CN114895678A - AGV auxiliary control system and method - Google Patents
AGV auxiliary control system and method Download PDFInfo
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- CN114895678A CN114895678A CN202210536225.3A CN202210536225A CN114895678A CN 114895678 A CN114895678 A CN 114895678A CN 202210536225 A CN202210536225 A CN 202210536225A CN 114895678 A CN114895678 A CN 114895678A
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- 230000008569 process Effects 0.000 abstract description 12
- 230000002159 abnormal effect Effects 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 description 7
- 238000011022 operating instruction Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 5
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention provides an AGV auxiliary control system and a method, wherein the AGV auxiliary control system comprises a user terminal, a control module and a display module, wherein the user terminal is used for inputting an operation instruction; the control module is in communication connection with the user terminal and is used for receiving the operation instruction and analyzing and processing the operation instruction to obtain a control instruction; and the AGV main control system is in communication connection with the control module and is used for receiving and executing the control instruction so as to control the target object. According to the invention, the user terminal inputs the operation instruction so that the control module can receive the operation instruction and analyze and process the operation instruction to obtain the control instruction, so that the AGV main control system can receive and execute the control instruction, the target object is controlled in an auxiliary manner, when the target object is abnormal, the target object can be adjusted in time through the user terminal, and the safety of the target object in the working process is ensured.
Description
Technical Field
The invention relates to the technical field of transportation, in particular to an AGV auxiliary control system and method.
Background
An Automated Guided Vehicle, also called an AGV cart in general, is a transport Vehicle equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation path, and having safety protection and various transfer functions. The industrial application does not need a driver's transport vehicle, and a rechargeable storage battery is used as a power source of the industrial application. Generally, the traveling path and behavior can be controlled by a computer, or the traveling path is set up by using an electromagnetic path (electromagnetic path-following system), the electromagnetic path is adhered to the floor, and the unmanned transport vehicle moves and operates according to the information brought by the electromagnetic path.
However, when the existing AGV car works, sometimes some action deviation occurs due to external factors, and sometimes the AGV master control system cannot find the action deviation in time, so that a safety problem is easy to occur.
Therefore, there is a need to provide a new AGV assistance control system and method to solve the above problems in the prior art.
Disclosure of Invention
The invention aims to provide an AGV auxiliary control system and method, which can input instructions in time to perform auxiliary control on an AGV, and improve the safety of the AGV in the working process.
To achieve the above object, the AGV assistance control system according to the present invention includes:
the user terminal is used for inputting an operation instruction;
the control module is in communication connection with the user terminal and is used for receiving the operation instruction and analyzing and processing the operation instruction to obtain a control instruction;
and the AGV main control system is in communication connection with the control module and is used for receiving and executing the control instruction so as to control the target object.
The AGV auxiliary control system has the beneficial effects that: the operating instruction is input through the user terminal, so that the control module can receive the operating instruction and analyze the operating instruction to obtain the control instruction, the AGV main control system can receive and execute the control instruction, the target object is controlled in an auxiliary mode, when the target object is abnormal, the target object can be adjusted in time through the user terminal, and safety of the target object in the working process is guaranteed.
Optionally, the AGV auxiliary control system further includes a cloud server, the cloud server is in communication connection with the AGV main control system, the AGV main control system executes the control instruction to obtain an execution result, and sends the execution result to the cloud server, and the cloud server is in communication connection with the user terminal to send the execution result to the user terminal. The beneficial effects are that: the AGV auxiliary control system sends the execution result to the cloud server, and sends the execution result to the user terminal through the cloud server, so that the user terminal can remotely obtain the adjustment condition of the target object according to the execution result, and remote adjustment and monitoring are achieved.
Optionally, the AGV master control system is further configured to send fault information to the cloud server, and the cloud server sends the fault information to the user terminal to notify the user. The beneficial effects are that: after the target object fails, the AGV master control system actively sends fault information to the cloud server, and the cloud server sends the fault information to the user terminal, so that the user terminal and a user who operates the AGV master control system can be timely notified after the target object fails, the user can timely adjust the fault condition of the target object, and safety is improved.
