CN111809949A - Method for traveling and accurately positioning AGV (automatic guided vehicle) - Google Patents
Method for traveling and accurately positioning AGV (automatic guided vehicle) Download PDFInfo
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- CN111809949A CN111809949A CN202010545165.2A CN202010545165A CN111809949A CN 111809949 A CN111809949 A CN 111809949A CN 202010545165 A CN202010545165 A CN 202010545165A CN 111809949 A CN111809949 A CN 111809949A
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- agv
- parking
- vehicle
- parking space
- car
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
- E04H6/34—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only characterised by use of movable platforms
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/422—Automatically operated car-parks
- E04H6/424—Positioning devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
Abstract
The invention discloses a method for walking and accurately positioning a vehicle-mounted AGV, which is characterized by comprising the steps of firstly arranging two laser radars at two sides of the vehicle-mounted AGV, arranging four rollers and four reflective photoelectric sensors at the front side and the rear side of the vehicle-mounted AGV, arranging a reflective adhesive film at the inner side close to the rear side of a parking platform, wherein the length of the vehicle-mounted AGV is 4.5-5.6 meters, any one side of the vehicle-mounted AGV can enter a closed space to take a vehicle, arranging parking platforms at two sides of parking platforms, each parking platform is provided with a guide oblique angle with an outer width and an inner width within a range of 5-20 degrees at an inlet, the reflective adhesive film is adhered at the inner side of the parking platform of each parking platform, after the reflective photoelectric sensors detect the adhesive film to reflect light, the vehicle-mounted AGV stops at a fixed point and performs vehicle access operation, secondly, the vehicle-mounted AGV adopts different navigation or control schemes at different running stages, is in a middle passage or at a, and the AGV is in a parking space inside stage and is in a parking space leaving stage.
Description
Technical Field
The invention relates to the technical field of AGV car access, in particular to a method for walking and accurately positioning AGV cars.
Background
At present stereo garage is because the compact structure of its own can solve the problem that the parking stall is few, but narrow and small space makes the driver parking difficulty, use now to carry a car AGV and go and pinpoint between comfortable parking area and vehicle storage area and access the car, solve driver parking difficulty and the problem that the parking stall is few, it mainly adopts laser radar navigation to carry a car AGV, common navigation methods such as two-dimensional code vision or magnetic navigation realize, because parking area ground condition is crude, the height is not flat, these several kinds of navigation methods of tradition have a great deal of unable adaptation ground factor and lead to navigating inaccurate problem, make AGV access the problem that the fault rate is high that does not put in place, want to better use several kinds of commonly used navigation methods of industrial occasion need level and smooth and harden whole parking area ground, the expense is high, economic benefits is poor, consequently carry the popularization of a car AGV and receive serious restriction.
Disclosure of Invention
Aiming at the technical problems in the related art, the invention provides a method for walking and accurately positioning an AGV (automatic guided vehicle), which can realize that the AGV respectively adopts navigation, mechanical cooperation, guiding and limiting and photoelectric signal positioning to realize driving and accurately positioning and accessing the AGV at different stages.
In order to achieve the technical purpose, the technical scheme of the invention is realized as follows: a method for walking and accurately positioning an AGV (automatic guided vehicle) is characterized by comprising the following steps:
s1: two laser radars are arranged on two sides of the AGV, four rollers and four reflective photoelectric sensors are arranged on the front side and the rear side of the AGV, a reflective adhesive film is arranged on the inner side close to the rear side of the parking platform, the length of the AGV is 4.5-5.6 meters, and any one side of the AGV can enter a closed space to take a car;
s2: parking platforms are arranged on two sides of the parking places, each parking place is provided with a guide oblique angle with the width outside and the width inside within the range of 5-20 degrees at the entrance, a reflective adhesive film is attached to the inner side of each parking place on the parking platform, and after the reflective photoelectric sensor detects the reflection of the adhesive film, the AGV stops at a fixed point and carries out vehicle storing and taking operation;
s3: carry the car AGV and adopt different navigation or control scheme in the stage of traveling of difference, carry the car AGV and contain four stages, different stages AGV adopts different control mode further to include:
s3.1, the AGV is in a driving or rotating stage in the middle passage;
s3.2, the AGV is in a stage of preparing to enter or just entering a parking space;
s3.3, the AGV is in the stage inside the parking space;
and S3.4, the AGV is in a parking space leaving stage.
