CN115503851A - Method and system for automatically taking materials of AGV trolley without stopping - Google Patents

Method and system for automatically taking materials of AGV trolley without stopping Download PDF

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Publication number
CN115503851A
CN115503851A CN202110696425.0A CN202110696425A CN115503851A CN 115503851 A CN115503851 A CN 115503851A CN 202110696425 A CN202110696425 A CN 202110696425A CN 115503851 A CN115503851 A CN 115503851A
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China
Prior art keywords
agv
feeding mechanism
material taking
dolly
relative position
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CN202110696425.0A
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Chinese (zh)
Inventor
邱子彬
陈清
陈熙航
林琪
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Linde China Forklift Truck Corp Ltd
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Linde China Forklift Truck Corp Ltd
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Priority to CN202110696425.0A priority Critical patent/CN115503851A/en
Publication of CN115503851A publication Critical patent/CN115503851A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • 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

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention relates to the field of AGV trolley material taking. The invention discloses an AGV trolley non-stop automatic material taking method and system, wherein the AGV trolley non-stop automatic material taking method comprises the following steps: s1, detecting whether an AGV passes through a preset position of a material taking area, and if so, entering the step S2; s2, moving the feeding mechanism with the materials to be taken to catch up the AGV, namely, enabling the relative position of the feeding mechanism and the AGV to reach a preset relative position along the moving direction of the AGV, then keeping the feeding mechanism and the AGV to move synchronously, and entering the step S3; and S3, moving the material to be taken to an AGV by the feeding mechanism. According to the invention, in the material taking process of the AGV trolley, the AGV trolley does not need to be stopped at a fixed point, so that the waste of time is reduced, the material taking efficiency is improved, the energy consumption is reduced, and the stability of the material taking process is good.

Description

Method and system for automatically taking materials of AGV trolley without stopping
Technical Field
The invention belongs to the field of AGV trolley material taking, and particularly relates to a method and a system for automatically taking materials of an AGV trolley without stopping.
Background
An AGV (Automated Guided Vehicle) 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 AGV has high automation degree and intelligent level, does not need a driver in the application process, greatly saves human resources, reduces the material handling cost, and is more and more widely applied to various logistics handling occasions.
Present AGV dolly is getting the material in-process, just can get the material after need the fixed point to park, leads to getting the material process and has consumed the longer time, has reduced material handling efficiency, and the fixed point parks and need frequently add the deceleration, also leads to the waste of energy.
Disclosure of Invention
The invention aims to provide a method and a system for automatically taking materials of an AGV without stopping, which are used for solving the technical problems.
In order to achieve the purpose, the invention adopts the technical scheme that: a method for automatically taking materials of an AGV trolley without stopping comprises the following steps:
s1, detecting whether an AGV passes through a preset position of a material taking area, and if so, entering the step S2;
s2, moving the feeding mechanism with the materials to be taken to catch up with the AGV, namely, enabling the relative position of the feeding mechanism and the AGV to reach a preset relative position along the moving direction of the AGV, then keeping the feeding mechanism and the AGV moving synchronously, and entering the step S3;
and S3, moving the material to be taken to an AGV by the feeding mechanism.
Further, in steps S1, S2 and S3, the AGV is moving at a constant speed.
Further, in steps S1, S2 and S3, the AGV trolley is in a constant speed change movement for at least a period of time.
Further, in the step S1, a photoelectric sensor is used for detecting whether the AGV passes through a preset position of a material taking area.
Further, step S3 includes:
s31, detecting whether the relative position between the AGV trolley and the feeding mechanism reaches a preset relative position, and if so, entering a step S32;
s32, the feeding mechanism pushes the material to be taken to move to the AGV.
The invention also provides an AGV trolley non-stop automatic material taking system which comprises a feeding mechanism and the AGV trolley, wherein the feeding mechanism is used for executing the AGV trolley non-stop automatic material taking method.
