CN109240283B - Running state intelligent regulation and control system based on AGV trolley punctuality rate analysis - Google Patents
Running state intelligent regulation and control system based on AGV trolley punctuality rate analysis Download PDFInfo
- Publication number
- CN109240283B CN109240283B CN201810906865.2A CN201810906865A CN109240283B CN 109240283 B CN109240283 B CN 109240283B CN 201810906865 A CN201810906865 A CN 201810906865A CN 109240283 B CN109240283 B CN 109240283B
- Authority
- CN
- China
- Prior art keywords
- agv
- time
- running
- target agv
- target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000011217 control strategy Methods 0.000 claims abstract description 5
- 230000001105 regulatory effect Effects 0.000 claims description 12
- 238000000034 method Methods 0.000 abstract description 10
- 238000009472 formulation Methods 0.000 abstract description 2
- 239000000203 mixture Substances 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 2
- 230000006866 deterioration Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—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 invention discloses an intelligent running state regulation and control system based on AGV trolley punctuality rate analysis, which comprises the following steps: the error setting module is used for acquiring the accumulated running time and the accumulated transport weight of the target AGV trolley and setting a time error for the target AGV trolley; the time acquisition module is used for acquiring m actual running times and m theoretical running times when the target AGV car continuously executes tasks for m times; the punctuality rate analysis module is used for determining the punctuality rate of the target AGV; the intelligent control module is used for making an operation state control strategy for the target AGV based on the comparison result of the punctuality rate of the target AGV and the preset value. According to the method, the time error model is determined according to the accumulated running time and the accumulated transport weight of the AGV, so that the influence of the working life and the working strength on the running speed and the running time of the AGV is weakened, the accuracy of time error formulation is improved on one hand, and the effectiveness of analyzing the actual running time of the AGV is improved on the other hand.
Description
Technical Field
The invention relates to the technical field of AGV trolley regulation and control systems, in particular to an intelligent operation state regulation and control system based on AGV trolley punctuality rate analysis.
Background
An AGV (Automated Guided Vehicle) is a Vehicle equipped with an electromagnetic or optical automatic guide device, and is capable of traveling along a predetermined guide path. The conventional AGV path running system generally has only one loop, namely a single loop, and all the operations of the AGV, such as loading, unloading, transportation and the like, are completed on the line. Because the AGV needs to stop on this circuit in the process of unloading, consequently can influence other AGV operations on this circuit. Some existing AGVs have the function of automatically avoiding obstacles, namely, the AGVs leave a line when encountering an obstacle, cross the obstacle and then return to the line; however, the system for analyzing the punctual rate of the AGV during the process of executing the transportation task in the operation process is less, and the problem that whether each AGV in the working area can still keep the controllable punctual rate under the influence of the working years is difficult to master is not favorable for improving the monitoring of the operation state of each AGV in the working area, and the transportation efficiency and the transportation effect of the AGV are reduced.
Disclosure of Invention
Based on the technical problems in the background art, the invention provides an intelligent operation state regulation and control system based on AGV trolley punctuality rate analysis.
The invention provides an intelligent running state regulation and control system based on AGV trolley punctuality analysis, which comprises:
the error setting module is used for acquiring the accumulated running time and the accumulated transportation weight of the target AGV trolley in the preset time and setting a time error for the target AGV trolley based on the accumulated running time and the accumulated transportation weight;
the time acquisition module is used for acquiring m actual running times and m theoretical running times when the target AGV car continuously executes the tasks for m times;
the punctuality rate analysis module is used for determining the punctuality rate of the target AGV based on the m actual running times, the m theoretical running times and the time errors;
and the intelligent control module is used for making an operation state control strategy for the target AGV based on the comparison result of the punctuality rate of the target AGV and the preset value.
Preferably, a weight-error correspondence model established based on a correspondence between the running weight coefficient of the AGV and the time error is stored in the error setting module;
the error setting module is specifically configured to:
setting a preset time;
acquiring the accumulated running time of a target AGV trolley in a preset time, and recording the accumulated running time as T;
acquiring the accumulated transport weight of a target AGV in a preset time, and recording the accumulated transport weight as W;
calculating the running weight coefficient Q of the target AGV according to the following formula:
Q＝aT+bW+c；
searching corresponding time error in the weight-error corresponding relation model based on the running weight coefficient Q of the target AGV, and recording the time error as t0；
Wherein a, b and c are preset values.