Optionally, the user inputs the operation instruction through the user terminal. The beneficial effects are that: the operation instruction is directly input through the user terminal, the cloud server is not needed, and the method and the device are suitable for the conditions that the cloud server is crashed, the cloud server is not controlled or the cloud service cannot be used.
Optionally, the user terminal obtains the operation instruction through the cloud server. The beneficial effects are that: the operating instruction can be rapidly acquired through the cloud server, and the processing efficiency is improved.
Optionally, the user terminal includes an input unit, an axis selection unit, a mode switching unit, and an action unit, where the input unit is configured to input the operation instruction, the axis selection unit is configured to select a motion axis of a target object corresponding to the operation instruction in a motion process, the mode switching unit is configured to select a working mode of the target object, and the action unit is configured to select a motion parameter of the target object.
Optionally, the axis selection unit includes at least one of an X axis, a Y axis, a Z axis, an R axis, and a five axis, the mode switching unit includes at least one of a full-automatic mode, a semi-automatic mode, a manual mode, and a reset mode, and the action unit includes at least one of start, stop, forward, reverse, left turn, and right turn.
Optionally, the control module includes a main chip and a signal receiving circuit, the signal receiving circuit is used for receiving the operation instruction sent by the user terminal, the main chip is connected with the signal receiving circuit, and is used for translating the operation instruction into a target signal and sending the target signal to the AGV main control system.
Optionally, the target signal includes an interface digital signal or an interface analog signal.
Optionally, the control module is a device independent from the AGV master control system, and the control module is in communication connection with the device inside the AGV master control system.
Optionally, the control module is connected to the AGV main control system through any one of a card, a pin, or a wire. The beneficial effects are that: the control module is independent of the AGV main control system and is inserted into the AGV main control system in a card inserting, pin inserting or connecting mode, so that the AGV main control system can be quickly improved and replaced according to the maintenance requirement.
The invention also provides an AGV auxiliary control method, which comprises the following steps:
sending an operation instruction through a user terminal;
receiving the operation instruction through a control module and analyzing and processing the operation instruction to obtain a control instruction;
and after receiving and executing the control instruction through the AGV main control system, adjusting the target object to a corresponding position.
The AGV auxiliary control method has the beneficial effects that: the operating instruction is input through the user terminal, so that the control module can receive the operating instruction and analyze the operating instruction to obtain the control instruction, the AGV main control system can receive and execute the control instruction, the target object is controlled in an auxiliary mode, when the target object is abnormal, timely adjustment of the target object can be achieved through the user terminal on the spot through maintenance personnel, and correctness and safety of the target object in the working process are guaranteed.
Optionally, the method further includes sending the execution result to a cloud server after the AGV master control system executes the control instruction and obtains the execution result, so that the execution result is sent to the user terminal through the cloud server.
Optionally, the method further includes sending, by the AGV master control system, fault information to the cloud server after it is determined that the target object has a fault, and the cloud server sending the fault information to the user terminal to notify the user.
Drawings
FIG. 1 is a block diagram illustrating a first configuration of an AGV auxiliary control system according to an embodiment of the present invention;
FIG. 2 is a block diagram illustrating a second exemplary configuration of an AGV auxiliary control system according to an embodiment of the present invention;
FIG. 3 is a block diagram illustrating a third exemplary configuration of an AGV auxiliary control system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an interface of a user terminal in the AGV auxiliary control system according to an embodiment of the present invention;
FIG. 5 is a block diagram illustrating a control module of a user terminal in the AGV auxiliary control system according to an embodiment of the present invention;
fig. 6 is a flowchart of an AGV assistance control method according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. As used herein, the word "comprising" and similar words are intended to mean that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items.