Further, feeding mechanism includes the guide rail, and a support, mobile device, put the thing platform, a controller, blevile of push and trigger device, the support sets up on the guide rail, mobile device is used for driving the support and moves on the guide rail, it sets up on the support to put the thing platform, be used for placing and wait to get the thing material, blevile of push is used for pushing away the material of waiting to get who puts on putting the thing platform to the AGV dolly, trigger device sets up on the support, be used for detecting whether the AGV dolly is through getting the regional preset position of material, mobile device, blevile of push and trigger device are connected with the controller electricity respectively, the controller is used for when trigger device detects the signal, control mobile device drive support moves in order to catch up the AGV dolly and keep the synchronous motion back with the AGV dolly on the guide rail, control blevile of push will place and wait to get the thing material and push away to the AGV dolly on.
Furthermore, the triggering device is a photoelectric sensor, and correspondingly, a light emitter is arranged on the AGV.
Furthermore, the number of the photoelectric sensors is 3, and the photoelectric sensors are sequentially arranged at intervals along the moving direction of the AGV trolley.
Furthermore, feeding mechanism still is equipped with the detection device that targets in place, and the detection device that targets in place sets up on the support for whether detect the relative position between AGV dolly and the feeding mechanism and reach predetermined relative position, and the detection device that targets in place is connected with the controller electricity, and the controller is used for just controlling blevile of push after receiving detection device's that targets in place signal and will place on putting thing bench and wait to get the thing material and push away to the AGV dolly.
Furthermore, the in-place detection device is realized by adopting a photoelectric sensor, and correspondingly, a light emitter is arranged on the AGV.
Further, blevile of push adopts the cylinder to realize, puts the thing bench and still is equipped with a plurality of roller bearings side by side, waits to get the thing material and places on the roller bearing.
The invention has the beneficial technical effects that:
1. according to the invention, when the AGV passes through the material taking area, the feeding mechanism moves to catch up the AGV and keep synchronous movement with the AGV, and then the feeding mechanism moves the material to be taken to the AGV, so that the AGV does not need to stop at a fixed point in the material taking process of the AGV, the waste of material taking time is reduced, the material taking efficiency is improved, and the material carrying effect is improved.
2. Because the AGV dolly is got the material in-process and need not the fixed point and parks to need not frequent acceleration and deceleration, avoid the waste of energy, improve duration.
3. The feeding mechanism moves the material to be taken to the AGV trolley after keeping synchronous movement with the AGV trolley, and the stability of the material taking process is good.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced 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 based on these drawings without creative efforts.
FIG. 1 is a flowchart of a method according to a first embodiment of the present invention;
FIG. 2 is a diagram of a system according to a second embodiment of the present invention;
FIG. 3 is a system diagram of another perspective according to the second embodiment of the present invention;
FIG. 4 is a diagram of a system according to a third embodiment of the present invention;
fig. 5 is a system structure diagram of another view according to a third embodiment of the present invention.
Detailed Description
To further illustrate the various embodiments, the present invention provides the accompanying figures. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the embodiments. With these references, one of ordinary skill in the art will appreciate other possible embodiments and advantages of the present invention. The components in the drawings are not necessarily to scale, and similar reference numerals are generally used to identify similar components.
The invention will now be further described with reference to the accompanying drawings and detailed description.
Example one
As shown in fig. 1, a method for automatically taking materials from an AGV without stopping includes the following steps:
s1, detecting whether the AGV passes through a preset position of a material taking area, and if so, entering the step S2.
In this embodiment, preferably, the photoelectric sensor is used to detect whether the AGV passes through the preset position of the material taking area, so that the system has a simple structure, is easy to implement, and has a low cost.
S2, the feeding mechanism with the materials to be taken is placed to move so as to catch up the AGV, namely, along the moving direction of the AGV, the relative position of the feeding mechanism and the AGV reaches a preset relative position, then the feeding mechanism and the AGV keep moving synchronously, and the step S3 is carried out.
The fact that the relative position of the feeding mechanism and the AGV car reaches the preset relative position means that the feeding mechanism can move the materials to be taken to the AGV car at the preset relative position. The AGV trolley and the feeding mechanism are synchronously moved, namely the feeding mechanism and the AGV trolley are kept relatively still along the moving direction of the AGV trolley.