Preferably, the time acquisition module is specifically configured to:
acquiring m actual running times of the target AGV car when continuously executing the tasks for m times, and recording the m actual running times as t11、t12、t13……t1m；
Obtaining m theoretical running times of the target AGV car when continuously executing the tasks for m times, and recording the m theoretical running times as t21、t22、t23……t2m。
Preferably, the punctual rate analysis module is specifically configured to:
acquiring time error t corresponding to target AGV0M actual running times t when the target AGV continuously executes tasks for m times11、t12、t13……t1mAnd m theoretical running times t21、t22、t23……t2m；
Calculate | t1j-t2jValue of | when | t1j-t2j|≤t0Then, the j is listed in a sequence number set;
counting the number x of parameters in the sequence number set;
calculating the punctual rate of the target AGV according to the following formula, and marking the punctual rate as P, wherein the formula is as follows:
P＝x/m；
wherein j is more than or equal to 1 and less than or equal to m.
Preferably, a first preset value P is stored in the intelligent regulation and control module1And a second preset value P2，P1<P2；
The intelligent regulation and control module is specifically used for:
respectively comparing the punctual rate P of the target AGV with the punctual rate PFirst preset value P1And a second preset value P2And (3) comparison:
when P is less than or equal to P1Then, a first operation state regulation strategy is set for a target AGV;
when P is present1<P<P2Then, a second operation state regulation strategy is set for the target AGV;
when P is more than or equal to P2Then, a third operation state regulation strategy is set for the target AGV;
wherein the first operating state regulating strategy is: sending information of low punctuality rate of the target AGV trolley operation to a supervision department;
the second operating state regulating strategy is as follows: sending information that the punctuality rate of the target AGV trolley is low to a supervision department;
the third operating state regulating strategy is as follows: and sending information that the running punctuality rate of the target AGV is within a normal range to a supervision department.
The invention provides an intelligent operating state regulating and controlling system based on AGV punctuality rate analysis, which acquires the punctuality rate of the AGV in the current state by collecting the actual operating time of the AGV in the process of executing tasks for many times, formulating the time difference by combining the actual operating time and the theoretical operating time and comparing the size relation between the time difference and the preset time error, determines whether the operating time of the AGV is influenced by the working age, the operating time and the bearing weight of the AGV according to the actual value of the punctuality rate, refines and analyzes the influence degree, and formulates different operating state regulating and controlling strategies according to the difference of the influence degree, so that a monitoring department can comprehensively and accurately know the actual operating state and condition of each AGV in a working area, thereby regulating and improving the actual state of each AGV in a targeted manner, the transport effect of each AGV dolly in the workspace and the operating efficiency of the whole workspace are guaranteed. Furthermore, when a reference time error is determined, the time error model is determined according to the accumulated running time and the accumulated transport weight of the AGV, so that the influence of the working age and the working strength on the running speed and the running time of the AGV is weakened, the accuracy of time error determination is improved on one hand, and the effectiveness of analyzing the actual running time of the AGV is improved on the other hand, so that the intelligent monitoring and control of the system on the running state of the AGV in the task execution process are improved.
Drawings
FIG. 1 is a schematic structural diagram of an AGV trolley punctuality analysis-based operation state intelligent regulation and control system.
Detailed Description
As shown in fig. 1, fig. 1 is an intelligent operation state control system based on AGV vehicle punctuality analysis according to the present invention.
Referring to fig. 1, the running state intelligent regulation and control system based on the AGV vehicle punctuality analysis provided by the present invention includes:
the error setting module is used for acquiring the accumulated running time and the accumulated transportation weight of the target AGV trolley in the preset time and setting a time error for the target AGV trolley based on the accumulated running time and the accumulated transportation weight;
in this embodiment, a weight-error correspondence model established based on a correspondence between an operation weight coefficient of an AGV and a time error is stored in the error setting module; by establishing the weight-error corresponding relation model, the influence of the working life and the working strength on the running speed of the AGV trolley can be weakened, the corresponding time error can be conveniently obtained according to the accumulated running time and the accumulated transport weight of the AGV trolley, and an accurate and effective analysis basis is provided for analyzing the actual running state of the AGV trolley, so that the precision of an analysis result is improved;
the error setting module is specifically configured to:
setting a preset time;
acquiring the accumulated running time of a target AGV trolley in a preset time, and recording the accumulated running time as T;
acquiring the accumulated transport weight of a target AGV in a preset time, and recording the accumulated transport weight as W;
calculating the running weight coefficient Q of the target AGV according to the following formula:
Q＝aT+bW+c；
calculating the running weight coefficient Q of the target AGV according to the accumulated running time and the accumulated transportation weight of the target AGV, so that the grading and the determination of the influences of the AGV on different degrees are facilitated according to the two parameters, and the accuracy of the formulation of the running weight coefficient Q is ensured;
searching corresponding time error in the weight-error corresponding relation model based on the running weight coefficient Q of the target AGV, and recording the time error as t0；
Wherein a, b and c are preset values.