In view of the problems in the prior art, an embodiment of the present invention provides an AGV auxiliary control system, and with reference to fig. 1, the AGV auxiliary control system includes:
a user terminal 10 for inputting an operation instruction;
the control module 20 is in communication connection with the user terminal 10, and is configured to receive the operation instruction and analyze and process the operation instruction to obtain a control instruction;
and the AGV master control system 30 is in communication connection with the control module 20, and is configured to receive and execute the control instruction to control the target object.
In the present embodiment, an AGV cart is taken as an example of a target object. When the AGV master control system 30 operates an AGV, a user can control the AGV through the user terminal 10 on the spot.
Illustratively, after a user observes that safety problems may occur in the current movement of the AGV at a site, the user inputs an operation instruction through the user terminal 10, then analyzes and processes the operation instruction through the control module 20 to obtain a control instruction, and sends the control instruction to the AGV main control system 30, so that the AGV main control system 30 executes the control instruction after receiving the control instruction, so as to control the AGV to execute actions according to the operation instruction, thereby avoiding the safety problems that may occur in the moving process of the AGV, and improving the safety of the AGV in the working process.
It should be noted that, when the operation instruction is input by the user terminal 10, the input mode includes, but is not limited to, manually inputting a character string, selecting a preset character string, and selecting a history character string, but the input mode is not limited to this, and any mode capable of inputting an operation instruction may be applied to this scheme, and is not described herein again.
In foretell AGV auxiliary control system, when the user is at the operation scene, need not just can realize the field control to the AGV dolly with the help of cloud ware, both can be applicable to the condition that does not have cloud ware, also can be applicable to the condition that cloud ware is uncontrolled, can't use or cloud ware collapse, realizes the on-the-spot controlling of AGV dolly, convenient operation.
In some embodiments, referring to fig. 2, the AGV auxiliary control system further includes a cloud server 40, the cloud server 40 is in communication connection with the AGV main control system 30, the AGV main control system 30 obtains an execution result after executing the control instruction, and sends the execution result to the cloud server 40, and the cloud server 40 is in communication connection with the user terminal 10, so as to send the execution result to the user terminal 10.
In the present embodiment, since the AGV auxiliary control system includes the cloud server 40, after the user inputs an operation instruction through the user terminal 10 and executes the operation instruction through the AGV master control system 30 to obtain an execution result, the execution result is uploaded to the cloud server 40 through the AGV master control system 30, so that the cloud server 40 can store the execution result. On the other hand, the execution result is sent to the user terminal 10 through the cloud server 40, so that the execution result can be fed back to the user terminal 10 in time, the user can quickly know the condition of the execution result, and the remote monitoring of the working condition of the AGV trolley can be realized.
The user terminal 10 may be a remote terminal not in the field, or a terminal in the working field, and can meet the working requirements of different conditions, and the practicability is strong.
Illustratively, after the user terminal 10 sends an operation instruction, the control module 20 performs analysis processing to obtain a control instruction and sends the control instruction to the AGV master control system 30, the AGV master control system 30 adjusts the AGV and obtains an execution result of the AGV, then the AGV master control system 30 uploads the execution result to the cloud server 40, and the execution result is fed back to the user terminal 10 through the cloud server 40, so that the user can remotely know the adjustment condition of the AGV.
In still other embodiments, referring to fig. 3, the AGV master control system 30 is further configured to send a fault message to the cloud server 40, and the cloud server 40 sends the fault message to the user terminal 10 to notify the user.
When the AGV master control system 30 detects that an abnormal condition or a potential safety problem occurs to the AGV, it sends the fault information to the cloud server 40, so that the fault information is sent to the user terminal 10 through the cloud server 40, thereby implementing remote notification to the user terminal 10, and when the user terminal 10 is not in an operation site, it can also quickly know the site condition of the AGV, thereby facilitating the user terminal 10 to send an operation instruction in time, and implementing remote control of the AGV.
