vehicle is moved to weighing unit and executes overload
Detection, detection, which passes through, executes step 3, otherwise alarm；
Step 3：Path detection checks that forward path, free pathway execute step 4, otherwise prompt alarm；Check front road
Diameter, including forward path whether failure, whether congestion, whether have vehicle that will enter the station, if free pathway execute step 4,
Otherwise prompt alarm；
Step 4：Vehicle scheduling sends out control instruction to vehicle, is performed simultaneously path navigation and error code correction.
Referring to Fig. 3, a kind of reception control method for vehicle of Rail logistics single track transmitting-receiving station of the application includes the following steps：
Step 1：Mission bit stream is obtained, enter the station information of vehicles, including status information and mission bit stream are obtained；Information is obtained, including
Operating condition information and mission bit stream；The relevant information of acquisition is the foundation of vehicle scheduling, including operating condition information and task
Information, wherein mission bit stream refer to the portable task data information of vehicle, including Source Site, purpose website, priority, are appointed
Relevant informations, the operating condition information such as type of being engaged in include the operating condition information of vehicle, equipment operating condition information, the fortune of vehicle
Row work information includes location information, directional information, velocity information, quantity information, alarm and fault message etc.；The operation of equipment
Work information includes track operating condition information, purpose website operating condition information.Its middle orbit operating condition information includes rail
Road malfunction；Purpose website operating condition information includes point of destination point communication state, vehicle-state, malfunction etc..
Step 2：Path detection checks that the route conditions that enter the station, free pathway execute third step, otherwise wait for；Inspection is entered the station
Route conditions, the operating path collision detection mainly between vehicle, if detecting conflict, conflict resolving module carries out intervention
Conflict resolving finally send information to be dispatched buses to scheduler module.Transmitting-receiving station has certain failover capability and to vehicle
With path navigation and error correcting capability, route conditions navigation can be provided according to the different vehicle on different paths and is entangled with mistake
Just.
Step 3：Vehicle scheduling sends out control instruction to vehicle, is performed simultaneously path navigation and error code correction, makes vehicle
It enters the station and is parked in corresponding position.While dispatching buses, navigation and the error code correction of forward path can be carried out to vehicle, it is a certain
The failure of transmitting-receiving station only influences local normal failure, other transmitting-receiving stations still can normally execute work, make the operational efficiency of system with
Stability reaches maximization；To every playscript with stage directions vehicle notices the route conditions in front of its own place path to transmitting-receiving station, in vehicle
It in the case that reading position malfunctions, gives and corrects automatically, and be unlikely to trolley since reading position code mistake causes to stop, cause
It paralyses in path.
The above is only a preferred embodiment of the present invention, it is not intended to restrict the invention, it is noted that for this skill
For the those of ordinary skill in art field, without departing from the technical principles of the invention, can also make it is several improvement and
Modification, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (4)
1. a kind of Rail logistics single track transmitting-receiving station, which is characterized in that including：DC tracks, transmitting-receiving station control panel, touch screen（7）, claim
Weight platform（9）, other equipment in small rail car and region；
The DC tracks are connect with the transmitting-receiving station control panel, transmitting-receiving station control panel one end and the touch screen（7）And institute
State weighing unit（9）Connection；
The transmitting-receiving station control panel other end is connect with other equipment in the small rail car and the region.
2. a kind of Rail logistics single track transmitting-receiving station according to claim 1, which is characterized in that the transmitting-receiving station control panel packet
It includes：DC power module（1）, MCU minimum systematic modules（2）, data memory module（3）, railroad communications module（4）, CAN communication mould
Block（5）, serial communication module（6）, overload detection module（8）And LED display module（10）；
The DC power module（1）It is connect with the DC tracks, it is the transmitting-receiving to obtain the power cord all the way on the DC tracks
Stand control plate, the touch screen（7）With the weighing unit（9）It is powered；
The data memory module（3）With the MCU minimum systematic modules（2）Connection, the system for storing network connection take
Business device and touch screen（7）The configuration information of transmission；The LED display module（10）With the MCU minimum systematic modules（2）Even
It connects, is used for state instruction；
The MCU minimum systematic modules（2）One end is divided into two-way, respectively with the railroad communications module（4）With the CAN communication
Module（5）Connection obtains information and output information for transmitting-receiving station control panel；The railroad communications module（4）With the track
Trolley connects, for obtaining local track information of vehicles and being scheduled management to vehicle according to information of vehicles；The CAN communication
Module（5）It is connect with other equipment in the region, for obtaining and locally associated information；
The MCU minimum modules（2）The other end is divided into two-way, respectively with the serial communication module（6）It is detected with the overload
Module（8）Connection；The step serial communication module（6）With the touch screen（7）Connection, for obtaining the touch screen（7）Hair
Mission bit stream, configuration information, querying command for sending etc.；The overload detection module（8）With the weighing unit（9）Connection, is used for
Acquire the weighing unit（9）The loaded information of transmission.
3. a kind of control method of Rail logistics single track transmitting-receiving station according to claim 1, which is characterized in that send vehicle control
Method processed includes the following steps：
Step 1：Mission bit stream is obtained, transmitting-receiving station control panel receives touch screen（7）The car number and mission bit stream of transmission；
Step 2：Overload detection, step 3 is then directly executed if empty wagons；If bogie, vehicle is moved to weighing unit（9）
Overload detection is executed, detection, which passes through, executes step 3, otherwise alarm；
Step 3：Path detection checks that forward path, free pathway execute step 4, otherwise prompt alarm；
Step 4：Vehicle scheduling sends out control instruction to vehicle, is performed simultaneously path navigation and error code correction.
4. a kind of control method of Rail logistics single track transmitting-receiving station according to claim 1, which is characterized in that receive vehicle control
Method processed includes the following steps：
Step 1：Mission bit stream is obtained, enter the station information of vehicles, including status information and mission bit stream are obtained；
Step 2：Path detection checks that the route conditions that enter the station, free pathway execute third step, otherwise wait for；
Step 3：Vehicle is debugged, and is sent out control instruction to vehicle, is performed simultaneously path navigation and error code correction, makes vehicle pull-in
And it is parked in corresponding position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810361609.XA CN108529152B (en) | 2018-04-20 | 2018-04-20 | Rail logistics monorail transceiving station and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810361609.XA CN108529152B (en) | 2018-04-20 | 2018-04-20 | Rail logistics monorail transceiving station and control method thereof |
Publications (2)
| Publication Number | Publication Date |
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| CN108529152A true CN108529152A (en) | 2018-09-14 |
| CN108529152B CN108529152B (en) | 2020-04-17 |
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| CN202929480U (en) * | 2012-09-19 | 2013-05-08 | 苏州工业园区职业技术学院 | Medical AGV logistic control system |
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| CN104750957A (en) * | 2013-12-25 | 2015-07-01 | 北京白象新技术有限公司 | Rail logistics transportation system with function of short message notification |
| CN204979961U (en) * | 2015-07-14 | 2016-01-20 | 新昌县众成实业有限公司 | A workstation for intelligence logistics system of hospital |
| CN107092258A (en) * | 2017-06-03 | 2017-08-25 | 广东华创智能装备有限公司 | A kind of AGV vehicle dispatchings system |
-
2018
- 2018-04-20 CN CN201810361609.XA patent/CN108529152B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100890523B1 (en) * | 2008-12-30 | 2009-03-27 | 정근섭 | System for controlling rail guided vehicle |
| CN202929480U (en) * | 2012-09-19 | 2013-05-08 | 苏州工业园区职业技术学院 | Medical AGV logistic control system |
| CN103425128A (en) * | 2013-07-26 | 2013-12-04 | 广西曼彻彼斯自动化设备有限公司 | Intelligent logistics track car security system |
| CN104750957A (en) * | 2013-12-25 | 2015-07-01 | 北京白象新技术有限公司 | Rail logistics transportation system with function of short message notification |
| CN204979961U (en) * | 2015-07-14 | 2016-01-20 | 新昌县众成实业有限公司 | A workstation for intelligence logistics system of hospital |
| CN107092258A (en) * | 2017-06-03 | 2017-08-25 | 广东华创智能装备有限公司 | A kind of AGV vehicle dispatchings system |
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| Publication number | Publication date |
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| CN108529152B (en) | 2020-04-17 |
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