The time acquisition module is used for acquiring m actual running times and m theoretical running times when the target AGV car continuously executes the tasks for m times;
in this embodiment, the time obtaining module is specifically configured to:
acquiring m actual running times of the target AGV car when continuously executing the tasks for m times, and recording the m actual running times as t11、t12、t13……t1m；
Obtaining m theoretical running times of the target AGV car when continuously executing the tasks for m times, and recording the m theoretical running times as t21、t22、t23……t2m；
The actual running time and the theoretical running time of the target AGV car when continuously executing the tasks for m times are introduced to serve as an analysis basis, and the comprehensiveness and effectiveness of the analysis process can be improved by increasing the number of analysis, so that the accuracy of the analysis result can be improved.
The punctuality rate analysis module is used for determining the punctuality rate of the target AGV based on the m actual running times, the m theoretical running times and the time errors;
in this embodiment, the punctual rate analysis module is specifically configured to:
acquiring time error t corresponding to target AGV0M actual running times t when the target AGV continuously executes tasks for m times11、t12、t13……t1mAnd m theoretical running times t21、t22、t23……t2m；
Calculate | t1j-t2jValue of | when | t1j-t2j|≤t0When the target AGV is in the j-th task execution period, the consumed time of the target AGV in the j-th task execution period is close to the theoretical operation time, namely the target AGV is in the j-th task execution period, and at the moment, j is listed into a sequence number set;
counting the number x of parameters in the sequence number set; the number of the x directly shows whether the target AGV trolley is on time when the tasks are executed for m times, so that the on-time rate of the target AGV trolley is conveniently calculated;
calculating the punctual rate of the target AGV according to the following formula, and marking the punctual rate as P, wherein the formula is as follows:
P＝x/m；
wherein j is more than or equal to 1 and less than or equal to m.
And the intelligent control module is used for making an operation state control strategy for the target AGV based on the comparison result of the punctuality rate of the target AGV and the preset value.
In this embodiment, the intelligent control module stores a first preset value P1And a second preset value P2，P1<P2；
The intelligent regulation and control module is specifically used for:
respectively comparing the punctual rate P of the target AGV with a first preset value P1And a second preset value P2And (3) comparison:
when P is less than or equal to P1When the target AGV is in the running state, the punctuality rate of the target AGV during the m-time task execution is low, and in order to avoid the influence on the transportation efficiency caused by the fact that the target AGV continues to keep the state, a first running state regulation strategy is made for the target AGV; the first operating state regulating strategy is as follows: sending information of low punctuality rate of the target AGV trolley operation to a supervision department; the method is convenient for the supervision department to timely take targeted adjustment measures on the target AGV, and further deterioration of the running state of the target AGV is avoided;
when P is present1<P<P2In time, the punctuality rate of the target AGV in m-time task execution is low, so that the supervision department can know that the running precision of the target AGV is lowIf so, a second operation state regulation strategy is set for the target AGV; the second operating state regulating strategy is as follows: sending information that the punctuality rate of the target AGV trolley is low to a supervision department; informing a supervision department to take a targeted measure to improve the actual running state of the target AGV, and ensuring the running efficiency and effect of the target AGV;
when P is more than or equal to P2If the punctuality rate of the target AGV is within the controllable range when the tasks are executed for m times, a third operation state regulation strategy is made for the target AGV; the third operating state regulating strategy is as follows: and sending information that the running punctuality rate of the target AGV is within a normal range to a supervision department.
