CN110789941A - Method for indicating obstacle avoidance area of logistics carrying robot by using straight warning lamp - Google Patents
Method for indicating obstacle avoidance area of logistics carrying robot by using straight warning lamp Download PDFInfo
- Publication number
- CN110789941A CN110789941A CN201911060904.2A CN201911060904A CN110789941A CN 110789941 A CN110789941 A CN 110789941A CN 201911060904 A CN201911060904 A CN 201911060904A CN 110789941 A CN110789941 A CN 110789941A
- Authority
- CN
- China
- Prior art keywords
- warning lamp
- straight
- robot
- obstacle avoidance
- distance
- 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.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2207/00—Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
- B65G2207/40—Safety features of loads, equipment or persons
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
Abstract
The invention relates to a method for marking an obstacle avoidance area of a logistics transfer robot by using a straight warning lamp. Therefore, the existence of the logistics transfer robot can be displayed, and the obstacle avoidance area of the logistics transfer robot can be marked. After seeing the light beam of the straight warning light, moving obstacles such as pedestrians and vehicles are not close to the area within the ground light beam as much as possible, namely the obstacle avoidance area of the logistics transfer robot, so that the logistics transfer robot can be prevented from being triggered to decelerate and stop as much as possible, and the safety and the working efficiency of the logistics transfer robot are improved.
Description
Technical Field
The invention relates to the field of warning lamp marking methods, in particular to a method for marking obstacle avoidance areas of a logistics carrying robot by using a straight warning lamp.
Background
In recent years, the robot industry is rapidly developed and is continuously expanded to various application fields, particularly in the logistics industry, with the development of electric business, more and more enterprises adopt robots to replace manual labor, and logistics carrying robots are rapidly increased. At present, the logistics transfer robot only uses a circular warning lamp to display the existence of the robot, and an obstacle avoidance area of the robot is not marked. In an actual working scene, moving obstacles such as pedestrians and vehicles often enter an obstacle avoidance area of the robot, so that the robot is often decelerated and stopped, and the working efficiency is influenced.
As shown in fig. 1, the chinese invention with publication number CN 110260261 a relates to the technical field of warning lamps, and discloses a laser warning lamp and an automobile warning lamp. The laser warning lamp comprises a light source module, a shell and an end cover, wherein the light source module is located in the shell, the end cover is arranged at one end of the shell, a light outlet is formed in the end cover, light emitted by the light source module can extend out of the light outlet to form a projection area, and the length of the projection area can be adjusted. The automobile warning lamp comprises a laser warning lamp, the laser warning lamp is fixed on a robot body of an automobile and can emit light to the ground to form a projection area, and the projection area is located on the outer side of the contour line of the automobile. The laser warning lamp can project the width or the length of an object on the projection surface, plays a certain warning role, and prevents accidents caused by too short distance when a pedestrian passes by; this car warning light can throw the width or the length of car on subaerial, warns pedestrian and vehicle passing to guarantee traffic safety.
In the prior art, the width or the length of an object is projected to the ground through the laser warning lamp to form a projection area, so that the existence of the object is warned, but a specific safety range is not marked.
Disclosure of Invention
In order to solve the above problems, the present invention aims to provide a warning light marking method which can not only warn the existence of an object, but also mark a specific safety range.
In order to achieve the purpose, the invention adopts the following technical scheme: a method for indicating an obstacle avoidance area of a logistics carrying robot by a straight warning lamp comprises the following steps:
the method comprises the steps of firstly, determining the size of an obstacle avoidance area of a robot and the installation position of a linear warning lamp, and measuring and determining various distances related to the installation angle of the linear warning lamp;
secondly, calculating the installation angle of the linear warning lamp through various measured and determined distances;
and thirdly, respectively installing a straight-line warning lamp on the periphery of the top of the logistics transfer robot, and adjusting the angle of the straight-line warning lamp according to the calculated installation angle, so that the light beam formed by the light of the straight-line warning lamp hitting the ground is just the boundary of the obstacle avoidance area of the robot. Because the angle adjustment of the straight-line warning lamp is simple and easy to realize relative to the height adjustment, and the height is limited more, the installation position of the straight-line warning lamp is firstly determined, then the installation angle of the straight-line warning lamp is determined according to the size of a barrier avoiding area of the robot and various distances between the straight-line warning lamp and the robot, the light beam formed by the straight-line warning lamp on the ground is just the boundary of the barrier avoiding area of the robot while the light of the straight-line warning lamp is not shielded by the vehicle body of the robot, and moving obstacles such as pedestrians and vehicles cannot enter the barrier avoiding area to cause the deceleration and parking of the robot after seeing the straight-line warning lamp, so that the deceleration and parking of the logistics carrying robot can be avoided as much as possible, and the safety and the working efficiency of the logistics carrying robot are improved.
