CN116118871A - AGV trolley chassis, AGV trolley and laser anti-collision radar detection method thereof - Google Patents
AGV trolley chassis, AGV trolley and laser anti-collision radar detection method thereof Download PDFInfo
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- CN116118871A CN116118871A CN202211141605.3A CN202211141605A CN116118871A CN 116118871 A CN116118871 A CN 116118871A CN 202211141605 A CN202211141605 A CN 202211141605A CN 116118871 A CN116118871 A CN 116118871A
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- 238000001514 detection method Methods 0.000 title claims abstract description 18
- 230000001815 facial effect Effects 0.000 claims 1
- 230000001105 regulatory effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 3
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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- 239000000725 suspension Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/18—Understructures, i.e. chassis frame on which a vehicle body may be mounted characterised by the vehicle type and not provided for in groups B62D21/02 - B62D21/17
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
- B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
- B60G21/04—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically
- B60G21/045—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically between wheels on different axles on the same side of the vehicle, i.e. the left or the right side
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/30—Rigid axle suspensions
- B60G2200/318—Rigid axle suspensions two or more axles being mounted on a longitudinal rocking or walking beam
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Geophysics And Detection Of Objects (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
According to the AGV trolley chassis, the supporting rods are arranged on the mounting plates, the supporting rods are connected with the cross beams in a hinged mode, automatic adjustment of the drop is achieved when the ground drop is met, and the mounting plates are connected with each other in a hinged mode through the plurality of connecting plates to form a flexible structure, so that the AGV trolley chassis can be automatically adjusted when the drop is met, and obstacles can be avoided. Meanwhile, the invention also provides a laser anti-collision radar detection method of the AGV, which can be used for carrying out anti-collision pre-judgment according to the predicted track of the AGV in operation and effectively adapting to the complex field environment.
Description
Technical Field
The invention relates to the technical field of intelligent transportation, in particular to an AGV trolley chassis, an AGV trolley and a laser anti-collision radar detection method thereof.
Background
AGVs are abbreviations of AutomatedGuidedVehicle, automatic guided transport vechicle promptly, wide application is in fields such as commodity circulation, automated operation, like AGV dolly, storage robot, independently patrol and examine, industrial automation robot etc. the chassis is the hardware main part position that constitutes AGV, relate to train and support frame, the fine to a great extent of AGV performance depends on basic chassis's design, in traditional AGV, small-size AGV's chassis often because space size restriction, the chassis is not equipped with suspension system, cause the AGV to appear when the use on uneven ground, the chassis shakes the range greatly, the phenomenon that the drive wheel appears unsettled appears, cause the AGV drive wheel to grab the land power inadequately, the wheel skids, can not normally travel, then produce whole car to shake easily, can not ensure the security of goods, prior art is in order to improve the unsettled phenomenon of drive wheel, weaken and shake the range, be equipped with the elastic component in AGV's chassis, this mode has solved unsettled and the problem of rocking to a certain extent, can be applied in comparatively the ground operating condition, the occasion that positioning accuracy is not high is used.
Along with the expansion of AGV technical application field, like building decoration, off-site construction etc., prior art, this kind of tradition adds the elastic component on the chassis to can not solve the great place operation demand of drop, its main cause is that the rocking of elastic component is great, and traditional chassis adopts the rigid plate, to drop big, needs to improve the chassis height and causes instability, and the chassis is too low again and is difficult to satisfy needs, so need to design a fine AGV chassis of ground self-adaptation, solve the engineering application difficult problem encountered.
On the other hand, in order to improve the operation security of AGV dolly, be equipped with laser anticollision radar on the AGV generally and carry out safety precaution speed reduction and stop, safety protection when reaching human-computer interaction. The traditional laser anti-collision radar can only set a plurality of polygonal detection ranges in the radar in advance for collision detection according to a user, and the user decides which polygonal detection range is called by the laser anti-collision radar at the current moment according to the surrounding environment conditions in an actual scene, so that anti-collision strategy switching among different scenes is realized, the scene cannot be completely self-adapted, and a higher detection blind area exists. Although the anti-collision strategy for automatically switching different ranges according to the running speed of the mobile robot is developed, the detection of polygons in a curve requires manual advance configuration, each environment needs to be configured independently, the debugging complexity is improved, and the risk rate is increased when the design of an anti-collision area is unreasonable.
Disclosure of Invention
The invention provides an AGV trolley chassis with high self-adaptive capacity and good anti-collision effect, an AGV trolley and a laser anti-collision radar detection method thereof, and aims to solve the technical problems.
According to one aspect of the invention, an AGV trolley chassis is provided, which comprises a rack, wherein the rack comprises a rectangular frame, a mounting plate and supporting legs, the frame is connected with the mounting plate through connecting rods, the supporting legs are arranged on two sides of the front end of the frame, the supporting legs penetrate through the mounting plate to extend downwards and are provided with rollers, one side of the mounting plate, which is away from the supporting legs, is provided with two supporting rods which are arranged at intervals, the supporting rods are hinged with cross beams, and two ends of each cross beam are provided with adjusting wheels.
On the basis of the scheme, preferably, the mounting plate comprises a plurality of connecting plates, and the connecting plates are hinged through rotating shafts.
On the basis of the scheme, preferably, the cross beam comprises a connecting beam and a mounting part, the bottom of the connecting beam is hinged with the supporting rod through a rotating shaft, the mounting part is arranged at two ends of the connecting beam, and the adjusting wheel is arranged under the mounting part.
On the basis of the scheme, the mounting plate is preferably connected with the connecting beam through a tension spring.
On the basis of the scheme, preferably, the bottom of the connecting beam is provided with connecting lug plates at intervals relatively, the head of the supporting rod is provided with a bulge, the bulge is matched with the space between the lug plates, and the bulge is locked with the lug plates through bolts.
On the basis of the scheme, preferably, a torsion spring is arranged on the bolt.
Preferably, on the basis of the scheme, the adjusting wheel comprises a supporting wheel and a rotating wheel, the diameter of the rotating wheel is larger than that of the supporting wheel, and the rotating wheel is positioned between the roller and the supporting wheel.
On the basis of the scheme, preferably, the mounting plate is also provided with a laser radar.
The AGV trolley comprises the AGV trolley chassis.
The invention also provides a laser anti-collision radar detection method of the AGV trolley, which comprises the following steps:
a1, acquiring the position of an adjusting wheel of a current AGV trolley, obtaining the rotation angle and the course angle of a roller, and constructing a kinematic model of the roller;
a2, acquiring laser radar origin point cloud data of a current sight range through a laser radar;
step A3, based on the kinematic model, obtaining the next cycle motion trail of the AGV;
and step A4, comparing the next cycle motion trail of the AGV with laser radar original point cloud data to obtain whether an obstacle is positioned on the traveling trail of the AGV in the current environment.
According to the AGV trolley chassis, the supporting rods are arranged on the mounting plates, the supporting rods are connected with the cross beams in a hinged mode, automatic adjustment of the drop is achieved when the ground drop is met, and the mounting plates are connected with each other in a hinged mode through the plurality of connecting plates to form a flexible structure, so that the AGV trolley chassis can be automatically adjusted when the drop is met, and obstacles can be avoided.
Meanwhile, the invention also provides a laser anti-collision radar detection method for the AGV trolley, which can be used for carrying out anti-collision pre-judgment according to the predicted track of the AGV in operation, and can effectively adapt to the complex field environment.
Drawings
FIG. 1 is a block diagram of an AGV cart chassis of the present invention;
FIG. 2 is a front view of the AGV cart chassis of the present invention;
FIG. 3 is an enlarged view of the structure of the AGV chassis of the present invention;
FIG. 4 is a flow chart of the AGV cart laser anti-collision radar detection method of the present invention.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
Referring to fig. 1 in combination with fig. 2 and 3, the chassis of the AGV trolley of the present invention includes a frame 100, where the frame 100 includes a rectangular frame 110, a mounting plate 120, and a leg 130, where the frame 110 is welded or bolted with a light profile such as an aluminum alloy, and provides a mounting base for the mounting plate 120 and the leg 130.
With continued reference to fig. 2, the frame 110 of the present invention is connected to the mounting plate 120 via the connecting rod 140, the supporting legs 130 are disposed at two sides of the front end of the frame 110, the supporting legs 130 extend downward through the mounting plate 120, and the supporting legs 130 are provided with rollers 150, and in operation, the rollers 150 are driven to move by a motor. Wherein, the mounting plate 120 is installed two struts 160 that the interval set up away from landing leg 130 one side, and articulated on the strut 160 has crossbeam 170, and the both ends of crossbeam 170 are provided with adjustment wheel 180.
In the working process, the motor drives the roller 150 to rotate so as to drive the frame 100 to integrally move, when the ground has a drop, acting force is exerted on the adjusting wheel 180, and after the adjusting wheel 180 receives the acting force, the beam 170 can rotate relative to the supporting rod 160 so as to adjust the movement adapting to the ground.
In order to avoid that the height of the ground drop is larger, the drop of the adjusting wheel 180 is larger, and the mounting plate 120 is blocked with the ground turning points, the invention also discloses that the mounting plate 120 comprises a plurality of connecting plates 121, the connecting plates 121 are hinged through rotating shafts, in particular, the connecting plates 121 are designed to be in a loose-leaf connection structure, and when the height of the ground drop is adjusted, the self-adaptive adjustment can be realized through the rotation of the rotating shafts between the connecting plates 121.
With continued reference to fig. 1, the beam 170 of the present invention includes a connection beam 171 and a mounting portion 172, wherein the bottom of the connection beam 171 is hinged to the strut 160 through a rotation shaft, the mounting portion 172 is disposed at two ends of the connection beam 171, and the adjusting wheel 180 is disposed under the mounting portion 172.
In order to reduce the vibration of the frame 110 due to the self-adaptation, the invention is also connected between the mounting plate 120 and the connecting beam 171 through the tension spring 190, i.e. the whole vibration caused by deformation of the mounting plate 120 can be buffered by the tension spring.
In order to further describe the technical solution of the present invention in detail, please continue to refer to fig. 3, the bottom of the connecting beam 171 of the present invention is provided with the connecting lugs 174 at opposite intervals, the head of the strut 160 is provided with the protrusions 161, the distance between the protrusions 161 and the two lugs is adapted, the protrusions 161 are provided with through holes, the lugs are provided with connecting holes, after installation, the through holes on the protrusions 161 are coaxially arranged with the connecting holes on the lugs, and the protrusions 161 and the lugs are locked by bolts, further preferably, torsion springs are arranged on the bolts.
The adjusting wheel 180 of the present invention includes a supporting wheel 181 and a rotating wheel 182, the diameter of the rotating wheel 182 is larger than that of the supporting wheel 181, and the rotating wheel 182 is located between the roller 150 and the supporting wheel 181, and a laser radar is further installed on the mounting plate 120.
The AGV trolley comprises the AGV trolley chassis.
With continued reference to fig. 4, the present invention also provides a laser collision avoidance radar detection method for an AGV trolley, which is characterized by comprising the following steps:
step A1, acquiring the position of an adjusting wheel 180 of the current AGV trolley, obtaining the rotation angle and the course angle of the roller 150, and constructing a kinematic model of the roller 150;
a2, acquiring laser radar origin point cloud data of a current sight range through a laser radar;
step A3, based on the kinematic model, obtaining the next cycle motion trail of the AGV;
and step A4, comparing the next cycle motion trail of the AGV with laser radar original point cloud data to obtain whether an obstacle is positioned on the traveling trail of the AGV in the current environment.
Specifically, the main content of the method of the invention is as follows:
1) Laser radar selection
The traditional digital output safety protection laser radar is replaced by the safety protection laser radar with the original point cloud data output, the resolution is 0.1 degree, the detection distance is 0.2-15m, the visual angle is 270 degrees, the laser radar can output point cloud data of 2700 points in real time, and each point contains reflection intensity, distance and angle information.
2) AGV kinematic model
In a two-dimensional coordinate system, the current position of the AGV is a C (x, y) point where the center of the rear wheel is located, the rotation angle of the driving wheel is psi, and the course angle is beta.
The angular speed of the vehicle body is as follows: omega c ＝v*sin(ψ)/d
The current heading linear speed is: v c ＝v*cos(ψ)
Where v is the linear velocity of the drive wheel and d is the distance from the reference point to the drive wheel.
The front wheel drive steering kinematics model is:
x * ＝v*sin(ψ)*cos(β)
y * ＝v*cos(ψ)*sin(β)
3) Motion trajectory estimation
According to the AGV kinematic equation in the step 2, knowing the width, length, x, y coordinates, the vehicle body angle, the current speed and the driving wheel angle of the current AGV, the motion trail of the AGV in the next period can be calculated. As shown in fig. 2, the driving trajectory in the next 8 cycles was estimated with the driving wheel angle of 1200mm in length, 600mm in width, 0 (0, 0) in vehicle position, 0 degrees in vehicle body angle, 1000mm/s in speed, and 30 degrees in driving wheel angle.
4) Safety protection detection
According to the laser radar original point cloud data in the step 1), whether an obstacle is located on the running track of the AGV in the current environment or not can be calculated, if the obstacle is located on the running track of the AGV, the speed can be reduced and stopped according to requirements, and therefore the purpose of collision prevention is achieved.
According to the AGV trolley chassis, the supporting rods 160 are arranged on the mounting plate 120, the supporting rods 160 are connected with the cross beam 170 in a hinged mode, automatic adjustment of the drop is achieved when the ground drop is met, and the mounting plate 120 is formed into a flexible structure by mutually hinged and spliced by the connecting plates 121, so that the AGV trolley chassis can be automatically adjusted to avoid obstacles when the ground drop is met.
Meanwhile, the invention also provides a laser anti-collision radar detection method of the AGV, which can be used for carrying out anti-collision pre-judgment according to the predicted track of the AGV in operation and effectively adapting to the complex field environment.
Finally, the methods of the present application are only preferred embodiments and are not intended to limit the scope of the invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a AGV dolly chassis, its characterized in that, includes the frame, the frame is including being frame, mounting panel and the landing leg of rectangle, the frame pass through the connecting rod with the mounting panel links to each other, the landing leg is installed the front end both sides of frame, the landing leg passes the mounting panel downwardly extending and at this landing leg facial make-up are equipped with the gyro wheel, the mounting panel deviates from the branch that two intervals set up has been installed to landing leg one side, articulated on the branch has the crossbeam, the both ends of crossbeam are provided with the regulating wheel.
2. The AGV cart chassis of claim 1, wherein said mounting plate includes a plurality of connection plates, said connection plates being hinged by means of shafts.
3. The AGV car chassis according to claim 1, wherein the cross beam includes a connecting beam and a mounting portion, the bottom of the connecting beam is hinged to the supporting bar through a rotating shaft, the mounting portion is disposed at two ends of the connecting beam, and the adjusting wheel is disposed under the mounting portion.
4. The AGV car chassis of claim 3, wherein said mounting plate is connected to said connecting beam by a tension spring.
5. The AGV cart chassis according to claim 3, wherein the bottom of said connecting beam is provided with connecting lugs at opposite intervals, the head of said post is provided with protrusions, the distance between said protrusions and said lugs is adapted, and said protrusions and said lugs are fastened by bolts.
6. The AGV car chassis of claim 5, wherein said bolts are provided with torsion springs.
7. The AGV cart chassis of claim 1, wherein said adjustment wheel includes a support wheel and a turning wheel, said turning wheel having a diameter greater than a diameter of said support wheel, and said turning wheel being positioned between said roller and said support wheel.
8. The AGV cart chassis of claim 1, wherein said mounting plate further includes a laser radar.
9. An AGV cart comprising the AGV cart chassis of claim 8.
10. A laser radar anti-collision detection method for an AGV cart according to claim 9, comprising the steps of:
a1, acquiring the position of an adjusting wheel of a current AGV trolley, obtaining the rotation angle and the course angle of a roller, and constructing a kinematic model of the roller;
a2, acquiring laser radar origin point cloud data of a current sight range through a laser radar;
step A3, based on the kinematic model, obtaining the next cycle motion trail of the AGV;
and step A4, comparing the next cycle motion trail of the AGV with laser radar original point cloud data to obtain whether an obstacle is positioned on the traveling trail of the AGV in the current environment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211141605.3A CN116118871A (en) | 2022-09-20 | 2022-09-20 | AGV trolley chassis, AGV trolley and laser anti-collision radar detection method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211141605.3A CN116118871A (en) | 2022-09-20 | 2022-09-20 | AGV trolley chassis, AGV trolley and laser anti-collision radar detection method thereof |
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| Publication Number | Publication Date |
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| CN116118871A true CN116118871A (en) | 2023-05-16 |
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| CN202211141605.3A Pending CN116118871A (en) | 2022-09-20 | 2022-09-20 | AGV trolley chassis, AGV trolley and laser anti-collision radar detection method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116360378A (en) * | 2023-06-02 | 2023-06-30 | 北京中鼎昊硕科技有限责任公司 | AGV trolley safety scheduling method based on data analysis |
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| CN108725626A (en) * | 2018-06-26 | 2018-11-02 | 杭州南江机器人股份有限公司 | A kind of chassis structure of AGV |
| CN210027597U (en) * | 2019-05-24 | 2020-02-07 | 北京京东乾石科技有限公司 | Automatic guide transport vechicle chassis and automatic guide transport vechicle |
| CN111679676A (en) * | 2020-06-19 | 2020-09-18 | 重庆大学 | AGV movement track control method |
| CN111845945A (en) * | 2019-04-28 | 2020-10-30 | 锥能机器人（上海）有限公司 | Carrying vehicle and chassis assembly thereof |
| CN112611374A (en) * | 2020-10-29 | 2021-04-06 | 华中科技大学鄂州工业技术研究院 | Path planning and obstacle avoidance method and system based on laser radar and depth camera |
| CN216301231U (en) * | 2021-12-03 | 2022-04-15 | 深圳市智晶自动化设备有限公司 | Chassis supporting mechanism for AGV trolley |
-
2022
- 2022-09-20 CN CN202211141605.3A patent/CN116118871A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108725626A (en) * | 2018-06-26 | 2018-11-02 | 杭州南江机器人股份有限公司 | A kind of chassis structure of AGV |
| CN111845945A (en) * | 2019-04-28 | 2020-10-30 | 锥能机器人（上海）有限公司 | Carrying vehicle and chassis assembly thereof |
| CN210027597U (en) * | 2019-05-24 | 2020-02-07 | 北京京东乾石科技有限公司 | Automatic guide transport vechicle chassis and automatic guide transport vechicle |
| CN111679676A (en) * | 2020-06-19 | 2020-09-18 | 重庆大学 | AGV movement track control method |
| CN112611374A (en) * | 2020-10-29 | 2021-04-06 | 华中科技大学鄂州工业技术研究院 | Path planning and obstacle avoidance method and system based on laser radar and depth camera |
| CN216301231U (en) * | 2021-12-03 | 2022-04-15 | 深圳市智晶自动化设备有限公司 | Chassis supporting mechanism for AGV trolley |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116360378A (en) * | 2023-06-02 | 2023-06-30 | 北京中鼎昊硕科技有限责任公司 | AGV trolley safety scheduling method based on data analysis |
| CN116360378B (en) * | 2023-06-02 | 2023-09-19 | 北京中鼎昊硕科技有限责任公司 | AGV trolley safety scheduling method based on data analysis |
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