And S3, moving the material to be taken to an AGV by the feeding mechanism.
In this embodiment, in steps S1, S2 and S3, that is, in the whole material taking process, it is preferable that the AGV is in uniform velocity movement, so that the algorithm for controlling the feeding mechanism to move to catch up with the AGV and keep synchronous movement with the AGV and the velocity change control in the process are simple and easy to implement, and the velocity and the acceleration of the AGV can be detected without setting a velocity detection device, or the velocity and the acceleration of the AGV can be obtained by setting a communication module, the velocity of the uniform velocity movement of the AGV can be stored in the controller in advance, so that the system structure is simpler and the cost is low.
Certainly, in some embodiments, in steps S1, S2, and S3, that is, in the whole material taking process, the AGV cart is at least in constant-speed-changing movement for a period of time, for example, in the previous period of time of the whole material taking process, the AGV cart is in constant-speed-changing movement, and in the later period of time of the whole material taking process, the AGV cart is in constant-speed movement; or the whole material taking process is in uniform acceleration movement and the like. Of course, in other embodiments, the AGV carts may be moved at a non-uniform variable speed for at least a period of time in steps S1, S2 and S3, but in this case, the control process is very complex and is not generally used.
Further, in this embodiment, step S3 includes:
s31, detecting whether the relative position between the AGV trolley and the feeding mechanism reaches a preset relative position (namely whether the feeding mechanism catches up with the AGV trolley) or not, and if so, entering the step S32; and S32, the feeding mechanism pushes the material to be taken to move to an AGV. Whether the relative position between the AGV trolley and the feeding mechanism reaches the preset relative position or not is further confirmed through the step S31, then the article to be taken is pushed to move to the AGV trolley, the problem that the article to be taken cannot move to the AGV trolley and fall is avoided, and the stability and the safety of the article to be taken are further improved.
Example two
The invention also provides a system for automatically taking the AGV without stopping, which comprises a feeding mechanism and the AGV, wherein the feeding mechanism is used for executing the method for automatically taking the AGV without stopping.
As shown in fig. 2 and 3, in this embodiment, the feeding mechanism includes a guide rail 2, a support 3, a moving device (not shown), an object placing table 4, a controller (not shown), a material pushing device 5, and a triggering device, the support 3 is disposed on the guide rail 2, in this embodiment, the number of the guide rails 2 is two, the two guide rails 2 are parallel to each other and are disposed on the floor of the material taking area at intervals, when the AGV cart 1 passes through the material taking area, the AGV cart passes between the two guide rails 2, the support 3 includes two vertical bars and a cross bar, the cross bar is disposed between the two vertical bars, the two vertical bars are disposed on the two guide rails 2 respectively, and this structure is adopted, so that the stability of the support 3 and the stability of the moving process are better, but not limited thereto, and in some embodiments, other guide rails and support structures may also be adopted.
The moving device is used for driving the support 3 to move on the guide rail 2, the moving device can be realized by adopting wheels and motors, the wheels are arranged at the bottoms of the two vertical rods, the motors drive the wheels to rotate along the guide rail 2, so that the support 3 is driven to move on the guide rail 2, and the existing wheel driving device can be specifically referred to.
Put thing platform 4 and set up on the horizontal pole of support 3 for place and wait to get thing material 6, blevile of push 5 is used for will placing on putting thing platform 4 waiting to get thing material 6 and push away to AGV dolly 1 on, in this embodiment, blevile of push 5 adopts the cylinder to realize, simple structure, easily realizes, and is with low costs, nevertheless does not use this as the limit.
Preferably, a plurality of parallel rollers 41 are arranged on the table top of the object placing table 4, and the object material 6 to be taken is placed on the rollers 41, so that the pushing device 5 can push the object material 6 to be taken to the AGV trolley 1, and the pushing force required by the pushing device 5 is reduced.
Trigger device sets up on support 3 for detect AGV dolly 1 whether through getting the material regional preset position, this embodiment, trigger device is photoelectric sensor 7, correspondingly, is equipped with light emitter 11 on the AGV dolly 1, and when AGV dolly 1 through getting the material regional preset position, the light of light emitter 11 transmission just received by photoelectric sensor 7 this moment. The light emitter 11 may be a laser emitter, an infrared emitter, etc. The triggering device is realized by adopting the photoelectric sensor 7, the structure is simple, the realization is easy, the cost is low, the anti-interference performance is good, the accuracy is high, and of course, in some embodiments, the triggering device can also adopt other existing triggering devices, such as a radar ranging sensor, a contact sensor and the like.
The moving device, the pushing device 5 and the photoelectric sensor 7 are respectively electrically connected with the controller.
In this embodiment, an upright 12 is disposed at the top of the AGV cart 1, a platform 13 is fixed at the top of the upright 12 and used for placing the object 6 to be taken, and the platform 13 is not higher than the height of the top of the object table 4.
In this embodiment, the placing platform 4 is located on the side of the AGV 1 along the moving direction thereof, so that the placing platform 4 is in butt joint with the platform 13 to push the material 6 to be taken to the platform 13 of the AGV 1.
Furthermore, feeding mechanism still is equipped with detection device that targets in place, and detection device that targets in place sets up on support 3 for whether the relative position that detects between AGV dolly 1 and the feeding mechanism reaches predetermined relative position, when detection device that targets in place detected the signal promptly, the platform 13 of AGV dolly 1 and the exit end butt joint of putting thing platform 4, and blevile of push 5 can promote and wait to get the platform 13 of thing material 6 to AGV dolly 1, and detection device that targets in place is connected with the controller electricity.
In this embodiment, the in-place detection device is implemented by using a photoelectric sensor 8, the photoelectric sensor 8 is used for detecting light emitted by the light emitter 11, and the photoelectric sensor 8 is electrically connected with the controller.
Preferably, in this embodiment, the photosensor 8 and the photosensor 7 are implemented by using the same photosensor, which is simpler in structure and low in cost.
Taking materials:
the feeding mechanism is located at an initial position, in the process that the AGV trolley 1 passes through the track 2 (in fig. 3, the AGV trolley 1 moves from right to left), when the AGV trolley 1 moves to the point that the light emitted by the light emitter 11 is detected by the photoelectric sensor 7 (namely, the AGV trolley 1 passes through the preset position of the material taking area), the photoelectric sensor 7 sends a detection signal to the controller, the controller starts to control the moving device to drive the support 3 to move on the guide rail 2 so as to catch up the AGV trolley 1 and keep synchronous movement with the AGV trolley 1, at the moment, the photoelectric sensor 8 can detect the light emitted by the light emitter 11 and send the detection signal to the controller, the controller controls the pushing device 5 to work to push the material 5 to be taken, placed on the object placing table 4, onto the platform 13 of the AGV trolley 1, namely, the AGV trolley 1 is finished to automatically take the material without stopping, then the AGV trolley 1 continuously moves away, and the feeding mechanism resets to wait for taking the material next time.
The present embodiment is suitable for the situation that the AGV trolley 1 moves at a constant speed during the process of passing through the track 2, and the speed control process of the controller of the present embodiment for the moving device will be briefly described below, where the speed V0 of the AGV trolley 1 moving at a constant speed is known and is stored in the controller in advance, and of course, in some embodiments, the speed V0 of the AGV trolley 1 may also be obtained through the communication between the controller and the AGV trolley 1. Setting the time that the photoelectric sensor 7 detects the light emitted by the light emitter 11 and the controller controls the moving device to drive the bracket 3 to move on the guide rail 2 to be t00, then the moving device is accelerated to the speed 2V0 uniformly by the acceleration a01 for the time t01, and is decelerated to the speed V0 uniformly by the deceleration a02 for the time t02, and then the AGV trolley 1 is caught, namely the photoelectric sensor 8 detects the light emitted by the light emitter 11 again, at the moment, the moving distance of the AGV trolley 1 is equal to the moving distance of the moving device, the moving distance of the AGV trolley 1 is V0 (t 00+ t01+ t 02), and the moving distance of the moving device is V0 t01+1.5V0 t02, so that the moving device can move for a distance of V0 t01+1.5V0 t02
V0*(t00+t01+t02)＝V0*t01+1.5V0*t02
a01＝2V0/t01
a02＝V0/t02
V0*t01+1.5V0*t02+V0*t03≤Lmax
Lmax is the movable maximum length of the bracket 3 on the guide rail 2, t03 is the time for the controller to control the pushing device 5 to work and push the material 5 to be taken placed on the object placing table 4 onto the platform 13 of the AGV trolley 1, and because Lmax, V0, t00 and t03 are known, t02 and a02 can be obtained by setting a01 or t01, so that the movement of the moving device is controlled.
Lmax is generally up to 12m, and a large space is avoided, but the Lmax is not limited to this. For example, in one application scenario, the speed V0 of the AGV 1 is set to 1.5m/s, t00 is set to 1.0s, and A01 is set to 1.0m/s 2 T03 is 2.0s, t01 is 3.0s, and a02 is 0.75m/s 2 And t02 is 2.0s, when the pushing device 5 pushes the material 5 to be taken placed on the object placing table 4 to the platform 13 of the AGV trolley 1, the moving distance of the bracket 33 on the guide rail 2 is V0 t01+1.5V0 t02+ V0 t03=12m is less than or equal to Lmax, and therefore the Lmax reaches 12m and can meet the requirement.
The above control process is only one of the control methods, and the invention is not limited thereto.
EXAMPLE III
As shown in fig. 4 and 5, the present embodiment differs from the first embodiment in that: the triggering device comprises 3 photoelectric sensors 71, 72 and 73, the photoelectric sensors 71, 72 and 73 are sequentially arranged at intervals along the moving direction of the AGV trolley 1, the photoelectric sensor 73 is simultaneously used as a photoelectric sensor 8 of the in-place detection device, and the photoelectric sensors 71, 72 and 73 are respectively and electrically connected with the controller.
In this embodiment, the photosensors 71, 72, and 73 are disposed at equal intervals, but the present invention is not limited thereto, and in some embodiments, they may be disposed at unequal intervals.
The specific embodiment can be applied to the situation that the AGV trolley moves at a uniform variable speed for at least a period of time in the process of passing through the track 2, and the speed and the acceleration of the AGV trolley 1 passing through the photoelectric sensors 71, 72 and 73 can be calculated through the signal time detected by the photoelectric sensors 71, 72 and 73 and the intervals between the signal time and the signal time.
In practical application, in order to improve the transmission efficiency, only uniform acceleration process is generally selected for material taking, and the following description will take uniform acceleration passing through the photosensors 71, 72, and 73 as an example:
defining the speed of the AGV car 1 passing through the photoelectric sensor 71 as V01, the acceleration as a, the adjacent intervals of the photoelectric sensors 71, 72 and 73 as L, the time difference of the signals detected by the photoelectric sensors 71 and 72 as t1, and the time difference of the signals detected by the photoelectric sensors 71 and 72 as t2, then
(V01+a*t1) 2 -v01 2 ＝2aL
(V01+a*t1+a*t2) 2 -(V01+a*t1) 2 ＝2aL
Since L, t1 and t2 are known, V01 and a can be obtained, and thus the velocity of the AGV trolley 1 passing through the photoelectric sensor 73 can be obtained as V03 and acceleration a, V03= V01+ a (t 1+ t 2), when the photoelectric sensor 73 detects a signal, the controller controls the moving device to drive the bracket 3 to move on the guide rail 2 so as to catch up with the AGV trolley 1 and keep moving synchronously with the AGV trolley 1, and the specific control process can refer to the control process of implementing the second process, which is not described in detail.
The material taking process in this embodiment is similar to that in the embodiment, and specifically, reference may be made to the control process for implementing the second embodiment, which will not be described in detail.
According to the invention, in the material taking process of the AGV trolley, the AGV trolley does not need to be stopped at a fixed point, so that the waste of material taking time is reduced, and the material taking efficiency is improved, thus the material handling effect is improved, and the stability of the material taking process is good.
While the invention has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. An AGV trolley non-stop automatic material taking method is characterized by comprising the following steps:
s1, detecting whether an AGV passes through a preset position of a material taking area, and if so, entering the step S2;
s2, moving the feeding mechanism with the materials to be taken to catch up the AGV, namely, enabling the relative position of the feeding mechanism and the AGV to reach a preset relative position along the moving direction of the AGV, then keeping the feeding mechanism and the AGV to move synchronously, and entering the step S3;
and S3, moving the material to be taken to the AGV by the feeding mechanism.
2. The AGV car non-stop automatic material taking method according to claim 1, characterized in that: in steps S1, S2 and S3, the AGV trolley is moving at a constant speed.
3. The AGV car non-stop automatic material taking method according to claim 1, characterized in that: in steps S1, S2 and S3, the AGV carts are in constant speed movement for at least a period of time.
4. The AGV car non-stop automatic material taking method according to claim 1, characterized in that: in the step S1, whether the AGV passes through a preset position of a material taking area or not is detected by a photoelectric sensor.
5. The AGV dolly non-stop automatic material taking method according to claim 1, wherein the step S3 comprises:
s31, detecting whether the relative position between the AGV trolley and the feeding mechanism reaches a preset relative position, and if so, entering a step S32;
and S32, the feeding mechanism pushes the material to be taken to move to an AGV.
6. The utility model provides a AGV dolly does not shut down automatic system of getting material which characterized in that: the automatic material taking method without stopping the AGV comprises a feeding mechanism and the AGV, wherein the feeding mechanism is used for executing the method for automatically taking the material without stopping the AGV according to any one of claims 1 to 5.
7. The AGV dolly non-stop automatic material taking system according to claim 6, characterized in that: feeding mechanism includes the guide rail, and a support, mobile device, put the thing platform, a controller, blevile of push and trigger device, the support sets up on the guide rail, mobile device is used for driving the support and moves on the guide rail, it sets up on the support to put the thing platform, be used for placing and wait to get the thing material, blevile of push is used for pushing away the material of waiting to get of putting on the thing platform to the AGV dolly, trigger device sets up on the support, be used for detecting whether the AGV dolly passes through the predetermined position of getting the material region, mobile device, blevile of push and trigger device are connected with the controller electricity respectively, the controller is used for when trigger device detects the signal, control mobile device drive support moves in order to catch up the AGV dolly and keep the synchronous motion back with the AGV dolly on the guide rail, control blevile of push will place the thing material of waiting to get of putting on the thing platform and push away to the AGV dolly.
8. The AGV dolly non-stop automatic material taking system according to claim 7, characterized in that: trigger device is photoelectric sensor, correspondingly is equipped with the light emitter on the AGV dolly, and photoelectric sensor's quantity is 3, sets up along the moving direction of AGV dolly interval in proper order.
9. The AGV cart non-stop automatic material taking system according to claim 7, wherein: feeding mechanism still is equipped with the detection device that targets in place, and the detection device that targets in place sets up on the support for whether detect the relative position between AGV dolly and the feeding mechanism and reach predetermined relative position, and the detection device that targets in place is connected with the controller electricity, and the controller is used for just controlling blevile of push after receiving detection device's that targets in place signal and will place on putting the thing platform and wait to get the thing material and push away to the AGV dolly.
10. The AGV dolly non-stop automatic material taking system according to claim 7, characterized in that: the pushing device is realized by adopting an air cylinder, a plurality of parallel rolling shafts are further arranged on the object placing table, and the object to be taken is placed on the rolling shafts.
CN202110696425.0A 2021-06-23 2021-06-23 Method and system for automatically taking materials of AGV trolley without stopping Pending CN115503851A (en)

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