Further, the S1 further includes:
s1.1, two laser radars are arranged on two sides of the AGV, and the two laser radars are prevented from being shielded when being adopted;
s1.2, the idler wheels are used for ensuring that the AGV does not collide with the parking platforms, and more importantly, when the AGV enters the parking spaces, the idler wheels and the guiding oblique angles of the parking platforms of the parking spaces correct the deviation positions of the AGV, so that the AGV can smoothly enter the parking spaces;
s1.3 carry the car AGV and have two positive and negative directions when getting into the parking stall, no matter carry the car AGV and get into the parking stall from that one end, carry one of them on the car AGV reflected photoelectric sensor detects the pad pasting reflection of light after, carry the car AGV to stop and carry out the access vehicle operation with the fixed point.
Further, the S2 further includes:
s2.1, when the vehicle-carrying AGV enters the parking space, a guide oblique angle is matched with a lateral roller of the vehicle-carrying AGV together, so that the vehicle-carrying AGV can correct the entering parking space when the position deviation or the running angle deviation occurs;
s2.2, pasting a reflective film on the inner side of the parking platform for each parking space, so that the AGV for carrying the vehicle is accurately positioned and stopped.
Further, S3.1 further includes:
s3.1.1, the two laser radar positioning data are used as navigation data during driving, and the driving and rotating actions of the AGV are not affected by the problems of navigation data jumping and accuracy during driving;
s3.1.2, the vibration of the AGV causes the navigation data to appear in the position deviation within 20CM and the angle deviation within 3 degrees, at this time, the deviation range of the navigation data meets the requirement that the AGV runs in the middle passage or rotates.
Further, S3.2 further includes:
s3.2.1, in the parking space entering stage, one of the laser radars on the AGV is in a signal discontinuous state, and at the moment, the position deviation and the angle deviation of navigation data are large in jumping, and the navigation data cannot meet the 5CM error range of the entering parking space by means of the laser radars;
s3.2.2 when the AGV enters each parking space, the position and the self angle are corrected by the two laser radar positioning data, and then the AGV enters the parking space in a straight line;
s3.2.3 when going straight, carry the AGV and no longer use two laser radar location data, but lean on self the position and the inside that the angle got into the parking stall of machine are corrected in the cooperation of the direction oblique angle of pulley and parking stall parking platform to narrow opening guarantees in the outer width through the parking platform carry the AGV and the deviation appears and can lead to the parking stall smoothly.
Further, S3.3 further includes:
s3.3.1, stopping parking or taking the AGV according to the accurate positioning, wherein the AGV is in a state that only one laser radar positioning data is effective and is easily shielded by a barrier, and the positioning data is not reliable;
s3.3.2, parking platform limits are arranged on two sides of the AGV after entering each parking space, the left and right position deviation and the vehicle body angle deviation do not exceed the range, and only the position deviation of forward driving needs to be solved;
s3.3.3, the car can be accurately positioned and stopped according to the reflection of the film detected by the photoelectric sensor, so that the normal operation of parking or taking the car can be effectively ensured.
Further, S3.4 further includes:
s3.4.1, the AGV can ensure that the left and right position deviation and the vehicle body angle deviation do not exceed the range according to the limit of the pulley and the parking platform, and ensure the accurate driving control;
s3.4.2 the AGV is separated from the parking space to the middle passage and then switched back to two laser radar positioning navigation for subsequent driving and rotation.