The running state intelligent regulation and control system based on the AGV punctuality rate analysis, which is provided by the embodiment, acquires the punctuality rate of the AGV in the current state by repeatedly acquiring the actual running time of the AGV in the process of executing the task, formulating the time difference by combining the actual running time and the theoretical running time and comparing the size relation between the time difference and the preset time error, determines whether the running time of the AGV is influenced by the working age, the running time and the bearing weight of the AGV according to the actual value of the punctuality rate, refines and analyzes the influence degree, and formulates different running state regulation and control strategies according to the difference of the influence degree, so that a supervision department can comprehensively and accurately know the actual running state and condition of each AGV in a working area, and adjust and improve the actual state of each AGV in a targeted manner, the transport effect of each AGV dolly in the workspace and the operating efficiency of the whole workspace are guaranteed. Furthermore, when a reference time error is determined, the time error model is determined according to the accumulated running time and the accumulated transport weight of the AGV, so that the influence of the working period and the working strength on the running speed and the running time of the AGV is weakened, the accuracy of time error determination is improved on one hand, and the effectiveness of analyzing the actual running time of the AGV is improved on the other hand, so that the intelligent monitoring and control of the running state of the AGV in the process of executing tasks are improved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (4)
1. The utility model provides an operating condition intelligent regulation and control system based on analysis of AGV dolly punctuality rate which characterized in that includes:
the error setting module is used for acquiring the accumulated running time and the accumulated transportation weight of the target AGV trolley in the preset time and setting a time error for the target AGV trolley based on the accumulated running time and the accumulated transportation weight;
the time acquisition module is used for acquiring m actual running times and m theoretical running times when the target AGV car continuously executes the tasks for m times;
the punctuality rate analysis module is used for determining the punctuality rate of the target AGV based on the m actual running times, the m theoretical running times and the time errors;
the intelligent control module is used for making an operation state control strategy for the target AGV based on the comparison result of the punctuality rate of the target AGV and a preset value;
a weight-error corresponding relation model established based on the corresponding relation between the running weight coefficient of the AGV trolley and the time error is stored in the error setting module;
the error setting module is specifically configured to:
setting a preset time;
acquiring the accumulated running time of a target AGV trolley in a preset time, and recording the accumulated running time as T;
acquiring the accumulated transport weight of a target AGV in a preset time, and recording the accumulated transport weight as W;
calculating the running weight coefficient Q of the target AGV according to the following formula:
Q＝aT+bW+c；
running weight of AGV based on targetThe coefficient Q searches the corresponding time error in the weight-error corresponding relation model, and the time error is recorded as t0；
Wherein a, b and c are preset values.
2. The AGV on-time rate analysis-based operation state intelligent regulation and control system of claim 1, wherein the time acquisition module is specifically configured to:
acquiring m actual running times of the target AGV car when continuously executing the tasks for m times, and recording the m actual running times as t11、t12、t13……t1m；
Obtaining m theoretical running times of the target AGV car when continuously executing the tasks for m times, and recording the m theoretical running times as t21、t22、t23……t2m。
3. The AGV car punctuality analysis-based operation state intelligent regulation and control system of claim 2, wherein the punctuality analysis module is specifically configured to:
acquiring time error t corresponding to target AGV0M actual running times t when the target AGV continuously executes tasks for m times11、t12、t13……t1mAnd m theoretical running times t21、t22、t23……t2m；
Calculate | t1j-t2jValue of | when | t1j-t2j|≤t0Then, the j is listed in a sequence number set;
counting the number x of parameters in the sequence number set;
calculating the punctual rate of the target AGV according to the following formula, and marking the punctual rate as P, wherein the formula is as follows:
P＝x/m；
wherein j is more than or equal to 1 and less than or equal to m.
