CN205311599U - Single track commodity circulation car of accurate positioning for industrialized agriculture - Google Patents
Single track commodity circulation car of accurate positioning for industrialized agriculture Download PDFInfo
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- CN205311599U CN205311599U CN201521015093.1U CN201521015093U CN205311599U CN 205311599 U CN205311599 U CN 205311599U CN 201521015093 U CN201521015093 U CN 201521015093U CN 205311599 U CN205311599 U CN 205311599U
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Abstract
The utility model relates to a single track commodity circulation car of accurate positioning for industrialized agriculture, including guide rail, actuating system, control system and battery. Guide rail be used for the direction and the assistance -localization real -time function that support the commodity circulation car and realize the commodity circulation car, the actuating system be used for driving the commodity circulation car and go forward, retreat and stop along single rail, control system be used for the accurate positioning of commodity circulation car and upload electronic map, control commodity circulation car automatic keep away the barrier and report to the police, control commodity circulation car automatic operation to assigned work ground. The battery provide power and energy for actuating system and control system. The utility model discloses chassis compact structure, small, operational environment is the monorail, and it is few to take the greenhouse cultivated area, sets for operating position through the smart mobile phone in the transportation, and single track commodity circulation car from the main motion, is met the barrier automatic shutdown and is reported to the police on the track, and easy operation, degree of automation is high, conveying efficiency is high.
Description
Technical field
This utility model relates to machine of establishment agriculture field, and especially a kind of industrialized agriculture, with pinpoint single track logistic car, is accurately positioned and material automatic transportation operation for logistic car in heliogreenhouse.
Background technology
China is that industrialized agriculture big producing country, area and yield are sure to occupy the first in the world. The distinctive heliogreenhouse of China can make full use of sunlight heat resource, save the energy and input cost, minimizing environmental pollution, it has also become the main body in China's industrialized agriculture industry, is one of industry most effective in agricultural planting. Existing logistic car mostly adopts Manual-pushing or drives grasp direct of travel, speed and stop position, therefore needing manual intervention, production efficiency is low, lavishes labor on, not having suitable private carrier, material transportation has become in greenhouse one of production link of most work consuming effort.
Through the literature search of prior art is found, existing heliogreenhouse Transport Machinery kind is few, function is few, efficiency is low, such as Chinese invention patent " winter warm type big shack rail electric transport cart " number of patent application 201310023085.0, provide the haulage vehicle that a kind of applicable winter warm type big shack advanced voluntarily uses along guide rail, this patent achieves material automatic transportation in greenhouse, but can only unidirectional automatic running, the purpose being difficult under different condition that in greenhouse, traffic requirements logistic car travels back and forth, and intelligence degree is low, logistic car being accurately positioned and automatic running in orbit cannot be realized.
It is limited to present stage China's Facility Agriculture Development feature, logistic car technology in temperature office work is well innovated always, particularly greenhouse floor out-of-flatness, can be used for the narrow space of hauling operation, at present the domestic not too many logistic car being suitable for automatic transportation material. Therefore, in the urgent need to inventing the Rail logistics car of a kind of lighting, high efficiency, precision and the automatization transport to complete in heliogreenhouse, to the workload reducing heliogreenhouse logistics operation, reduce production cost, reduce the use of labour force, improve the quality of chamber crop, there is great economy and social meaning.
Summary of the invention
This utility model is for the defect of prior art, solve that heliogreenhouse automated transport system lacks, existing logistic car working method is single and the problem of poor efficiency and invented the pinpoint single track logistic car of a kind of industrialized agriculture, have and be accurately positioned logistic car position and be indicated in electronic chart under monorail track guides, meet barrier be automatically stopped and report to the police, send control instruction according to electronic chart, automatically run to multiple complex functions such as assigned work places.
The technical scheme that this utility model adopts:
A kind of based on single track logistic car pinpoint in greenhouse, including guide rail, drive system, control system and accumulator. Described guide rail is for supporting logistic car and realizing guiding and the auxiliary positioning function of logistic car; Described drive system is used for driving logistic car to advance along monorail track, retreating and stop; Described control system is accurately positioned and uploads electronic chart for logistic car, control logistic car automatic obstacle-avoiding and report to the police, control logistic car and automatically run to appointed working place. Described accumulator is for drive system and controls system offer power source.
Described guide rail is the monorail track consisted of multistage angle bar and multiple stationary positioned anchor. Equal angle iron selected by described angle bar, and its geometry is linear and quadrant shape two kinds. Linear type, curved road type or even enclosed type monorail track is formed by combining difform angle bar; Described stationary positioned anchor is made up of middle stationary positioned anchor, angle bar connection location anchor and end stationary positioned anchor. Described middle stationary positioned anchor is to be fixed in anchors by angle bar along being perpendicular to angle bar length direction by angle bar both sides lower edge, and then is fixed on greenhouse floor by both sides anchors. It is fixed in anchors by angle bar along being perpendicular to angle bar length direction by two sections of angle bar by angle bar both sides lower edge that described angle bar couples location anchor, and then is fixed on greenhouse floor by both sides anchors. Described end stationary positioned anchor is to be fixed in anchors by angle bar with being perpendicular to length direction at angle bar length direction by angle bar both sides lower edge and end, and then is fixed on greenhouse floor by both sides anchors.
