CN110065558B - Back roll type AGV auxiliary positioning device and method thereof - Google Patents
Back roll type AGV auxiliary positioning device and method thereof Download PDFInfo
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- CN110065558B CN110065558B CN201910324375.6A CN201910324375A CN110065558B CN 110065558 B CN110065558 B CN 110065558B CN 201910324375 A CN201910324375 A CN 201910324375A CN 110065558 B CN110065558 B CN 110065558B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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Abstract
The invention discloses a back-roll type AGV auxiliary positioning device and a method thereof, wherein the back-roll type AGV auxiliary positioning device comprises a control panel arranged on the side surface of an AGV body, an AGV signal assembly arranged at the front end of the AGV body, a detection photoelectric sensor arranged at the front end of the AGV body, a docking station signal assembly arranged at the rear end of a docking station and a reflecting plate arranged at the rear end of the docking station; the control panel, the AGV signal assembly and the detection photoelectric sensor are respectively fixedly connected with the AGV body; the AGV signal assembly and the detection photoelectric sensor are respectively electrically connected with the control panel; the docking station signal assembly and the reflecting plate are respectively and fixedly connected with the docking station. According to the invention, the auxiliary positioning device is used for assisting the AGV to position, so that the navigation precision of the AGV is improved, and the interference of the field environment on the AGV is reduced.
Description
Technical Field
The invention relates to the technical field of automation application, in particular to a back-roll type AGV auxiliary positioning device and a method thereof.
Background
At present, in order to reduce labor cost and improve automation degree, manufacturing enterprises adopt AGV (Automated Guided Vehicle) trolleys for automatic distribution of raw materials on a production line; in the existing AGV trolley, the delivery modes of the edge roller platform of the matching line of the backing-roll type AGV are more, and the backing-roll type AGV mostly adopts a laser head to detect the environments on two sides of a path, so that self-positioning is realized, and path positioning identification is carried out.
In the process of butt joint of the AGV trolley and the platform for material distribution, butt joint is carried out through path planning parameters and distance parameters set in the system; when the distance between the AGV trolley and the platform reaches the distance, the system controls the AGV trolley to decelerate, when the deceleration distance of the AGV trolley reaches the set parameters in the system, the photoelectric switch in the AGV trolley is completely aligned with the platform receiving photoelectricity by default, the parking action is carried out, and then the next material handover work is carried out.
The shortcoming of this kind of butt joint mode lies in, in actual work scene, the environment is complicated changeable, the route reference thing that sets up in the system can often receive the interference to appear losing the phenomenon of navigation, moreover, because AGV dolly self navigation precision scheduling problem also can lead to the AGV dolly to trigger the deceleration signal in advance or delay triggering the deceleration signal, AGV dolly and platform dislocation when finally leading to parkking, the system can not get the feedback of butt joint signal, the AGV dolly does not have the action, thereby cause very high fault rate.
Accordingly, the prior art is yet to be improved and developed.
Disclosure of Invention
The invention aims to solve the technical problems that the auxiliary positioning device and the method thereof for the AGV in the background roller type aim to assist the AGV to perform positioning through the auxiliary positioning device, improve the navigation precision of the AGV and reduce the interference of the field environment on the AGV.
The technical scheme adopted by the invention for solving the technical problem is as follows:
a back-roll type AGV auxiliary positioning device comprises a control panel, an AGV signal assembly, a detection photoelectric sensor, a docking station signal assembly and a reflecting plate, wherein the control panel is arranged on the side face of an AGV body and used for controlling an AGV, the AGV signal assembly is arranged at the front end of the AGV body and used for sending and receiving signals, the detection photoelectric sensor is arranged at the front end of the AGV body and used for transmitting detection signals to a docking station, the docking station signal assembly is arranged at the rear end of the docking station and used for receiving and sending signals, and the reflecting plate is arranged at the rear end of the docking station and used for reflecting the transmission signals of the detection photoelectric sensor;
the control panel, the AGV signal assembly and the detection photoelectric sensor are respectively fixedly connected with the AGV body; the AGV signal assembly and the detection photoelectric sensor are respectively electrically connected with the control panel; the docking station signal assembly and the reflecting plate are respectively and fixedly connected with the docking station.
Further, the AGV signal assembly includes a first photosensor for sending a discharge request signal to the docking station and a second photosensor for receiving a discharge confirmation signal sent by the docking station; first photoelectric sensor sets up with second photoelectric sensor side by side, just first photoelectric sensor and second photoelectric sensor respectively with AGV automobile body fixed connection.