4. The AGV punctuality analysis-based running state intelligent regulation and control system of claim 3, wherein said intelligent regulation and control module stores therein a first preset valueP1And a second preset value P2，P1<P2；
The intelligent regulation and control module is specifically used for:
respectively comparing the punctual rate P of the target AGV with a first preset value P1And a second preset value P2And (3) comparison:
when P is less than or equal to P1Then, a first operation state regulation strategy is set for a target AGV;
when P is present1<P<P2Then, a second operation state regulation strategy is set for the target AGV;
when P is more than or equal to P2Then, a third operation state regulation strategy is set for the target AGV;
wherein the first operating state regulating strategy is: sending information of low punctuality rate of the target AGV trolley operation to a supervision department;
the second operating state regulating strategy is as follows: sending information that the punctuality rate of the target AGV trolley is low to a supervision department;
the third operating state regulating strategy is as follows: and sending information that the running punctuality rate of the target AGV is within a normal range to a supervision department.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810906865.2A CN109240283B (en) | 2018-08-10 | 2018-08-10 | Running state intelligent regulation and control system based on AGV trolley punctuality rate analysis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810906865.2A CN109240283B (en) | 2018-08-10 | 2018-08-10 | Running state intelligent regulation and control system based on AGV trolley punctuality rate analysis |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109240283A CN109240283A (en) | 2019-01-18 |
| CN109240283B true CN109240283B (en) | 2021-07-02 |
Family
ID=65071455
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810906865.2A Active CN109240283B (en) | 2018-08-10 | 2018-08-10 | Running state intelligent regulation and control system based on AGV trolley punctuality rate analysis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109240283B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110012069A (en) * | 2019-03-05 | 2019-07-12 | 浙江吉利新能源商用车集团有限公司 | A kind of vehicle data processing unit, method and vehicle monitoring platform |
| CN110038805A (en) * | 2019-04-16 | 2019-07-23 | 浙江国自智能装备有限公司 | Tracking and controlling method, device, equipment and the readable storage medium storing program for executing of production logistics |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8731990B1 (en) * | 2008-07-31 | 2014-05-20 | American Airlines, Inc. | System and method for managing transportation transactions |
| CN104731096A (en) * | 2015-02-04 | 2015-06-24 | 北京交通大学 | Training section running track planning method based on rolling optimization |
| CN105184538A (en) * | 2015-10-08 | 2015-12-23 | 浙江万里学院 | Cargo arrival time pre-estimation logistics distribution method and system |
| CN105446343A (en) * | 2016-01-04 | 2016-03-30 | 杭州亚美利嘉科技有限公司 | Robot scheduling method and apparatus |
| CN106682854A (en) * | 2016-12-12 | 2017-05-17 | 北京汇通天下物联科技有限公司 | Transport vehicle driving data acquisition method, device and system |
| CN106843238A (en) * | 2017-04-10 | 2017-06-13 | 锥能机器人（上海）有限公司 | A kind of warehouse automation sorting system and method |
| CN107179759A (en) * | 2017-06-06 | 2017-09-19 | 泉州装备制造研究所 | A kind of multiple AGV scheduling system operational efficiency evaluation method |
| CN107203825A (en) * | 2016-03-18 | 2017-09-26 | 台湾准时达国际物流股份有限公司 | Use the order processing system and method for Automatic Guided Vehicle |
| CN107450530A (en) * | 2016-05-23 | 2017-12-08 | 本田技研工业株式会社 | The determining device of vehicle control system and vehicle location, method and program product |
| CN107679662A (en) * | 2017-10-09 | 2018-02-09 | 重庆长安民生物流股份有限公司 | The quick arrangement method of transport truck distribution time |
| CN107844941A (en) * | 2017-12-04 | 2018-03-27 | 东莞市大易产业链服务有限公司 | A kind of Intelligent logistics allocator |
| CN108287546A (en) * | 2018-01-19 | 2018-07-17 | 广东美的智能机器人有限公司 | The method for collision management and system of multiple mobile robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5765694B2 (en) * | 2009-04-24 | 2015-08-19 | 北陽電機株式会社 | Ranging method and in-vehicle ranging device |
-
2018
- 2018-08-10 CN CN201810906865.2A patent/CN109240283B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8731990B1 (en) * | 2008-07-31 | 2014-05-20 | American Airlines, Inc. | System and method for managing transportation transactions |
| CN104731096A (en) * | 2015-02-04 | 2015-06-24 | 北京交通大学 | Training section running track planning method based on rolling optimization |
| CN105184538A (en) * | 2015-10-08 | 2015-12-23 | 浙江万里学院 | Cargo arrival time pre-estimation logistics distribution method and system |