For example, when the AGV master control system 30 detects that an abnormal condition occurs in the AGV, the fault information is uploaded to the cloud server 40, and the cloud server 40 feeds the fault information back to the user terminal 10, so that a user of the user terminal 10 can quickly respond to the fault information to input an operation instruction. After the user terminal 10 sends an operation instruction, the control instruction is obtained after analysis processing is performed through the control module 20 and is sent to the AGV main control system 30, the AGV main control system 30 adjusts the AGV and obtains an execution result of the AGV, then the AGV main control system 30 uploads the execution result to the cloud server 40, and the execution result is fed back to the user terminal 10 through the cloud server 40, so that a user can remotely know the adjustment condition of the AGV.
In some embodiments, the user inputs the operation instruction through the user terminal 10, and when the user is on site, the user can obtain the parameter to be adjusted according to the on-site condition of the AGV, so that the corresponding operation instruction is directly input to the user terminal 10, and the on-site adjustment of the AGV is realized.
In some other embodiments, the user terminal 10 obtains the operation instruction through the cloud server 40.
If the user is not in the operation site, the cloud server 40 can acquire the site condition of the AGV and generate a corresponding operation instruction to send the operation instruction to the user terminal 10, so that the user terminal 10 can quickly send the operation instruction to quickly adjust the AGV.
In some embodiments, referring to fig. 4, the user terminal 10 includes an input unit 101, an axis selection unit 102, a mode switching unit 103, and an action unit 104, where the input unit 101 is configured to input the operation instruction, the axis selection unit 102 is configured to select a motion axis in a motion process of a target object corresponding to the operation instruction, the mode switching unit 103 is configured to select an operation mode of the target object, and the action unit 104 is configured to select a motion parameter of the target object.
In the above-described user terminal 10, after the input unit 101 inputs the operation command, the shaft selecting unit 102, the mode switching unit 103, and the operating unit 104 respectively input the command, so that the user terminal 10 can input the operation command to adjust the AGV cart.
Illustratively, the input unit 101 inputs an AGV command number to effect adjustment of an AGV cart.
In some embodiments, the axis selection unit 102 includes at least one of an X axis, a Y axis, a Z axis, an R axis, and a five axis, the mode switching unit 103 includes at least one of a full-automatic mode, a semi-automatic mode, a manual mode, and a reset mode, and the action unit 104 includes at least one of start, stop, forward, reverse, left turn, and right turn.
Since the axis selection unit 102 corresponds to the direction of the moving axis of the AGV cart, after the moving axis is selected by the axis selection unit 102, the start, stop, forward, reverse, left turn, and right turn functions in the action unit 104 also correspond to the moving axis selected by the axis selection unit 102. For example, when the X-axis is selected through the axis selection unit 102, the interface of the action unit 104 is displayed as start, stop, X-axis forward, X-axis backward, X-axis left turn, and X-axis right turn for the user to select quickly. The interfaces of the action units 104 corresponding to the other axes are substantially similar, and are not described in detail here.
In some embodiments, referring to fig. 5, the control module 20 includes a main chip 201 and a signal receiving circuit 202, the signal receiving circuit 202 is used for receiving the operation command sent by the user terminal 10, and the main chip 201 is connected to the signal receiving circuit 202 and is used for translating the operation command into a target signal and sending the target signal to the AGV master control system 30.
After the signal receiving circuit 202 in the control module 20 receives the operation instruction, the main chip 201 in the control module 20 analyzes and processes the operation instruction, and translates the operation instruction into a target signal that can be understood by the AGV master control system 30, so as to send the target signal to the AGV master control system 30.
In some embodiments, the target signal comprises an interface digital signal or an interface analog signal to facilitate identification by the AGV master control system 30.
In some embodiments, the control module 20 is a separate device from the AGV master control system 30, and the control module 20 is communicatively coupled to the devices within the AGV master control system 30.