Further, the docking station signal assembly includes a third photosensor for receiving a discharge request signal sent by the first photosensor and a fourth photosensor for sending a discharge confirmation signal to the second photosensor; the position of the third photoelectric sensor corresponds to the position of the first photoelectric sensor; the position of the fourth photoelectric sensor corresponds to the position of the second photoelectric sensor.
Further, the control panel comprises a touch screen and an MCU chip, the MCU chip is fixedly connected with the touch screen, and the MCU chip is electrically connected with the touch screen.
Further, the first photoelectric sensor and the second photoelectric sensor are respectively electrically connected with the MCU chip.
A back-roll AGV auxiliary positioning method comprises the following steps:
the AGV trolley receives an instruction issued by a distribution system and moves to the docking station according to a preset path;
when the AGV trolley detects that the distance between the AGV trolley and the docking station reaches a preset distance, controlling the AGV trolley to decelerate;
when the AGV trolley detects a signal reflected by a reflecting plate at the rear end of the docking station, adjusting the position of the AGV trolley;
And when the signal between the AGV trolley and the reflecting plate at the rear end of the docking station is disconnected, controlling the AGV trolley to stop and carrying out unloading action.
Further, the AGV trolley receives an instruction issued by the distribution system and moves to the docking station according to a preset path, and the method specifically comprises the following steps:
the AGV trolley receives an instruction sent by a distribution system;
moving to the docking station according to a preset path;
and starting a first photoelectric sensor, and detecting the distance between the AGV trolley and the docking station.
Further, when the AGV trolley detects that the distance between the AGV trolley and the docking station reaches a preset distance, the step of controlling the AGV trolley to decelerate specifically comprises the following steps:
when the fact that the distance between the AGV trolley and the docking station reaches a preset distance is detected, controlling the AGV trolley to decelerate;
and starting a detection photoelectric sensor and transmitting a detection signal to the docking station.
Further, when the AGV detects the signal reflected by the rear end reflector of the docking station, adjusting the position of the AGV specifically includes the following steps:
when a signal reflected by a reflector at the rear end of the docking station is detected, feeding back the signal reflected by the reflector to the MCU;
And the MCU controls the AGV to continuously decelerate, and adjusts the position of the AGV by taking the fixed distance as a reference.
Further, when the signal between the AGV trolley and the reflecting plate at the rear end of the docking station is disconnected, the AGV trolley is controlled to stop, and the unloading action specifically comprises the following steps:
when the disconnection of the signals of the detection photoelectric sensor and the reflecting plate at the front end of the AGV trolley is detected, a stop signal is fed back to the MCU;
and the MCU controls the AGV trolley to stop moving forwards according to the stop signal, and the AGV trolley is butted with the butt joint platform to start unloading action.
The technical scheme adopted by the invention has the following beneficial effects:
according to the invention, the auxiliary positioning devices are arranged on the AGV trolley and the docking station thereof, so that the AGV trolley can be assisted to position, the navigation precision of the AGV trolley is improved, the influence of the field environment on the AGV trolley is reduced, and the conveying efficiency of the AGV trolley is improved; according to the invention, the AGV signal assembly and the detection photoelectric sensor are arranged at the front end of the AGV, and the docking station signal assembly and the reflecting plate are arranged at the rear end of the docking station, so that the AGV can utilize the reflecting plate on the docking station as a fixed reference signal, so that the AGV is guided to perform accurate parking positioning, the docking success rate of the AGV and the docking station is improved, and the conveying efficiency of the AGV is improved.
Drawings
FIG. 1 is a schematic diagram of a backup AGV auxiliary positioning apparatus of the present invention.
FIG. 2 is a flow chart of a backup AGV auxiliary positioning method of the present invention.
In the figure: 100. an AGV trolley; 200. docking stations; 110. a control panel; 120. an AGV signal component; 130. detecting a photoelectric sensor; 121. a first photosensor; 122. a second photosensor; 210. docking station signal components; 220. a reflective plate; 211. a third photosensor; 212. and a fourth photosensor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example one
Referring to fig. 1, fig. 1 is a schematic structural diagram of an auxiliary positioning device of a rear roller type AGV according to the present invention.
As shown in FIG. 1, the present embodiment provides a back-roll AGV positioning assisting device, which includes a control panel 110, an AGV signal assembly 120, a detection photosensor 130, a docking station signal assembly 210 and a reflector 220; the control panel 110 is arranged on the side of an AGV body (not labeled) and is fixedly connected with the AGV body; the AGV signal component 120 is arranged at the front end of the AGV body and is fixedly connected with the AGV body; the detection photoelectric sensor 130 is arranged at the front end of the AGV body and is fixedly connected with the AGV body; the AGV signal assembly 120 and the detection photoelectric sensor 130 are electrically connected to the control panel 110, respectively;
The docking station signal assembly 210 is disposed at the rear end of the docking station 200 and is fixedly connected to the docking station 200; the reflection plate 220 is disposed at the rear end of the docking station 200 and is fixedly connected to the docking station 200.
In this embodiment, the front end of the AGV body is an end surface facing the docking station 200 in the process of the AGV 100 moving forward; correspondingly, the rear end of the docking station 200 is the end that is docked with the AGV cart 100.
In this embodiment, the control panel 110 may be used to control the AGV cart 100, such as controlling the AGV cart 100 to move forward, turn, unload, etc.; meanwhile, control parameters can be input through the control panel 110 so as to control the AGV 100; specifically, the control panel 110 includes a touch screen (not shown) and an MCU chip (not shown), the MCU chip is fixedly connected to the touch screen, and the MCU chip is electrically connected to the touch screen; the control panel 110 and the control method thereof are all in the prior art, and are not described in detail.
Further, the AGV signal assembly 120 includes a first photoelectric sensor 121 and a second photoelectric sensor 122; the first photoelectric sensor 121 may be configured to send a discharge request signal to the docking station 200, and after the docking station 200 receives the discharge request signal, the docking station 200 sends a discharge confirmation signal to the AGV cart 100, and the discharge confirmation signal is received by the second photoelectric sensor 122 and fed back to the MCU chip.
Specifically, the first photoelectric sensor 121 and the second photoelectric sensor 122 are arranged in parallel, the first photoelectric sensor 121 and the second photoelectric sensor 122 are respectively and fixedly connected with the AGV body, and the first photoelectric sensor 121 and the second photoelectric sensor 122 are respectively and electrically connected with the MCU chip.
Further, the docking station signal assembly 210 includes a third photosensor 211 and a fourth photosensor 212; the third photoelectric sensor 211 is configured to receive the unloading request signal sent by the first photoelectric sensor 121, and send an unloading confirmation signal to the second photoelectric sensor 122 at the front end of the AGV 100 through the fourth photoelectric sensor 212 after the AGV 100 is successfully docked with the docking station 200; after receiving the unloading confirmation signal, the AGV 100 performs an unloading operation, i.e., controls the roller at the upper end of the AGV 100 to rotate, so as to transfer the goods to the docking station 200.
Specifically, the position of the third photosensor 211 corresponds to the position of the first photosensor 121, and the position of the fourth photosensor 212 corresponds to the position of the second photosensor 122.
Of course, a corresponding control chip (not shown) is further disposed in the docking station 200, the third photo sensor 211 and the fourth photo sensor 212 are electrically connected to the control chip, respectively, and the rotation and signal processing of the backing roller on the docking station 200 can be controlled by the control chip, which are both in the prior art, and therefore, the details thereof are not repeated.
In this embodiment, the reflective plate 220 at the rear end of the docking station 200 is disposed in parallel with the fourth photoelectric sensor 212; when the AGV cart 100 is close to and not aligned with the docking station 200, the light emitted by the detection photoelectric sensor 130 is irradiated on the reflection plate 220, and at this time, the AGV cart 100 is aligned with the docking station 200 by adjusting the direction and position of the AGV cart 100; during the adjustment, the light spot irradiated by the detection photosensor 130 moves from left to right (referring to the left and right of the reflective plate in fig. 1); after the right-hand side, the signal between the detecting photosensor 130 and the reflective plate 220 can be disconnected, i.e., the light emitted by the detecting photosensor 130 just exceeds the boundary on the right side of the reflective plate 220.
In this embodiment, the AGV 100 is provided with the AGV signal assembly 120 and the detection photoelectric sensor 130 at the front end thereof, and the docking station 200 is provided with the docking station signal assembly 210 and the reflection plate 220 at the rear end thereof, so that the AGV 100 can use the reflection plate 220 on the docking station 200 as a fixed reference signal, thereby guiding the AGV 100 to perform accurate parking positioning, improving the docking success rate of the AGV 100 and the docking station 200, and improving the transport efficiency of the AGV 100.
Example two
Referring to FIG. 2, FIG. 2 is a flow chart of a method for assisting positioning of a backing roll type AGV according to the present invention.
As shown in fig. 2, the present embodiment provides a back-roll AGV auxiliary positioning method, wherein the back-roll AGV auxiliary positioning method includes the following steps:
step S100, the AGV trolley receives an instruction issued by a distribution system and moves to a docking station according to a preset path;
step S200, when the AGV trolley detects that the distance between the AGV trolley and the docking station reaches a preset distance, controlling the AGV trolley to decelerate;
step S300, when the AGV detects a signal reflected by a reflecting plate at the rear end of the docking station, adjusting the position of the AGV;
and S400, when the signal between the AGV trolley and the reflecting plate at the rear end of the docking station is disconnected, controlling the AGV trolley to stop and carrying out unloading action.
In the above steps, step S100 specifically includes the following steps:
step S110, the AGV trolley receives an instruction issued by a distribution system;
step S120, moving the docking station according to a preset path;
and step S130, starting a first photoelectric sensor, and detecting the distance between the AGV and the docking station.
In the above steps, step S200 specifically includes the following steps:
Step S210, when the fact that the distance between the AGV trolley and the docking station reaches a preset distance is detected, controlling the AGV trolley to decelerate;
step S220, start the detection photoelectric sensor, and transmit a detection signal to the docking station.
In the above steps, step S300 specifically includes the following steps:
step S310, when a signal reflected by a reflector at the rear end of the docking station is detected, feeding back the signal reflected by the reflector to an MCU;
and step S320, the MCU controls the AGV to continuously decelerate, and adjusts the position of the AGV by taking the fixed distance as a reference.
In the above steps, step S400 specifically includes the following steps:
step S410, when detecting that the signal of the photoelectric sensor and the reflecting plate is disconnected, feeding back a stop signal to the MCU;
and step S420, the MCU controls the AGV to stop moving forwards according to the stop signal, and the AGV is butted with the butt-joint platform to start unloading.
In the embodiment of the invention, corresponding control parameters are input in advance through a control panel on the side of the AGV, such as: a preset distance, a running speed, a deceleration, a fixed distance, a stopping distance and the like; and the preset path is input through the control panel, so that the AGV trolley can transport the goods to the appointed place and is in butt joint with the butt joint platform.
When the AGV trolley is started, receiving a distribution instruction sent by a distribution system, and bearing the materials of the previous working platform according to a preset path; then, after carrying cargo, moving to the docking station according to a preset path; wherein, when removing to the docking station, open the first photoelectric sensor of AGV dolly front end, through a photoelectric sensor comes the distance between real-time detection AGV dolly and the docking station to slow down when AGV dolly is close to with the docking station, prevent that the AGV dolly from receiving when disturbing, can not adjusting well with the position of docking station, thereby bump.
Further, when the first photoelectric sensor detects that the distance between the AGV trolley and the docking station reaches a preset distance, for example, the preset distance is 0.5 meter or 1 meter; the detection photoelectric sensor at the front end of the AGV car is started, detection signals are transmitted to the docking station, whether reflection signals exist in the docking station or not is detected through the detection photoelectric sensor, and whether further speed reduction is needed or not is judged.
Further, when a signal reflected by a reflecting plate at the rear end of the docking station is detected, the signal reflected by the reflecting plate is fed back to the MCU by a detection photoelectric sensor; after receiving the feedback signal, the MCU controls the AGV to continue to decelerate, and adjusts the position of the AGV by taking the fixed distance as a reference; for example, when the AGV moves within a preset distance, the light signal irradiated by the photoelectric sensor falls on the leftmost edge of the reflecting plate, and the signal reflected by the reflecting plate is received right at this time, so that the AGV is controlled to further decelerate; in addition, in the process of deceleration driving, the direction and the position of the AGV trolley are adjusted, so that the optical signal irradiated by the detection photoelectric sensor moves rightwards in a fixed distance, when the optical signal irradiated by the detection photoelectric sensor moves to the right edge of the reflecting plate, the signal of the detection photoelectric sensor and the reflecting plate is disconnected, and at the moment, the AGV trolley just faces the position of the docking station.
Further, when the fact that the signals of the detection photoelectric sensor at the front end of the AGV trolley are disconnected from the signal of the reflecting plate is detected, the detection photoelectric sensor feeds a stop signal back to the MCU; and the MCU controls the AGV to stop moving forwards according to the stop signal and starts to carry out unloading action.
Further, before unloading, a first photoelectric sensor at the front end of the AGV can send an unloading request signal to the docking station, the docking station sends an unloading confirmation signal to the AGV after detecting that the AGV is just opposite to the self position, a second photoelectric sensor at the front end of the AGV can feed back the unloading confirmation signal to the MCU after receiving the unloading confirmation signal, and at the moment, the MCU can control a back roll at the top of the AGV to rotate, so that the goods are transmitted to the docking station, and unloading is completed.
In the embodiment of the invention, the reflecting plate at the rear end of the docking station is used as a reference to guide the AGV to park and position, and the fixed reference parking signal provided by the reflecting plate is utilized, so that the AGV is not influenced by environmental change in the parking process, the success rate of the AGV and the docking station is improved, and the docking fault is avoided.
In conclusion, the auxiliary positioning devices are arranged on the AGV trolley and the docking station thereof, so that the AGV trolley can be assisted to position, the navigation precision of the AGV trolley is improved, the influence of the field environment on the AGV trolley is reduced, and the conveying efficiency of the AGV trolley is improved; according to the invention, the AGV signal assembly and the detection photoelectric sensor are arranged at the front end of the AGV, and the docking station signal assembly and the reflecting plate are arranged at the rear end of the docking station, so that the AGV can utilize the reflecting plate on the docking station as a fixed reference signal, so that the AGV is guided to perform accurate parking positioning, the docking success rate of the AGV and the docking station is improved, and the conveying efficiency of the AGV is improved.
It is to be understood that the invention is not limited to the examples described above, but that modifications and variations may be effected thereto by those of ordinary skill in the art in light of the foregoing description, and that all such modifications and variations are intended to be within the scope of the invention as defined by the appended claims.
Claims (5)
1. A back-roll type AGV auxiliary positioning device is characterized by comprising a control panel, an AGV signal assembly, a detection photoelectric sensor, a docking station signal assembly and a reflecting plate, wherein the control panel is arranged on the side face of an AGV body and used for controlling an AGV, the AGV signal assembly is arranged at the front end of the AGV body and used for sending and receiving signals, the detection photoelectric sensor is arranged at the front end of the AGV body and used for transmitting detection signals to a docking station, the docking station signal assembly is arranged at the rear end of the docking station and used for receiving and sending signals, and the reflecting plate is arranged at the rear end of the docking station and used for reflecting the transmission signals of the detection photoelectric sensor;
the control panel, the AGV signal assembly and the detection photoelectric sensor are respectively fixedly connected with the AGV body; the AGV signal assembly and the detection photoelectric sensor are respectively electrically connected with the control panel; the docking station signal assembly and the reflecting plate are respectively and fixedly connected with the docking station;
The AGV signal assembly comprises a first photoelectric sensor used for sending a discharging request signal to the docking station and a second photoelectric sensor used for receiving a discharging confirmation signal sent by the docking station; the first photoelectric sensor and the second photoelectric sensor are arranged in parallel and are respectively and fixedly connected with the AGV body; the control panel comprises a touch screen and an MCU chip, the MCU chip is fixedly connected with the touch screen, and the MCU chip is electrically connected with the touch screen;
the first photoelectric sensor and the second photoelectric sensor are respectively and electrically connected with the MCU chip;
the docking station signal assembly includes a third photosensor for receiving a discharge request signal sent by the first photosensor and a fourth photosensor for sending a discharge confirmation signal to the second photosensor; the position of the third photoelectric sensor corresponds to the position of the first photoelectric sensor; the position of the fourth photoelectric sensor corresponds to the position of the second photoelectric sensor;
when the AGV automobile body with the butt joint platform is close to and when just not just right, detect the light irradiation of photoelectric sensor transmission and be in on the reflecting plate.
2. A back-roll type AGV auxiliary positioning method is characterized by comprising the following steps:
the AGV trolley receives an instruction issued by a distribution system and moves to the docking station according to a preset path;
when the AGV trolley detects that the distance between the AGV trolley and the docking station reaches a preset distance, controlling the AGV trolley to decelerate;
when the AGV trolley detects a signal reflected by a reflecting plate at the rear end of the docking station, adjusting the position of the AGV trolley;
when the signal between the AGV trolley and the reflecting plate at the rear end of the docking station is disconnected, controlling the AGV trolley to stop and carrying out unloading action;
the AGV trolley receives an instruction issued by a distribution system and moves to the docking station according to a preset path, and the AGV trolley specifically comprises the following steps:
the AGV trolley receives an instruction sent by a distribution system;
moving to the docking station according to a preset path;
starting a first photoelectric sensor, and detecting the distance between the AGV trolley and a docking station;
when the AGV trolley moves to the preset distance, detecting that an optical signal irradiated by an optical sensor falls on the leftmost edge of a reflecting plate at the rear end of the docking station, and controlling the AGV trolley to further decelerate; and in the process of driving at a reduced speed, by adjusting the direction and the position of the AGV trolley, when the optical signal irradiated by the detection photoelectric sensor falls on the rightmost edge of the rear end reflecting plate of the docking station, the signal of the detection photoelectric sensor and the rear end reflecting plate of the docking station is disconnected.
3. The backroll-type AGV auxiliary positioning method according to claim 2, wherein controlling the AGV cart to decelerate when the AGV cart detects that the distance to the docking station reaches a predetermined distance comprises the steps of:
when the fact that the distance between the AGV trolley and the docking station reaches a preset distance is detected, controlling the AGV trolley to decelerate;
and starting a detection photoelectric sensor and transmitting a detection signal to the docking station.
4. The backroll AGV auxiliary positioning method of claim 2, wherein adjusting the position of the AGV cart when it detects a signal reflected by a rear reflector of the docking station comprises the steps of:
when a signal reflected by a reflector at the rear end of the docking station is detected, feeding back the signal reflected by the reflector to the MCU;
and the MCU controls the AGV to continuously decelerate, and adjusts the position of the AGV by taking the fixed distance as a reference.
5. The backroll-type AGV auxiliary positioning method according to claim 2, wherein when the signal between the AGV and the rear reflector of the docking station is off, controlling the AGV to stop and perform the unloading operation specifically comprises the following steps:
When the disconnection of the signals of the detection photoelectric sensor and the reflecting plate at the front end of the AGV trolley is detected, a stop signal is fed back to the MCU;
and the MCU controls the AGV trolley to stop moving forwards according to the stop signal, and the AGV trolley is butted with the butt joint platform to start unloading action.
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| CN110764110B (en) * | 2019-11-12 | 2022-04-08 | 深圳创维数字技术有限公司 | Path navigation method, device and computer readable storage medium |
| CN111427364A (en) * | 2020-04-26 | 2020-07-17 | 云知声智能科技股份有限公司 | Method and apparatus for controlling delivery robot, delivery system, and storage medium |
| CN113816068A (en) * | 2020-06-19 | 2021-12-21 | 博世汽车部件(苏州)有限公司 | Workpiece conveying system |
| CN113333420B (en) * | 2021-05-31 | 2023-03-28 | 浙江迈尔医疗技术有限公司 | Connection method and multi-cabin cleaning sterilizer |
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| DE4012668A1 (en) * | 1990-04-20 | 1991-10-31 | W & M Engineering & Automation | Positioning of driverless rail vehicle at stopping point in station - involves controlling speed according to position in deceleration zone |
| JP5721980B2 (en) * | 2010-09-03 | 2015-05-20 | 株式会社日立製作所 | Automated guided vehicle and travel control method |
| CN105303136A (en) * | 2015-10-29 | 2016-02-03 | 江苏丰东热技术股份有限公司 | Method for positioning mobile trolley |
| CN105974922B (en) * | 2016-06-29 | 2019-05-17 | 上海诺力智能科技有限公司 | A kind of tunnel automatic guided vehicle, guidance system and its operating method |
| CN207433310U (en) * | 2017-09-11 | 2018-06-01 | 郑州宇通客车股份有限公司 | Automatic charging is to connected control system, charging station and automobile |
| CN107814153B (en) * | 2017-11-13 | 2023-11-28 | 上海诺力智能科技有限公司 | AGV vehicle forking device with high-precision parking and parking method thereof |
| CN208103441U (en) * | 2018-04-18 | 2018-11-16 | 佛山市丁丁自动化科技有限公司 | Material automatic butt system |
| CN109205208A (en) * | 2018-07-30 | 2019-01-15 | 广东嘉腾机器人自动化有限公司 | A kind of interconnection method of AGV docking platform |
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2019
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