The invention has the beneficial effects that: in view of the defects in the prior art, on the basis of adopting special double-side laser radar navigation, the mechanical cooperation limiting and photoelectric sensor positioning technical means of the parking platform and the AGV are added, different control technical schemes are adopted stage by stage to realize the driving of the AGV and accurately position the access vehicle, the requirements on the ground and the environment are reduced, the AGV can be reliably used in a common civil parking lot, the traditional navigation scheme is not needed, and the AGV respectively adopts navigation, mechanical cooperation guiding limiting and photoelectric signal positioning to realize the driving and accurately position the access vehicle at different stages.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic view of an overall structure of a vehicle loading AGV according to a method for traveling and accurately positioning the vehicle loading AGV of an embodiment of the present invention;
FIG. 2 is a schematic view of a parking platform of a parking space according to an embodiment of the present invention, wherein the parking space is used for carrying an AGV to travel and accurately position;
fig. 3 is a schematic diagram illustrating a positional deviation of a vehicle loading AGV according to a method for traveling and accurately positioning the vehicle loading AGV according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a running angle deviation of a vehicle loading AGV according to a method for running and accurately positioning the vehicle loading AGV according to an embodiment of the present invention;
fig. 5 is a schematic diagram illustrating accurate positioning and stopping of a vehicle loading AGV according to a method for traveling and accurately positioning the vehicle loading AGV according to an embodiment of the present invention;
fig. 6 is a schematic diagram of control modes of the vehicle loading AGVs at different stages according to the method for traveling and accurately positioning the vehicle loading AGVs in the embodiment of the invention;
in the figure: 1. a reflective photoelectric sensor; 2. a laser radar; 3. a roller; 4. a parking platform; 5. reflecting the light and sticking the film; 6. and guiding the bevel angle.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present invention.
As shown in fig. 1 to 6, a method for traveling and accurately positioning an AGV according to an embodiment of the present invention includes the following steps:
step one, a plurality of devices and mechanical mechanisms are additionally arranged on an AGV (automatic guided vehicle);
secondly, parking platforms are arranged on two sides of the parking space;
and step three, the AGV adopts different navigation or control schemes in different driving stages.
In a specific embodiment of the invention, two laser radars are arranged on two sides of a vehicle-carrying AGV, the length of the vehicle-carrying AGV is 4.5-5.6 m, any one side of the AGV can enter a closed space to take a vehicle, if the common AGV adopts one laser radar, when the vehicle-carrying AGV enters a parking space, one end of the vehicle-carrying AGV, which is provided with the laser radars, cannot obtain a positioning signal in the closed space inside the parking space, so that the position of the AGV cannot be judged, the two laser radars are arranged on two sides of the vehicle-carrying AGV, and the two laser radars are prevented from being shielded when the two laser radars are adopted;
then, four rollers are arranged on the front side and the rear side of the vehicle-carrying AGV, the rollers are used for ensuring that the vehicle-carrying AGV cannot collide with a parking platform, more importantly, when the vehicle-carrying AGV enters a parking space, the deviation position of the vehicle-carrying AGV is corrected together with the guiding oblique angle of each parking space parking platform, the vehicle-carrying AGV is ensured to smoothly enter the parking space, after the vehicle-carrying AGV enters the parking space, the rollers can ensure that the vehicle-carrying AGV travels on the inner side of the parking platform, the vehicle-carrying AGV and the parking platform are prevented from being rubbed and collided, meanwhile, the four rollers and the parking platform are limited, and the correct traveling angle of the vehicle-carrying AGV can be;
secondly, four sides are equipped with four reflection photoelectric sensors around carrying the car AGV, and the inboard behind the parking platform is equipped with reflection of light pad pasting, carry the car AGV and get into the parking stall when having two positive and negative directions, no matter carry the car AGV and get into the parking stall from that one end, carry one of them on the car AGV reflection of light photoelectric sensor detects the pad pasting reflection of light after, carry the car AGV and will fix a point and stop and access vehicle operation.
In a specific embodiment of the invention, parking platforms are arranged on two sides of a parking space, each parking space is provided with a guide oblique angle with an outer width and an inner width within a range of 5-20 degrees at an entrance, when a vehicle-carrying AGV enters the parking space, the guide oblique angle is matched with a lateral roller of the vehicle-carrying AGV together, the vehicle-carrying AGV can be corrected to enter the parking space when the vehicle-carrying AGV has position deviation or driving angle deviation, a reflective adhesive film is pasted on the inner side of each parking space on the parking platform, and after the reflective photoelectric sensor detects the reflection of light of the adhesive film, the vehicle-carrying AGV stops at a fixed point and carries out vehicle access operation, so that the problem of accurate positioning parking of the vehicle-carrying AGV.