| CN105446343A (en) * | 2016-01-04 | 2016-03-30 | 杭州亚美利嘉科技有限公司 | Robot scheduling method and apparatus |
| CN107203825A (en) * | 2016-03-18 | 2017-09-26 | 台湾准时达国际物流股份有限公司 | Use the order processing system and method for Automatic Guided Vehicle |
| CN107450530A (en) * | 2016-05-23 | 2017-12-08 | 本田技研工业株式会社 | The determining device of vehicle control system and vehicle location, method and program product |
| CN106682854A (en) * | 2016-12-12 | 2017-05-17 | 北京汇通天下物联科技有限公司 | Transport vehicle driving data acquisition method, device and system |
| CN106843238A (en) * | 2017-04-10 | 2017-06-13 | 锥能机器人（上海）有限公司 | A kind of warehouse automation sorting system and method |
| CN107179759A (en) * | 2017-06-06 | 2017-09-19 | 泉州装备制造研究所 | A kind of multiple AGV scheduling system operational efficiency evaluation method |
| CN107679662A (en) * | 2017-10-09 | 2018-02-09 | 重庆长安民生物流股份有限公司 | The quick arrangement method of transport truck distribution time |
| CN107844941A (en) * | 2017-12-04 | 2018-03-27 | 东莞市大易产业链服务有限公司 | A kind of Intelligent logistics allocator |
| CN108287546A (en) * | 2018-01-19 | 2018-07-17 | 广东美的智能机器人有限公司 | The method for collision management and system of multiple mobile robot |
Non-Patent Citations (2)
| Title |
|---|
| Multi-objective optimization of dispatching strategies for situation-adaptive AGV operation in an automated container terminal;Jeongmin Kim;《Proceedings of the 2013 Research in Adaptive and Convergent SystemsOctober 2013》;20131004;第1-6页 * |
| 基于准时制物料配送的机械式排种器装配线规划研究;张惠;《制造业自动化》;20150831;第37卷(第8期);第103-107页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109240283A (en) | 2019-01-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109240283B (en) | Running state intelligent regulation and control system based on AGV trolley punctuality rate analysis | |
| CN101949704B (en) | Reliability evaluation device, reliability evaluation method | |
| CN112319473B (en) | Automatic driving vehicle longitudinal control method and system with environment self-adaptive capacity | |
| WO2016085694A1 (en) | Vehicle autopilot with automatic calibration, tuning and diagnostics features | |
| CN108052002A (en) | A kind of intelligent automobile automatic tracking method of improved fuzzy | |
| CN108646754B (en) | Intelligent vehicle control system | |
| CN109189061B (en) | AGV trolley running state regulation and control method with time error analysis function | |
| CN112344945A (en) | Indoor distribution robot path planning method and system and indoor distribution robot | |
| CN106272434A (en) | One key of a kind of crusing robot makes a return voyage control method and system | |
| CN109325654B (en) | AGV dolly running state intelligent regulation and control system based on efficiency analysis | |
| CN108983779A (en) | A kind of AGV trolley traffic control regulation method based on path analysis | |
| CN109165830A (en) | A kind of Intelligentized regulating and controlling system of AGV trolley travelling state | |
| CN108196545A (en) | Using the AGV magnetic navigation control methods of Auto Disturbances Rejection Control Technique | |
| CN109254581B (en) | AGV dolly intelligent operation regulation and control system based on running state analysis | |
| CN116466714A (en) | Control system and method for AGV (automatic guided vehicle) | |
| CN109249933B (en) | Driver acceleration intention identification method and device | |
| De Cubber et al. | Multimodal terrain analysis for an all-terrain crisis management robot | |
| CN112015180B (en) | Intelligent experiment trolley and control system thereof | |
| CN114281081A (en) | Navigation system and navigation method of metro vehicle inspection robot and robot | |
| CN113320528A (en) | Vehicle control method, vehicle, and readable storage medium | |
| WO2020042408A1 (en) | Vehicle acceleration characteristic dynamic evaluation method and acceleration control method | |
| CN113189994B (en) | Automatic guidance method, system, equipment and storage medium based on industrial internet | |
| CN109828601A (en) | Traveling control method and its control device for agricultural unmanned plane | |
| CN116187848B (en) | Remote sensing load comprehensive efficiency evaluation system based on data analysis | |
| CN117141677B (en) | Automatic control implementation method of multifunctional unmanned survey ship and multifunctional unmanned survey ship |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 230000 room 218, building 1, area a, intelligent equipment science and Technology Park, 3963 Susong Road, Hefei Economic and Technological Development Zone, Anhui Province Applicant after: Hefei Hagong kuxun Intelligent Technology Co.,Ltd. Address before: 230000 room 2301, block a, jinzhonghuan Plaza, Wangjiang East Road, Baohe District, Hefei City, Anhui Province Applicant before: ANHUI KUXUN AUTOMATION EQUIPMENT Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |