CN108590493A - Storage medium, shut-off door control method and system - Google Patents
Storage medium, shut-off door control method and system Download PDFInfo
- Publication number
- CN108590493A CN108590493A CN201810340604.9A CN201810340604A CN108590493A CN 108590493 A CN108590493 A CN 108590493A CN 201810340604 A CN201810340604 A CN 201810340604A CN 108590493 A CN108590493 A CN 108590493A
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- Prior art keywords
- shutter door
- door
- shut
- signal
- agv trolleies
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Classifications
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- E—FIXED CONSTRUCTIONS
- E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
- E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
- E06B9/00—Screening or protective devices for wall or similar openings, with or without operating or securing mechanisms; Closures of similar construction
- E06B9/56—Operating, guiding or securing devices or arrangements for roll-type closures; Spring drums; Tape drums; Counterweighting arrangements therefor
- E06B9/68—Operating devices or mechanisms, e.g. with electric drive
-
- E—FIXED CONSTRUCTIONS
- E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
- E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
- E06B9/00—Screening or protective devices for wall or similar openings, with or without operating or securing mechanisms; Closures of similar construction
- E06B9/56—Operating, guiding or securing devices or arrangements for roll-type closures; Spring drums; Tape drums; Counterweighting arrangements therefor
- E06B9/68—Operating devices or mechanisms, e.g. with electric drive
- E06B2009/6809—Control
Abstract
The invention discloses storage medium, shut-off door control method and systems, are related to automatic material flow technical field.Shut-off door control method provided by the invention includes：When the region where AGV trolleies arrival shutter door, the shutter door receives the first signal and simultaneously opens；When the AGV trolleies by and when leaving the region where the shutter door, the shutter door receives second signal and simultaneously closes.The present invention also provides a kind of shut-off accelerator control systems and storage medium for implementing shut-off door control method.Storage medium, shut-off door control method and system provided by the invention can allow shutter door more intelligent, the phenomenon that error when eliminating artificial treatment, and then improve the conevying efficiency of AGV trolleies.
Description
Technical field
The present invention relates to automatic material flow technical fields, in particular to storage medium, shut-off door control method and are
System.
Background technology
This part intends to provides background for the embodiments of the present invention stated in claims and specific implementation mode
Or context.Description herein recognizes it is the prior art not because not being included in this part.
AGV is the abbreviation of Automated Guided Vehicle, also referred to as AGV trolleies, is referred to equipped with electricity magnetically or optically
Equal homing guidances device, can travel along defined guide path, the transport vehicle with safeguard protection and various transfer functions,
The carrier of driver is not required in commercial Application.Since AGV has many advantages, such as that intelligence degree, travelling speed are fast, save space,
It will be used wider and wider general.
When AGV is in transported material, on-site can be existing through being commonly encountered the shutter door in shuttle passageway between workshop and workshop
Have and shutter door is opened and closed by artificial mode not only efficiency is low, but also be susceptible to mistake, is unfavorable for AGV trolleies
Efficient transportation.
Invention content
The purpose of the present invention is to provide a kind of shut-off door control methods, and shutter door can be allowed more intelligent, eliminate artificial
The phenomenon that malfunctioning when processing, and then improve the conevying efficiency of AGV trolleies.
Another object of the present invention is to provide a kind of shut-off accelerator control systems, and shutter door can be allowed more intelligent, eliminate
The phenomenon that malfunctioning when artificial treatment, and then improve the conevying efficiency of AGV trolleies.
The third object of the present invention is to provide a kind of storage medium, shutter door can be allowed more intelligent, eliminate artificial place
The phenomenon that malfunctioning when reason, and then improve the conevying efficiency of AGV trolleies.
The present invention provides a kind of technical solution：
A kind of shut-off door control method, is used for AGV trolleies, and the shut-off door control method includes：
When the region where AGV trolleies arrival shutter door, the shutter door receives the first signal and simultaneously opens；Work as institute
State AGV trolleies by and when leaving the region where the shutter door, the shutter door receives second signal and simultaneously closes.
Further, it when the AGV trolleies reach the shutter door region, sends and opens the door to central dispatch system
Request signal, the central dispatch system send first signal according to the door request signal to the shutter door.
Further, the shut-off door control method further includes：
Detect whether the AGV trolleies reach the shutter door region by first detection module, when detecting
When stating the AGV trolleies arrival shutter door region, the first detection module sends out first position information.
Further, the shut-off door control method further includes：
After the shutter door receives first signal, three color traffic lights are selectively turned on, wherein three color is handed over
Logical lamp includes green traffic, red traffic light and yellow traffic light；When the green traffic is opened, the shutter door is opened
It opens；When the red traffic light is opened, the shutter door is closed.
Further, the shut-off door control method further includes：
Detect whether the AGV trolleies leave the shutter door region by the second detection module, when the AGV trolleies are logical
When crossing and leaving the region where the shutter door, second detection module sends second position information, the shutter door root
It is closed according to the second position information.
Further, the central dispatch system receives the second position information and is given birth to according to the second position information
At the second signal, the central dispatch system is additionally operable to the second signal being transmitted to the shutter door, so that described
Shutter door is closed according to the second signal.
A kind of shut-off accelerator control system, for implementing shut-off door control method.The shut-off door control method includes：
When the region where AGV trolleies arrival shutter door, the shutter door receives the first signal and simultaneously opens；Work as institute
State AGV trolleies by and when leaving the region where the shutter door, the shutter door receives second signal and simultaneously closes.The volume
Sluice control system includes central dispatch system, shutter door and AGV trolleies；The central dispatch system is used for small in the AGV
First signal is sent to the shutter door when vehicle reaches the shutter door region, the shutter door is according to described first
Signal is opened；The central dispatch system be additionally operable to the AGV trolleies by and when leaving the region where the shutter door,
The second signal is sent to the shutter door, the shutter door receives second signal and closes.
Further, the shut-off accelerator control system further includes first detection module, the first detection module with it is described
Between shutter door away from the first distance；The first detection module is for detecting whether the AGV trolleies reach the shutter door
Region, when the AGV trolleies reach the shutter door region, the first detection module is additionally operable to will be described
The first position information of AGV trolleies is transmitted to the central dispatch system.
Further, the shut-off accelerator control system further includes the second detection module, second detection module with it is described
Between shutter door away from the second distance；Second detection module is used to detect whether the AGV trolleies leave the shutter door,
When the AGV trolleies leave the shutter door, second detection module is additionally operable to the second confidence of the AGV trolleies
Breath is transmitted to the central dispatch system；The central dispatch system is additionally operable to according to the second position information to the shut-off
Door sends the second signal, to close the shutter door.
A kind of storage medium, the storage medium include the program of storage, wherein are deposited described in control when described program is run
Equipment executes shut-off door control method where storage media.The shut-off door control method includes：When the AGV trolleies reach shut-off
When the region at door place, the shutter door receives the first signal and simultaneously opens；When the AGV trolleies by and leave the shutter door
When the region at place, the shutter door receives second signal and closes.
Compared with prior art, the advantageous effect of storage medium provided by the invention, shut-off door control method and system is：
During AGV trolley transported materials, when AGV trolleies reach shutter door region, AGV trolleies send out what control shutter door was opened
It opens the door and asks, shutter door controls shutter door unlatching after receiving the first signal, at this point, AGV trolleies pass through the shutter door.When
AGV trolleies by and after leaving shutter door, shutter door receives second signal and simultaneously closes.Storage medium provided by the invention, shut-off
Door control method and system can allow shutter door more intelligent, the phenomenon that error when eliminating artificial treatment, and then improve AGV trolleies
Conevying efficiency.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described.It should be appreciated that the following drawings illustrates only certain embodiments of the present invention, therefore it is not construed as pair
The restriction of range.It for those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the flow diagram for the shut-off door control method that the embodiment of the present invention provides；
Fig. 2 is the structural schematic block diagram for the shut-off accelerator control system that the embodiment of the present invention provides；
Fig. 3 is the structural schematic block diagram for the shut-off accelerator control system that the embodiment of the present invention provides；
Fig. 4 is the structural schematic block diagram for the shut-off accelerator control system that the embodiment of the present invention provides.
Icon：10- shut-off accelerator control systems；100- shutter doors；200-AGV trolleies；300- central dispatch systems；400-
One detection module；The second detection modules of 500-.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.Obviously, described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, below the detailed description of the embodiment of the present invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiments of the present invention, this field is common
The every other embodiment that technical staff is obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
In the description of the present invention, it is to be understood that, the instructions such as term "upper", "lower", "inner", "outside", "left", "right"
Orientation or positional relationship be based on the orientation or positional relationship shown in the drawings or the invention product using when usually put
Orientation or positional relationship or the orientation or positional relationship that usually understands of those skilled in the art, be merely for convenience of retouching
It states the present invention and simplifies description, do not indicate or imply the indicated equipment or element must have a particular orientation, with specific
Azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " etc. are only used for distinguishing description, it is not understood to indicate or imply relatively important
Property.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, " setting ", " even
Connect " etc. terms shall be understood in a broad sense, for example, " connection " may be a fixed connection, may be a detachable connection, or integrally connect
It connects；It can be mechanical connection, can also be electrical connection；Can be directly connected to, can also be indirectly connected with by intermediary, it can
To be the connection inside two elements.For the ordinary skill in the art, can understand as the case may be above-mentioned
The concrete meaning of term in the present invention.
Below in conjunction with the accompanying drawings, the specific implementation mode of the present invention is described in detail.
First embodiment
It please refers to Fig.1 to Fig. 2, present embodiments provides a kind of 100 control method of shutter door, can allow shutter door 100
It is more intelligent, the phenomenon that error when eliminating artificial treatment, and then improve the conevying efficiency of AGV trolleies 200.
100 control method of shutter door provided in this embodiment is used for AGV trolleies 200, is to pass through volume to AGV trolleies 200
The intelligent control method of gate 100, to improve the conevying efficiency of the degree of intelligence and AGV trolleies 200 of shutter door 100.
100 control method of shutter door provided in this embodiment includes：S1：Where AGV trolleies 200 reach shutter door 100
Region when, shutter door 100 receive the first signal simultaneously open；S2：When AGV trolleies 200 by and leave where shutter door 100
When region, shutter door 100 receives second signal and closes.Hereinafter, being illustrated respectively to above-mentioned S1 and S2.
S1：When AGV trolleies 200 reach the region at 100 place of shutter door, shutter door 100 receives the first signal and simultaneously opens.
It is to be appreciated that the first signal can be sent out by central dispatch system 300, can also be from AGV trolleies 200 to
What shutter door 100 was sent out.When the first signal is sent out by central dispatch system 300, central dispatch system 300 receives AGV first
The request of trolley 200 passes through the door request signal of the shutter door 100, and central dispatch system 300 receives the door request signal simultaneously
The first signal is sent out, shutter door 100 receives first signal, and is opened after receiving first signal, so that AGV trolleies
200 pass through shutter door 100.
Optionally, in the present embodiment, when AGV trolleies 200 reach 100 region of shutter door, to central schedule system
System 300 sends door request signal, and central dispatch system 300 sends the first signal according to door request signal to shutter door 100.
In addition it is also necessary to illustrate, shutter door 100 after receiving control its first signal for opening, sometimes due to failure,
Busy or other reasons may also will not be opened, and the state of shutter door 100 be understood for the ease of user, so as to preferably right
AGV trolleies 200 are scheduled, and three color traffic lights can be arranged.Wherein, the three colors traffic lights may include green traffic, it is red
Color traffic lights and yellow traffic light.
That is, 100 control method of shutter door provided in this embodiment can also include：The is received in shutter door 100
After one signal, three color traffic lights are selectively turned on.
It is appreciated that three color traffic lights of above-mentioned green traffic, red traffic light and yellow traffic light are in shutter door
100 are in instruction when different conditions, for example, after shutter door 100 receives the first signal, green traffic lights, and indicate
Shutter door 100 is in normal operating conditions, and at this time after receiving the first signal, shutter door 100 is opened, and AGV trolleies 200 can
Pass through the shutter door 100.
That is, three color traffic lights intuitively show the state of shutter door 100, so that user can be more preferable
Ground is scheduled AGV trolleies 200, improves the conevying efficiency of AGV trolleies 200.When green traffic is opened, shutter door 100
It opens, AGV trolleies 200 pass through the shutter door 100 after the unlatching of shutter door 100.When red traffic light is opened, shutter door 100
It closes, no through traffic for AGV trolleies 200.At this point, shutter door 100 is communicated with central dispatch system 300, inform that shutter door 100 cannot
It opens, the refusal of central dispatch system 300 or the enabling request for ignoring AGV trolleies 200.When yellow traffic light is opened, shut-off
Door 100 is in exception or malfunction, and AGV trolleies 200 can pass through the shutter door after the abnormal elimination of shutter door 100 at this time
100, other shutter door 100 can also be selected to pass through.
It is appreciated that it is by detecting or incuding AGV to judge whether AGV trolleies 200 reach 100 region of shutter door
The position of trolley 200 and know.Referring to Fig. 3, embodiments thereof can be small by the detection of first detection module 400 AGV
Whether vehicle 200 reaches 100 region of shutter door, when detecting that AGV trolleies 200 reach 100 region of shutter door, first
Detection module 400 sends out first position information.
It is to be appreciated that the first position information that first detection module 400 is sent out can be received by central dispatch system 300,
The location information of AGV trolleies 200 is known after the reception of central dispatch system 300.At this point, central dispatch system 300 and AGV is small
Vehicle 200 communicates, and AGV trolleies 200 can send out the request of the enabling for the shutter door 100 to central dispatch system 300.
Optionally, first detection module 400 is arranged apart from 100 one end of shutter door distance, to provide certain system response
Time improves the efficiency of transport.
Referring to Fig. 4, optionally, 100 control method of shutter door provided in this embodiment further includes：Pass through the second detection mould
Block 500 detects whether AGV trolleies 200 leave 100 region of shutter door, when AGV trolleies 200 by and where leaving shutter door 100
Region when, the second detection module 500 send second position information, shutter door 100 according to second position information close.
Further, central dispatch system 300 receives second position information and generates second according to second position information
Signal, central dispatch system 300 is additionally operable to second signal being transmitted to shutter door 100, so that shutter door 100 is according to second signal
It closes.
The advantageous effect of 100 control method of shutter door provided in this embodiment：In the process of 200 transported material of AGV trolleies
In, when AGV trolleies 200 reach 100 region of shutter door, AGV trolleies 200 send out the enabling request that control shutter door 100 is opened,
Shutter door 100 controls the unlatching of shutter door 100 after receiving the first signal, at this point, AGV trolleies 200 pass through the shutter door 100.
When AGV trolleies 200 by and after leave shutter door 100, shutter door 100 receives second signal and simultaneously closes.It is provided in this embodiment
100 control method of shutter door can allow shutter door 100 more intelligent, and the phenomenon that error when eliminating artificial treatment, and then it is small to improve AGV
The conevying efficiency of vehicle 200.
Second embodiment
Fig. 1 to Fig. 4 is please referred to, present embodiments provides a kind of 100 control system 10 of shutter door for implementing first
100 control method of shutter door that embodiment provides.100 control method of shutter door includes：When AGV trolleies 200 reach shutter door
When the region at 100 places, shutter door 100 receives the first signal and simultaneously opens；When AGV trolleies 200 by and leave 100 institute of shutter door
Region when, shutter door 100 receive second signal simultaneously close.
100 control system 10 of shutter door provided in this embodiment includes central dispatch system 300, shutter door 100 and AGV small
Vehicle 200.Central dispatch system 300 is used to send the to shutter door 100 when AGV trolleies 200 reach 100 region of shutter door
One signal, shutter door 100 are opened according to the first signal.Central dispatch system 300 be additionally operable to AGV trolleies 200 by and leave
When the region at 100 place of shutter door, second signal is sent to shutter door 100, shutter door 100 receives second signal and simultaneously closes.
Optionally, 100 control system 10 of shutter door provided in this embodiment further includes first detection module 400, the first inspection
It surveys between module 400 and shutter door 100 away from the first distance.First detection module 400 is for detecting whether AGV trolleies 200 arrive
Up to 100 region of shutter door, when AGV trolleies 200 reach 100 region of shutter door, first detection module 400 is additionally operable to
The first position information of AGV trolleies 200 is transmitted to central dispatch system 300.
Optionally, 100 control system 10 of shutter door provided in this embodiment further includes the second detection module 500, the second inspection
It surveys between module 500 and shutter door 100 away from the second distance.Second detection module 500 for detect AGV trolleies 200 whether from
Uncoiling gate 100, when AGV trolleies 200 leave shutter door 100, the second detection module 500 is additionally operable to the of AGV trolleies 200
Two location informations are transmitted to central dispatch system 300.Central dispatch system 300 is additionally operable to according to second position information to shutter door
100 send second signal, to close shutter door 100.
Optionally, above-mentioned first detection module 400 and the second detection module 500 are infrared sensor, and above-mentioned first
Distance and second distance can be 3 meters, 5 meters etc..
3rd embodiment
Fig. 1 to Fig. 4 is please referred to, a kind of storage medium is present embodiments provided, which has non-volatile.
Storage medium includes the program of storage, wherein equipment where control storage medium executes 100 controlling party of shutter door when program is run
Method.100 control method of shutter door includes：When AGV trolleies 200 reach the region at 100 place of shutter door, shutter door 100 receives
First signal is simultaneously opened；When AGV trolleies 200 by and when leaving the region where shutter door 100, shutter door 100 receives second
Signal is simultaneously closed.
Optionally, above-mentioned storage medium can be used to save 100 control method of shutter door that first embodiment provides and be held
Capable program code.
When AGV trolleies 200 reach 100 region of shutter door, the request letter that opens the door is sent to central dispatch system 300
Number, central dispatch system 300 sends the first signal according to door request signal to shutter door 100.
Optionally, storage medium is arranged to detect whether AGV trolleies 200 reach shut-off by first detection module 400
100 regions of door, when detecting that AGV trolleies 200 reach 100 region of shutter door, first detection module 400 sends out the
One location information.
Optionally, storage medium is arranged to after shutter door 100 receives the first signal, selectively turns on three color traffic
Lamp, wherein three color traffic lights include green traffic, red traffic light and yellow traffic light；When green traffic is opened, volume
Gate 100 is opened；When red traffic light is opened, shutter door 100 is closed.
Optionally, storage medium is arranged to detect whether AGV trolleies 200 leave shut-off by the second detection module 500
100 regions of door, when AGV trolleies 200 by and when leaving the region where shutter door 100, the second detection module 500 sends second
Location information, shutter door 100 are closed according to second position information.
Optionally, storage medium is arranged to the reception second position information of central dispatch system 300 and according to the second position
Information generates second signal, and central dispatch system 300 is additionally operable to second signal being transmitted to shutter door 100, so that shutter door 100
It is closed according to second signal.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of shut-off door control method, for AGV trolleies (Automated Guided Vehicle, homing guidance transport
Vehicle), which is characterized in that including：
When the region where AGV trolleies arrival shutter door, the shutter door receives the first signal and simultaneously opens；
When the AGV trolleies by and when leaving the region where the shutter door, the shutter door receives second signal and simultaneously closes
It closes.
2. shut-off door control method according to claim 1, which is characterized in that when the AGV trolleies reach the shut-off
When door region, door request signal is sent to central dispatch system, the central dispatch system is asked according to the enabling
Signal sends first signal to the shutter door.
3. shut-off door control method according to claim 2, which is characterized in that the shut-off door control method further includes：
Detect whether the AGV trolleies reach the shutter door region by first detection module, when detecting the AGV
When trolley reaches the shutter door region, the first detection module sends out first position information.
4. the shut-off door control method according to any one of claim 1-3, which is characterized in that the shutter door control
Method further includes：
After the shutter door receives first signal, three color traffic lights are selectively turned on, wherein the three colors traffic lights
Including green traffic, red traffic light and yellow traffic light；
When the green traffic is opened, the shutter door is opened；
When the red traffic light is opened, the shutter door is closed.
5. shut-off door control method according to claim 2, which is characterized in that the shut-off door control method further includes：
Detect whether the AGV trolleies leave the shutter door region by the second detection module, when the AGV trolleies pass through simultaneously
When leaving the region where the shutter door, second detection module sends second position information, and the shutter door is according to institute
Second position information is stated to close.
6. shut-off door control method according to claim 5, which is characterized in that the central dispatch system receives described the
Two location informations simultaneously generate the second signal according to the second position information, and the central dispatch system is additionally operable to will be described
Second signal is transmitted to the shutter door, so that the shutter door is closed according to the second signal.
7. a kind of shut-off accelerator control system, for implementing the shut-off door control method as described in any one of claim 1-6,
It is characterized in that, the shut-off accelerator control system includes central dispatch system, shutter door and AGV trolleies；
The central dispatch system is used to send to the shutter door when the AGV trolleies reach the shutter door region
First signal, the shutter door are opened according to first signal；
The central dispatch system be additionally operable to the AGV trolleies by and when leaving the region where the shutter door, to institute
It states shutter door and sends the second signal, the shutter door receives second signal and closes.
8. shut-off accelerator control system according to claim 7, which is characterized in that the shut-off accelerator control system further includes
One detection module, between the first detection module and the shutter door away from the first distance；
The first detection module is for detecting whether the AGV trolleies reach the shutter door region, when the AGV is small
When vehicle reaches the shutter door region, the first detection module is additionally operable to the first position information of the AGV trolleies
It is transmitted to the central dispatch system.
9. shut-off accelerator control system according to claim 7, which is characterized in that the shut-off accelerator control system further includes
Two detection modules, between second detection module and the shutter door away from the second distance；
Second detection module is for detecting whether the AGV trolleies leave the shutter door, when the AGV trolleies leave institute
When stating shutter door, second detection module is additionally operable to the second position information of the AGV trolleies being transmitted to the center tune
Degree system；
The central dispatch system is additionally operable to send the second signal to the shutter door according to the second position information, with
Close the shutter door.
10. a kind of storage medium, which is characterized in that the storage medium includes the program of storage, wherein when described program is run
Equipment executes the shut-off door control method as described in any one of claim 1-6 where controlling the storage medium.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810340604.9A CN108590493B (en) | 2018-04-16 | 2018-04-16 | Storage medium, and method and system for controlling shutter door |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810340604.9A CN108590493B (en) | 2018-04-16 | 2018-04-16 | Storage medium, and method and system for controlling shutter door |
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| CN108590493A true CN108590493A (en) | 2018-09-28 |
| CN108590493B CN108590493B (en) | 2020-09-18 |
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| CN201810340604.9A Active CN108590493B (en) | 2018-04-16 | 2018-04-16 | Storage medium, and method and system for controlling shutter door |
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| CN109857071A (en) * | 2019-02-02 | 2019-06-07 | 宁波吉利汽车研究开发有限公司 | A kind of control system and method for industrial portal crane |
| CN111119712A (en) * | 2019-11-14 | 2020-05-08 | 广东嘉腾机器人自动化有限公司 | Rolling door control system and rolling door control method |
| WO2020135016A1 (en) * | 2018-12-29 | 2020-07-02 | 苏州宝时得电动工具有限公司 | Automatic operation system and control method thereof, gate control device, and self-moving device |
| WO2020248899A1 (en) * | 2019-06-14 | 2020-12-17 | 杭州海康机器人技术有限公司 | Logistics control system, robot control apparatus, and automatic door control method |
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| WO2020135016A1 (en) * | 2018-12-29 | 2020-07-02 | 苏州宝时得电动工具有限公司 | Automatic operation system and control method thereof, gate control device, and self-moving device |
| CN109857071A (en) * | 2019-02-02 | 2019-06-07 | 宁波吉利汽车研究开发有限公司 | A kind of control system and method for industrial portal crane |
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| CN111119712B (en) * | 2019-11-14 | 2022-06-14 | 广东嘉腾机器人自动化有限公司 | Rolling door control system and rolling door control method |
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