In a specific embodiment of the present invention, the vehicle-mounted AGVs use different navigation or control schemes at different driving stages, the vehicle-mounted AGVs include four stages, and the AGVs at different stages use different control methods, further including:
the vehicle-mounted AGV is in a middle passage driving or rotating stage, the driving stage adopts two laser radar positioning data as navigation data during driving, the navigation data jumping and precision problems do not affect the driving and rotating actions of the vehicle-mounted AGV during the driving process, the vibration of the vehicle-mounted AGV causes the navigation data to appear in position deviation within 20CM and angle deviation within 3 degrees due to uneven ground, and the navigation data deviation range meets the driving or rotating driving requirements of the vehicle-mounted AGV in the middle passage;
the method comprises the steps that a vehicle carrying AGV is in a stage of preparing to enter a parking space or just entering the parking space, one laser radar on the vehicle carrying AGV is in a signal discontinuous state in the parking space entering stage, at the moment, position deviation and angle deviation of navigation data are large, the laser radar navigation data cannot meet the error range of 5CM entering the parking space easily, the position and the angle of the vehicle carrying AGV are corrected through two laser radar positioning data when entering each parking space, then the vehicle carrying AGV enters the parking space in a straight line, the two laser radar positioning data are not used by the vehicle carrying AGV when entering the parking space in the straight line, the position and the angle of a machine are corrected through the matching of a pulley and a guiding oblique angle of a parking platform of the parking space, the vehicle carrying AGV enters the inside of the parking space, and the vehicle carrying AGV is guaranteed to have deviation and can be smoothly guided into;
the method comprises the following steps that a vehicle carrying AGV is located in a parking space, parking or taking operation is stopped according to accurate positioning, at the moment, the vehicle carrying AGV is located in a state that only one laser radar positioning data is effective and is easily shielded by a barrier, the positioning data is not reliable, the vehicle carrying AGV is limited by parking platforms at two sides after entering each parking space, left and right position deviation and vehicle body angle deviation cannot exceed the range, only the position deviation of forward driving needs to be solved, film light reflection is detected according to a reflective photoelectric sensor to accurately position and stop, and normal parking or taking is effectively guaranteed;
carry the car AGV and be in and leave the parking stall stage, carry the car AGV according to self the spacing of pulley and parking platform, position deviation and automobile body angular deviation all can not surpass the scope about guaranteeing, ensure to travel control accuracy, carry the car AGV and break away from the parking stall and switch back two to the centre passageway again laser radar location navigation carries out subsequent travel and rotation.
In order to facilitate understanding of the above-described technical aspects of the present invention, the above-described technical aspects of the present invention will be described in detail below in terms of specific usage.
When the method is used specifically, the method for walking and accurately positioning the AGV comprises the following steps: step one, a plurality of devices and mechanical mechanisms are additionally arranged on an AGV, two sides of the AGV are provided with two laser radars, four rollers and four reflection photoelectric sensors are arranged on the front side and the rear side of the AGV, a reflective adhesive film is arranged on the inner side of the rear side of the parking platform, the AGV for carrying the vehicle has the length of 4.5-5.6 meters, any one side of the AGV for carrying the vehicle can enter a closed space to take the vehicle, step two, the parking platforms are arranged on two sides of the parking places, each parking place is provided with a guide oblique angle with the width outside and the width inside within the range of 5-20 degrees at the entrance, the reflective adhesive film is adhered on the inner side of the parking platform of each parking place, after the reflective photoelectric sensor detects the reflection of the film, the AGV stops the fixed point and carries out vehicle access operation, carry the car AGV and adopt different navigation or control scheme in the stage of traveling of difference, carry the car AGV and contain four stages, different stages AGV adopts different control mode further to include: carry the car AGV and be in and go or rotatory stage in the centre aisle, carry the stage that the car AGV is in and prepares to get into or just get into the parking stall, carry the car AGV and be in the inside stage of parking stall, carry the car AGV and be in and leave the parking stall stage.
In summary, according to the technical scheme of the invention, on the basis of adopting special double-side laser radar navigation, a matching technical means of mechanical matching limit and photoelectric sensor positioning of the parking platform and the AGV is added, different control technical schemes are adopted in stages to realize driving of the vehicle-carrying AGV and accurately position the vehicle for accessing, requirements on the ground and the environment are reduced, the vehicle-carrying AGV can be reliably used in a common civil parking lot, the traditional navigation scheme is not adopted, and the vehicle-carrying AGV respectively adopts navigation, mechanical matching guide limit and photoelectric signal positioning in different stages to realize driving and accurately position the vehicle for accessing.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. A method for walking and accurately positioning an AGV (automatic guided vehicle) is characterized by comprising the following steps:
s1: two laser radars are arranged on two sides of an AGV (automatic guided vehicle), four rollers and four reflective photoelectric sensors are arranged on the front side and the rear side of the AGV, a reflective adhesive film is arranged on the inner side close to the rear side of a parking platform, the length of the AGV is 4.5-5.6 meters, and any one side of the AGV can enter a closed space to take a car;
s2: parking platforms are arranged on two sides of the parking places, each parking place is provided with a guide oblique angle with the width outside and the width inside within the range of 5-20 degrees at the entrance, a reflective adhesive film is attached to the inner side of each parking place on the parking platform, and after the reflective photoelectric sensor detects the reflection of the adhesive film, the AGV stops at a fixed point and carries out vehicle storing and taking operation;
s3: carry the car AGV and adopt different navigation or control scheme in the stage of traveling of difference, carry the car AGV and contain four stages, different stages AGV adopts different control mode further to include:
s3.1, the AGV is in a driving or rotating stage in the middle passage;
s3.2, the AGV is in a stage of preparing to enter or just entering a parking space;
s3.3, the AGV is in the stage inside the parking space;
and S3.4, the AGV is in a parking space leaving stage.
2. The method for AGV traveling and accurate positioning according to claim 1, wherein said S1 further comprises:
s1.1, two laser radars are arranged on two sides of the AGV, and the two laser radars are prevented from being shielded when being adopted;
s1.2, the idler wheels are used for ensuring that the AGV does not collide with the parking platforms, and more importantly, when the AGV enters the parking spaces, the idler wheels and the guiding oblique angles of the parking platforms of the parking spaces correct the deviation positions of the AGV, so that the AGV can smoothly enter the parking spaces;
s1.3 carry the car AGV and have two positive and negative directions when getting into the parking stall, no matter carry the car AGV and get into the parking stall from that one end, carry one of them on the car AGV reflected photoelectric sensor detects the pad pasting reflection of light after, carry the car AGV to stop and carry out the access vehicle operation with the fixed point.
3. The method for AGV traveling and accurate positioning according to claim 1, wherein said S2 further comprises:
s2.1, when the vehicle-carrying AGV enters the parking space, a guide oblique angle is matched with a lateral roller of the vehicle-carrying AGV together, so that the vehicle-carrying AGV can correct the entering parking space when the position deviation or the running angle deviation occurs;
s2.2, pasting a reflective film on the inner side of the parking platform for each parking space, so that the AGV for carrying the vehicle is accurately positioned and stopped.
4. The method for AGV traveling and accurate positioning in accordance with claim 1, wherein said S3.1 further comprises:
s3.1.1, the two laser radar positioning data are used as navigation data during driving, and the driving and rotating actions of the AGV are not affected by the problems of navigation data jumping and accuracy during driving;
s3.1.2, the vibration of the AGV causes the navigation data to appear in the position deviation within 20CM and the angle deviation within 3 degrees, at this time, the deviation range of the navigation data meets the requirement that the AGV runs in the middle passage or rotates.
5. The method for AGV traveling and accurate positioning in accordance with claim 1, wherein said S3.2 further comprises:
s3.2.1, in the parking space entering stage, one of the laser radars on the AGV is in a signal discontinuous state, and at the moment, the position deviation and the angle deviation of navigation data are large in jumping, and the navigation data cannot meet the 5CM error range of the entering parking space by means of the laser radars;
s3.2.2 when the AGV enters each parking space, the position and the self angle are corrected by the two laser radar positioning data, and then the AGV enters the parking space in a straight line;
s3.2.3 when going straight, carry the AGV and no longer use two laser radar location data, but lean on self the position and the inside that the angle got into the parking stall of machine are corrected in the cooperation of the direction oblique angle of pulley and parking stall parking platform to narrow opening guarantees in the outer width through the parking platform carry the AGV and the deviation appears and can lead to the parking stall smoothly.
6. The method for AGV traveling and accurate positioning in accordance with claim 1, wherein said S3.3 further comprises:
s3.3.1, stopping parking or taking the AGV according to the accurate positioning, wherein the AGV is in a state that only one laser radar positioning data is effective and is easily shielded by a barrier, and the positioning data is not reliable;
s3.3.2, parking platform limits are arranged on two sides of the AGV after entering each parking space, the left and right position deviation and the vehicle body angle deviation do not exceed the range, and only the position deviation of forward driving needs to be solved;
s3.3.3, the car can be accurately positioned and stopped according to the reflection of the film detected by the photoelectric sensor, so that the normal operation of parking or taking the car can be effectively ensured.
7. The method for AGV traveling and accurate positioning in accordance with claim 1, wherein said S3.4 further comprises:
s3.4.1, the AGV can ensure that the left and right position deviation and the vehicle body angle deviation do not exceed the range according to the limit of the pulley and the parking platform, and ensure the accurate driving control;
s3.4.2 the AGV is separated from the parking space to the middle passage and then switched back to two laser radar positioning navigation for subsequent driving and rotation.
Priority Applications (9)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010545165.2A CN111809949A (en) | 2020-06-16 | 2020-06-16 | Method for traveling and accurately positioning AGV (automatic guided vehicle) |
| CN202120782892.0U CN218467265U (en) | 2020-06-04 | 2021-04-16 | Garage |
| CN202120782901.6U CN216949718U (en) | 2020-06-04 | 2021-04-16 | Garage |
| CN202120782986.8U CN216949719U (en) | 2020-06-04 | 2021-04-16 | Garage |
| CN202110411604.5A CN113431403A (en) | 2020-06-04 | 2021-04-16 | Garage |
| CN202110411605.XA CN113187284A (en) | 2020-06-04 | 2021-04-16 | Vehicle management method, device, equipment and system |
| CN202110411623.8A CN113668922A (en) | 2020-06-04 | 2021-04-16 | Garage |
| CN202110411600.7A CN114182996A (en) | 2020-06-04 | 2021-04-16 | Garage |
| CN202110665638.7A CN113846883B (en) | 2020-06-16 | 2021-06-16 | Method for traveling and accurately positioning AGV of vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010545165.2A CN111809949A (en) | 2020-06-16 | 2020-06-16 | Method for traveling and accurately positioning AGV (automatic guided vehicle) |
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| CN111809949A true CN111809949A (en) | 2020-10-23 |
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| CN202010545165.2A Pending CN111809949A (en) | 2020-06-04 | 2020-06-16 | Method for traveling and accurately positioning AGV (automatic guided vehicle) |
| CN202110665638.7A Active CN113846883B (en) | 2020-06-16 | 2021-06-16 | Method for traveling and accurately positioning AGV of vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN100532764C9 (en) * | 2006-12-22 | 2020-05-12 | 黄大虬 | Forward-moving and rotating avoidance type vehicle carrying device |
| US11391826B2 (en) * | 2017-09-27 | 2022-07-19 | Magna Electronics Inc. | Vehicle LIDAR sensor calibration system |
| CN109144071B (en) * | 2018-09-30 | 2021-06-25 | 青岛港国际股份有限公司 | AGV driving control method in narrow lane |
| CN109296236A (en) * | 2018-10-26 | 2019-02-01 | 北京理工大学 | A kind of intelligent parking system of single carrier loader platform |
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| CN113846883A (en) | 2021-12-28 |
| CN113846883B (en) | 2024-04-09 |
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Application publication date: 20201023 |