The control module 20 and the AGV master control system 30 may be connected by any one of a card, a pin, or a wire, or may be connected by other electrical connection methods.
In the present embodiment, since the control module 20 is a structure independent of the AGV master control system 30, the user terminal 10 and the control module 20 can be independent of the AGV master control system 30, which facilitates maintenance and replacement.
Illustratively, the AGV master control system 30 is a PLC programmable control logic, and the control module 20 is designed as a small module of a square centimeter level, and is inserted into the AGV master control system 30 in a card insertion, pin insertion, and wire connection manner, so as to strip the user terminal 10 and the control module 20 in a black box manner, which can be quickly improved and replaced according to the maintenance requirement without maintaining the whole AGV master control system 30. Furthermore, for a newly purchased AGV master control system 30, the AGV manufacturer may be required to adapt the control module, so that the maintenance team does not have to relearn even if the AGV supplier is replaced.
It should be noted that the AGV auxiliary control system in this scheme may not only be applied to auxiliary control of an AGV system or an AGV, but also be applied to auxiliary control of other scene systems.
The present invention further provides an AGV assistance control method, referring to fig. 6, including:
s601, sending an operation instruction through a user terminal;
s602, receiving the operation instruction through a control module and analyzing and processing the operation instruction to obtain a control instruction;
and S603, after receiving and executing the control instruction through the AGV main control system, adjusting the target object to a corresponding position.
In some embodiments, the method further includes sending the execution result to a cloud server after the AGV master control system executes the control instruction and obtains the execution result, so as to send the execution result to the user terminal through the cloud server.
In still other embodiments, the method further includes sending, by the AGV master control system, a fault message to the cloud server after determining that the target object has a fault, and the cloud server sending the fault message to the user terminal to notify a user.
Since the steps of the AGV auxiliary control method correspond to the structures and principles of the AGV auxiliary control system one to one, the details are not repeated here.
Although the embodiments of the present invention have been described in detail hereinabove, it is apparent to those skilled in the art that various modifications and variations can be made to these embodiments. However, it is to be understood that such modifications and variations are within the scope and spirit of the present invention as set forth in the following claims. Moreover, the invention as described herein is capable of other embodiments and of being practiced or of being carried out in various ways.
Claims (14)
1. An AGV auxiliary control system, comprising:
the user terminal is used for inputting an operation instruction;
the control module is in communication connection with the user terminal and is used for receiving the operation instruction and analyzing and processing the operation instruction to obtain a control instruction;
and the AGV main control system is in communication connection with the control module and is used for receiving and executing the control instruction so as to control the target object.
2. The AGV auxiliary control system of claim 1, further comprising a cloud server, wherein the cloud server is in communication connection with the AGV master control system, the AGV master control system obtains an execution result after executing the control command, and sends the execution result to the cloud server, and the cloud server is in communication connection with the user terminal so as to send the execution result to the user terminal.
3. The AGV auxiliary control system of claim 2, wherein the AGV master control system is further configured to send fault information to the cloud server, and the cloud server sends the fault information to the user terminal to notify a user.
4. The AGV assistance control system according to any one of claims 1 to 3, wherein a user inputs the operation instruction through the user terminal.
5. The AGV assistance control system according to claim 2 or 3, wherein the user terminal acquires the operation instruction through the cloud server.
6. The AGV auxiliary control system according to any one of claims 1 to 3, wherein the user terminal includes an input unit for inputting the operation command, an axis selection unit for selecting a movement axis of the target object during movement corresponding to the operation command, a mode switching unit for selecting an operation mode of the target object, and an action unit for selecting a movement parameter of the target object.
7. The AGV auxiliary control system according to claim 6, wherein said axis selecting unit includes at least one of an X axis, a Y axis, a Z axis, an R axis and five axes, said mode switching unit includes at least one of a full automatic mode, a semi automatic mode, a manual mode and a reset mode, and said action unit includes at least one of start, stop, forward, reverse, left turn and right turn.
8. The AGV auxiliary control system according to any one of claims 1 to 3, wherein said control module comprises a main chip and a signal receiving circuit, said signal receiving circuit is used for receiving said operation command sent from said user terminal, said main chip is connected with said signal receiving circuit, and is used for translating said operation command into a target signal and sending it to said AGV main control system.
9. The AGV assistance control system of claim 8 wherein the target signal comprises an interface digital signal or an interface analog signal.
10. The AGV auxiliary control system according to any of claims 1 to 3, wherein said control module is a device independent from the AGV master control system, and said control module is communicatively connected to the inside device of the AGV master control system.
11. The AGV auxiliary control system of claim 10, wherein said control module is connected to said AGV master control system by any one of a card, pin or wire.
12. An AGV auxiliary control method is characterized by comprising the following steps:
sending an operation instruction through a user terminal;
receiving the operation instruction through a control module and analyzing and processing the operation instruction to obtain a control instruction;
and after receiving and executing the control instruction through the AGV main control system, adjusting the target object to a corresponding position.
13. The AGV assistance control method according to claim 12, further comprising sending the execution result to a cloud server after the AGV master control system executes the control command and obtains the execution result, so as to send the execution result to the user terminal through the cloud server.
14. The AGV assistance control method according to claim 13, further comprising sending a fault message to the cloud server via the AGV master control system after determining that the target object has a fault, wherein the cloud server sends the fault message to the user terminal to notify a user.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210536225.3A CN114895678A (en) | 2022-05-17 | 2022-05-17 | AGV auxiliary control system and method |
| PCT/CN2022/095260 WO2023221156A1 (en) | 2022-05-17 | 2022-05-26 | Agv auxiliary control system and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210536225.3A CN114895678A (en) | 2022-05-17 | 2022-05-17 | AGV auxiliary control system and method |
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| CN202210536225.3A Pending CN114895678A (en) | 2022-05-17 | 2022-05-17 | AGV auxiliary control system and method |
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| WO (1) | WO2023221156A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023221156A1 (en) * | 2022-05-17 | 2023-11-23 | 恬家（上海）信息科技有限公司 | Agv auxiliary control system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103558853B (en) * | 2013-10-31 | 2017-01-04 | 国网安徽省电力公司淮南供电公司 | Can automatic lifting AGV control system under free path |
| CN108255183A (en) * | 2018-03-29 | 2018-07-06 | 广东嘉腾机器人自动化有限公司 | A kind of AGV terrestrial references card instruction system and terrestrial reference card instruction setting method |
| CN208506542U (en) * | 2018-05-15 | 2019-02-15 | 广东嘉腾机器人自动化有限公司 | A kind of AGV controller I/O port multiplexing configuration system |
| CN111487936A (en) * | 2019-01-29 | 2020-08-04 | 昆山众泰兴自动化设备有限公司 | Online scheduling system of AGV dolly |
| CN110455305A (en) * | 2019-08-20 | 2019-11-15 | 云南梦工厂机器人有限公司 | AGV trolley control method with autonomous path planning function |
| KR102265158B1 (en) * | 2020-01-15 | 2021-06-15 | 주식회사 와토솔루션 | System for controlling automated guided vehicle based on cyber physical system |
| CN113296490A (en) * | 2021-05-08 | 2021-08-24 | 西安达升科技股份有限公司 | Handheld control terminal of AGV dolly |
| CN114895678A (en) * | 2022-05-17 | 2022-08-12 | 恬家（上海）信息科技有限公司 | AGV auxiliary control system and method |
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2022
- 2022-05-17 CN CN202210536225.3A patent/CN114895678A/en active Pending
- 2022-05-26 WO PCT/CN2022/095260 patent/WO2023221156A1/en unknown
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023221156A1 (en) * | 2022-05-17 | 2023-11-23 | 恬家（上海）信息科技有限公司 | Agv auxiliary control system and method |
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