Furthermore, the angle of the straight-line warning lamp comprises an included angle theta between the side straight-line warning lamp and the vertical direction, an included angle α between the front straight-line warning lamp and the vertical direction and an included angle β between the rear straight-line warning lamp and the vertical direction, S is the obstacle avoidance distance of the side face of the robot, W is the distance between the outer side of the vehicle body of the robot and the center line, L is the distance between the straight-line warning lamp and the center line, H is the distance between the straight-line warning lamp and the ground, and theta is the included angle between the straight-line warning lamp and the vertical direction, and the following formula is provided:
because the left and right robots are symmetrical, only one side needs to be calculatedThe included angle between the character warning lamp and the vertical direction can be achieved. After the included angle theta between the lateral side straight-line warning lamp and the vertical direction is calculated through the distance L from the straight-line warning lamp to the central line, the obstacle avoidance distance S from the side surface of the robot and the distance W from the straight-line warning lamp to the ground, the left and right straight-line warning lamps can be installed on the logistics transfer robot.
Further, S1 is the distance from the front of the robot to the obstacle, L1 is the distance from the front-word warning lamp to the front end of the robot body, H1 is the distance from the front-word warning lamp to the ground, α is the included angle between the front-word warning lamp and the vertical direction, S2 is the distance from the rear of the robot to the obstacle, L2 is the distance from the rear-word warning lamp to the rearmost end of the robot body, H2 is the distance from the rear-word warning lamp to the ground, β is the included angle between the rear-word warning lamp and the vertical direction, and the following formula is shown:
the method comprises the steps of calculating an included angle α between a front character warning lamp and the vertical direction by determining a front obstacle avoidance distance S1 of the robot, a distance L1 from the front character warning lamp to the front end of a robot body and a distance H1 from the front character warning lamp to the ground, mounting the front character warning lamp on the logistics transfer robot, and mounting the rear character warning lamp on the logistics transfer robot after calculating an included angle β between the rear character warning lamp and the vertical direction by determining a rear obstacle avoidance distance S2 of the robot, a distance L2 from the rear character warning lamp to the rear end of the robot body and a distance H2 from the rear character warning lamp to the ground.
Further, the value of W can be determined directly from the result of measuring the distance from the outside of the robot car body to the center line. The length of the distance W from the outer side of the robot car body to the center line is determined by the structure of the robot car body, so that the value of the distance W from the outer side of the robot car body to the center line can be directly measured.
Further, the side obstacle avoidance distance S, the front obstacle avoidance distance S1 and the rear obstacle avoidance distance S2 of the robot can be determined according to the application working conditions of the robot. The side obstacle avoidance distance S, the front obstacle avoidance distance S1, and the rear obstacle avoidance distance S2 of the robot are determined by the application conditions of the robot, which means that it is necessary to determine which condition the robot to be installed with the in-line warning light is in, and what the reasonable obstacle avoidance distance should be under the condition.
Further, L, L1, L2, H, H1 and H2 can be determined according to specific requirements, so that the light of the four-week-one-word warning lamp is not shielded.
According to the technical scheme, the straight warning lamps are respectively arranged on the periphery of the top of the logistics handling robot, the installation angles of the straight warning lamps are obtained through a calculation formula, and the installation angles of the straight warning lamps are adjusted according to the calculation result, so that light beams formed by the straight warning lamps hitting the ground are just the boundary of an obstacle avoidance area of the robot. Therefore, the existence of the logistics carrying robot can be displayed, and the obstacle avoidance area of the robot can be marked. After seeing the straight warning light, moving obstacles such as pedestrians and vehicles are not close to the area within the ground light beam as much as possible, namely the obstacle avoidance area of the robot, so that the logistics transfer robot can be prevented from being triggered to decelerate and stop as much as possible, and the safety and the working efficiency of the logistics transfer robot are improved.
Drawings
Fig. 1 is a prior art explanatory diagram.
FIG. 2 is a schematic left-right projection view of the present invention.
FIG. 3 is a schematic front-rear projection view of the present invention.
Fig. 4 is a schematic diagram of the overall obstacle avoidance range of the present invention.
Fig. 5 is a schematic view illustrating calculation of the installation angle of the side in-line warning lamp according to the present invention.
FIG. 6 is a schematic view of the calculation of the installation angle of the front and rear in-line warning lamps according to the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
Referring to fig. 2-6, the relation between the boundary of the robot obstacle avoidance area and the installation angle of the straight-line warning lamp is described, four straight-line warning lamps, namely a left straight-line warning lamp 1, a right straight-line warning lamp 2, a front straight-line warning lamp 3 and a rear straight-line warning lamp 4, are respectively arranged on the periphery of the top of the logistics carrying robot, the installation angle of the straight-line warning lamps can be obtained through a calculation formula, and the angle of the straight-line warning lamps is adjusted, so that light beams formed by the straight-line warning lamps on the ground are just the boundary of the robot obstacle avoidance area. Therefore, the existence of the logistics carrying robot can be displayed, and the obstacle avoidance area of the robot can be marked. The following are specific embodiments.
The method comprises the steps of firstly, determining the size of an obstacle avoidance area of a robot and the installation position of a linear warning lamp, and measuring various distances related to the installation angle of the linear warning lamp;
secondly, calculating the installation angle of the linear warning lamp through various measured and determined distances;
and thirdly, respectively installing a straight-line warning lamp on the periphery of the top of the logistics transfer robot, and adjusting the angle of the straight-line warning lamp according to the calculated installation angle, so that the light beam formed by the light of the straight-line warning lamp hitting the ground is just the boundary of the obstacle avoidance area of the robot.
The next step is specific measurement and calculation, the included angle between the linear warning lamp and the vertical direction can be calculated in an inverse trigonometric function mode, and meanwhile, the angle of one side surface can be determined according to the angle of the other side surface because the left side and the right side of the logistics carrying robot are symmetrical. The following are specific embodiments.
As shown in fig. 5 to 6, the specific calculation formula of the included angle θ between the side-face linear warning lamp and the vertical direction is as follows:
wherein S is the obstacle avoidance distance of the side surface of the robot; w is the distance from the outer side of the robot body to the center line; l is the distance from the straight warning lamp to the central line; h is the distance from the straight warning lamp to the ground; theta is an included angle between the straight warning lamp and the vertical direction.
The specific calculation formula of the included angle α between the warning light in the previous word and the vertical direction is as follows:the specific calculation formula of the included angle β between the rear straight warning light and the vertical direction is as follows:
the robot obstacle avoidance method comprises the following steps of S1, L1, H1, α, S2, L2, H2 and β, wherein the S1 is the obstacle avoidance distance in front of a robot, the L1 is the distance from a front-character warning lamp to the foremost end of a robot vehicle body, the H1 is the distance from the front-character warning lamp to the ground, the α is the included angle between the front-character warning lamp and the vertical direction, the S2 is the obstacle avoidance distance behind the robot, the L2 is the distance from a rear-character warning lamp to the rearmost end of the robot vehicle body, the H2 is the distance.
After the calculation formula of the angle and the distance needing to be measured and determined are determined, the data are determined and classified.
The distance W between the outer side of the robot car body and the central line is determined by the structure of the robot car body, and the distance between the outer side of the robot car body and the central line can be directly measured after the specific type and the specific structure of the robot car body are determined. The following are specific embodiments.
As shown in fig. 5 and 6, the value of W is determined by directly measuring the distance from the outside of the robot body to the center line.
The side obstacle avoidance distance S of the robot, the front obstacle avoidance distance S1 of the robot, and the rear obstacle avoidance distance S2 of the robot are determined by the robot application conditions, and are fixed values, which means that it must be determined under which condition the robot to be installed with the linear warning light is, and what reasonable obstacle avoidance distance should be under the condition. The following are specific embodiments.
As shown in fig. 5 and 6, the obstacle avoidance distance S on the side of the robot, the obstacle avoidance distance S1 in front of the robot, and the obstacle avoidance distance S2 behind the robot can be determined according to application conditions, so that the requirements in specific work can be met.
On the premise of ensuring that the light of the four-week one-character warning lamp is not shielded, L, L1, L2, H, H1 and H2 can be randomly specified according to specific requirements. In practical application, in order to save materials and not enlarge the size of the obstacle avoidance area and the maximum size of the robot vehicle body, the distances among L, L1, L2, H, H1 and H2 are the minimum values under the premise that the light of the four-week-one-character warning lamp is not shielded. The following are specific embodiments.
As shown in fig. 5 and 6, L, L1, L2, H, H1 and H2 may be determined as the case may be, so that the light of the japanese warning light is not blocked.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (6)
1. A method for indicating an obstacle avoidance area of a logistics carrying robot by using a straight warning lamp is characterized in that: the method comprises the following steps:
the method comprises the steps of firstly, determining the size of an obstacle avoidance area of a robot and the installation position of a linear warning lamp, and measuring and determining various distances related to the calculation of the installation angle of the linear warning lamp;
secondly, calculating the installation angle of the linear warning lamp through various measured and determined distances;
and thirdly, respectively installing a straight warning lamp at the periphery of the top of the logistics transfer robot, adjusting the installation angle of the straight warning lamp according to the calculated installation angle, and enabling a light beam formed by the light of the straight warning lamp striking the ground to correspond to the boundary of the obstacle avoidance area of the robot.
2. The method for indicating the obstacle avoidance area of the logistics handling robot by using the straight-line warning lamp as claimed in claim 1, wherein the angle of the straight-line warning lamp comprises an included angle theta between the side straight-line warning lamp and the vertical direction, an included angle α between the front straight-line warning lamp and the vertical direction and an included angle β between the rear straight-line warning lamp and the vertical direction, S is the side obstacle avoidance distance of the robot, W is the distance between the outer side of the robot body and the center line, L is the distance between the straight-line warning lamp and the center line, H is the distance between the straight-line warning lamp and the ground, and theta is the included angle between the straight-line warning lamp and the vertical direction, and the following formula is satisfied:
3. the method for indicating the obstacle avoidance area of the logistics transfer robot by using the straight-line warning lamp as claimed in claim 1, wherein S1 represents the obstacle avoidance distance in front of the robot, L1 represents the distance from the straight-line warning lamp to the foremost end of the robot body, H1 represents the distance from the straight-line warning lamp to the ground, α represents the angle between the straight-line warning lamp and the vertical direction, S2 represents the obstacle avoidance distance behind the robot, L2 represents the distance between the straight-line warning lamp and the rearmost end of the robot body, H2 represents the distance between the straight-line warning lamp and the ground, β represents the angle between the straight-line warning lamp and the vertical direction, and the following formulas are satisfied:
4. the method for indicating the obstacle avoidance area of the logistics handling robot by using the in-line warning lamp as claimed in claim 2, wherein the distance W from the outer side of the vehicle body to the center line can be directly measured.
5. The method for indicating the obstacle avoidance area of the logistics transfer robot by using the in-line warning lamp as claimed in claim 2 or 3, wherein the side obstacle avoidance distance S, the front obstacle avoidance distance S1 and the rear obstacle avoidance distance S2 of the robot can be determined by the application working conditions of the robot.
6. The method for indicating the obstacle avoidance area of the logistics handling robot by using the I-shaped warning lamp as claimed in claim 2 or 3, wherein L, L1, L2, H, H1 and H2 can be specified according to specific requirements, so that the light of the four-week I-shaped warning lamp is not shielded.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911060904.2A CN110789941A (en) | 2019-11-01 | 2019-11-01 | Method for indicating obstacle avoidance area of logistics carrying robot by using straight warning lamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911060904.2A CN110789941A (en) | 2019-11-01 | 2019-11-01 | Method for indicating obstacle avoidance area of logistics carrying robot by using straight warning lamp |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110789941A true CN110789941A (en) | 2020-02-14 |
Family
ID=69442497
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911060904.2A Pending CN110789941A (en) | 2019-11-01 | 2019-11-01 | Method for indicating obstacle avoidance area of logistics carrying robot by using straight warning lamp |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110789941A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112631290A (en) * | 2020-12-14 | 2021-04-09 | 云南昆船智能装备有限公司 | Mobile robot and method for automatically calibrating and setting navigation marker |
Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104590095A (en) * | 2015-01-06 | 2015-05-06 | 浙江工业大学 | Warning method for dangerous region in running process of large-sized vehicle and warning lamp system |
| CN205239302U (en) * | 2015-12-21 | 2016-05-18 | 无锡职业技术学院 | School bus light warning system that gets on or off bus |
| US20160221493A1 (en) * | 2015-02-02 | 2016-08-04 | Ushio Denki Kabushiki Kaisha | Vehicle driving assistance appatarus |
| CN106143279A (en) * | 2016-08-11 | 2016-11-23 | 何嘉颖 | A kind of vehicle with light belt projection function |
| CN206086520U (en) * | 2016-08-31 | 2017-04-12 | 长春一汽宝友钢材加工配送有限公司 | Fork truck operation safety warning device |
| CN106627354A (en) * | 2016-12-29 | 2017-05-10 | 浙江吉利汽车研究院有限公司 | Vehicle exterior reminding method and reminding system for enhancing active safety of vehicle |
| CN107178750A (en) * | 2017-07-05 | 2017-09-19 | 安徽隽世电子科技有限公司 | A kind of warning lamp being installed on automobile chassis |
| CN206826514U (en) * | 2017-06-29 | 2018-01-02 | 成都大学 | A kind of large-scale passenger-cargo carriage intelligent and safe warning device |
| CN207631110U (en) * | 2017-12-06 | 2018-07-20 | 郑州森鹏电子技术有限公司 | Show that wide warning lamp and vehicle show wide caution system and vehicle |
| CN208459762U (en) * | 2018-05-15 | 2019-02-01 | 华域视觉科技(上海)有限公司 | A kind of vehicle laser display device |
| CN109484289A (en) * | 2018-11-01 | 2019-03-19 | 北京京航计算通讯研究所 | Ground carrier actively warns light method |
| CN109940612A (en) * | 2019-03-04 | 2019-06-28 | 东北师范大学 | Intelligent barrier avoiding robot and its barrier-avoiding method based on a wordline laser |
| CN209079758U (en) * | 2018-11-20 | 2019-07-09 | 上海烟草集团有限责任公司 | Vehicle with warning lamp |
| CN110217160A (en) * | 2019-05-25 | 2019-09-10 | 苏州科淼新材料有限公司 | A kind of turn signal with warning line |
| CN209381889U (en) * | 2018-12-18 | 2019-09-13 | 诸明芳 | A kind of unmanned forklift reversing alarm device |
| CN110260261A (en) * | 2019-06-06 | 2019-09-20 | 火丁智能照明(广东)有限公司 | A kind of laser warning lamp and alarming light of vehicle |
| CN110329152A (en) * | 2019-06-25 | 2019-10-15 | 北京邮电大学 | It is a kind of using algorithm of target detection as the driving blind area early warning system of core |
-
2019
- 2019-11-01 CN CN201911060904.2A patent/CN110789941A/en active Pending
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104590095A (en) * | 2015-01-06 | 2015-05-06 | 浙江工业大学 | Warning method for dangerous region in running process of large-sized vehicle and warning lamp system |
| US20160221493A1 (en) * | 2015-02-02 | 2016-08-04 | Ushio Denki Kabushiki Kaisha | Vehicle driving assistance appatarus |
| CN205239302U (en) * | 2015-12-21 | 2016-05-18 | 无锡职业技术学院 | School bus light warning system that gets on or off bus |
| CN106143279A (en) * | 2016-08-11 | 2016-11-23 | 何嘉颖 | A kind of vehicle with light belt projection function |
| CN206086520U (en) * | 2016-08-31 | 2017-04-12 | 长春一汽宝友钢材加工配送有限公司 | Fork truck operation safety warning device |
| CN106627354A (en) * | 2016-12-29 | 2017-05-10 | 浙江吉利汽车研究院有限公司 | Vehicle exterior reminding method and reminding system for enhancing active safety of vehicle |
| CN206826514U (en) * | 2017-06-29 | 2018-01-02 | 成都大学 | A kind of large-scale passenger-cargo carriage intelligent and safe warning device |
| CN107178750A (en) * | 2017-07-05 | 2017-09-19 | 安徽隽世电子科技有限公司 | A kind of warning lamp being installed on automobile chassis |
| CN207631110U (en) * | 2017-12-06 | 2018-07-20 | 郑州森鹏电子技术有限公司 | Show that wide warning lamp and vehicle show wide caution system and vehicle |
| CN208459762U (en) * | 2018-05-15 | 2019-02-01 | 华域视觉科技(上海)有限公司 | A kind of vehicle laser display device |
| CN109484289A (en) * | 2018-11-01 | 2019-03-19 | 北京京航计算通讯研究所 | Ground carrier actively warns light method |
| CN209079758U (en) * | 2018-11-20 | 2019-07-09 | 上海烟草集团有限责任公司 | Vehicle with warning lamp |
| CN209381889U (en) * | 2018-12-18 | 2019-09-13 | 诸明芳 | A kind of unmanned forklift reversing alarm device |
| CN109940612A (en) * | 2019-03-04 | 2019-06-28 | 东北师范大学 | Intelligent barrier avoiding robot and its barrier-avoiding method based on a wordline laser |
| CN110217160A (en) * | 2019-05-25 | 2019-09-10 | 苏州科淼新材料有限公司 | A kind of turn signal with warning line |
| CN110260261A (en) * | 2019-06-06 | 2019-09-20 | 火丁智能照明(广东)有限公司 | A kind of laser warning lamp and alarming light of vehicle |
| CN110329152A (en) * | 2019-06-25 | 2019-10-15 | 北京邮电大学 | It is a kind of using algorithm of target detection as the driving blind area early warning system of core |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112631290A (en) * | 2020-12-14 | 2021-04-09 | 云南昆船智能装备有限公司 | Mobile robot and method for automatically calibrating and setting navigation marker |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6304384B2 (en) | Vehicle travel control apparatus and method | |
| JP6323246B2 (en) | Vehicle travel control apparatus and method | |
| JP6299872B2 (en) | Vehicle travel control apparatus and method | |
| WO2016031011A1 (en) | Travel control device and travel control method | |
| JP6206595B2 (en) | Travel control device and travel control method | |
| JP6354440B2 (en) | Travel control device and travel control method | |
| US10713952B2 (en) | Road information recognition system and road information recognition method | |
| US20170361762A1 (en) | Projected Laser Lines/Graphics Onto The Road For Indicating Truck Platooning/Warning To Other Drivers Of Presence Of Truck Platoon | |
| WO2016024318A1 (en) | Travel control device and method for vehicle | |
| WO2014192369A1 (en) | Vehicular risk alert control device | |
| JP2009086788A (en) | Vehicle surrounding monitoring device | |
| JPWO2016031036A1 (en) | Travel control device and travel control method | |
| JP2016037267A (en) | Travel control device and travel control method | |
| WO2016027349A1 (en) | Travel control device and travel control method | |
| CN111986477A (en) | Early warning method for avoiding weak traffic participants based on V2X | |
| WO2016027347A1 (en) | Vehicle travel control device and method | |
| CN112365741A (en) | Safety early warning method and system based on multilane vehicle distance detection | |
| US20190096249A1 (en) | Infrastructure based backup and exit aid | |
| CN110789941A (en) | Method for indicating obstacle avoidance area of logistics carrying robot by using straight warning lamp | |
| JP6296161B2 (en) | Vehicle travel control apparatus and method | |
| CN111768652B (en) | Early warning device and method for vehicle collision at turnout of expressway diversion ramp | |
| JP6375770B2 (en) | Travel control device and travel control method | |
| US20190197901A1 (en) | Bollard Receiver Identification | |
| CN115257728A (en) | Blind area risk area detection method for automatic driving | |
| CN210554544U (en) | Intelligent driving sensor matrix and vehicle |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200214 |