Described drive system includes chassis, driving wheel, movable motor, differential bridge, drum brake, relay switch, U-bolt and servo-actuated guide wheel device. Described chassis divides upper and lower two-layer for fixing and support and control system and accumulator; Described differential bridge is drum brake differential bridge, is fixed on the centre position of chassis lower level floor by U-bolt, and differential bridge two ends are separately installed with drum brake; The shell at described drum brake two ends is separately installed with driving wheel; Described movable motor is fixed on differential bridge central authorities; Described relay switch is fixed on chassis lower level floor, controls drum brake brake hard; Described servo-actuated guide wheel device is two and is arranged in front and rear part, chassis, and servo-actuated guide wheel device is made up of directive wheel, fixed mount, connecting bolt, locking nut, damping spring, ball bearing and fixing axle; Described fixed mount is two and is separately fixed at below a stay tube of rear and front end, bottom, chassis by connecting bolt and locking nut; Described stay tube is internally installed damping spring, and the two ends up and down of a stay tube are separately installed with ball bearing; Described ball bearing is two and is fixed on connecting bolt; Described fixing axle is arranged in fixed mount, and fixing axle lower end is provided with directive wheel. Described directive wheel design has triangle concave inward structure, relies on deadweight to be pressed on guide rail.
Described control system includes control chamber, wireless router, single-chip microcomputer, Wi-Fi module, movable motor controller, ultrasonic sensor, proximity switch, photoelectric encoder, warning lamp, support and smart mobile phone; Described control chamber is fixedly mounted on inside chassis, is used for placing single-chip microcomputer, Wi-Fi module and movable motor controller;Wireless router is fixed on rear wall of greenhouse; Described movable motor controller receives SCM PWM signal and controls the startup of movable motor, stopping and running speed; Described ultrasonic sensor is two and is separately fixed at before and after chassis along both sides, ultrasonic sensor is concatenated into the analog signals input interface of single-chip microcomputer, whether detection logistic car traveling front has obstacle signal, if having obstacle, warning lamp is opened by single-chip microcomputer output high level; Described proximity switch is two and is separately mounted to the anchors position corresponding to stationary positioned anchor, the left and right sides, chassis, and proximity switch is concatenated on single-chip microcomputer, for detecting the metal signal of stationary positioned anchor anchors; Described photoelectric encoder is two and is separately mounted to inside two driving wheel hubs, and photoelectric encoder is concatenated on single-chip microcomputer, for determining the rotational angle of driving wheel, and then calculates the current location of logistic car; Described warning lamp is arranged on the support of chassis front end; Described Wi-Fi module is concatenated into single-chip microcomputer, carries out communication with wireless router, it is achieved with the transmission-receiving function of smart mobile phone signal.
Accurate positioning method of the present utility model is as follows:
1) precision indoor location during greenhouse single track logistic car linear running: in logistic car motor process in-orbit, proximity switch detects the metal anchors signal of track both sides stationary positioned anchor always, the signal detected is sent to single-chip microcomputer and carries out processing and record the signal number n detected; When logistic car forward is walked, the rising edge of side proximity switch detection metal anchors signal, the reversely trailing edge of detection metal anchors signal during walking. Now, the anglec of rotation of single-chip microcomputer recording light photoelectric coder is as the current location of logistic car, the pulse increment that recycling photoelectric encoder record logistic car walking produces, to obtain angular displacement, thus the distance that logistic car is walked within the unit interval can be obtained, calculate the coordinate X of the current location of logistic carStraight way:
In formula, r is driving wheel radius, and L is the spacing of stationary positioned anchor; This coordinate by Wi-Fi module and smart mobile phone communication, is indicated on the greenhouse plane electronics map that smart mobile phone shows by single-chip microcomputer.
2) precision indoor location when greenhouse single track logistic car bend runs: greenhouse inner orbit is respectively provided with stationary positioned anchor and metal anchors at quarter circular arc beginning and end place; In greenhouse single track logistic car motor process in-orbit, when proximity switch detects the metal anchors signal of circular arc starting point, Single-chip Controlling photoelectric encoder is started working, photoelectric encoder records photoelectric encoder on two driving wheels at the angle of turn of bend and travel distance, calculates and obtains the single track logistic car center coordinate (X in bend positionBend, YBend):
In formula, r1、r2The respectively radius of turn of turning nearside and distally driving wheel, θ1、θ2The respectively angle of turn of turning nearside and distally driving wheel; This coordinate by Wi-Fi module and smart mobile phone communication, is indicated on the greenhouse plane electronics map that smart mobile phone shows by single-chip microcomputer.
The beneficial effects of the utility model:
1, this utility model adopts proximity switch and photoelectric encoder cooperation to collect signal to be sent to single-chip microcomputer and process, it is achieved greenhouse single track logistic car being accurately positioned in orbit, shows position coordinates on greenhouse electronic chart.
2, this utility model sets operating position by smart mobile phone in transportation, and greenhouse single track logistic car moves automatically in orbit, simple to operate, automaticity is high, conevying efficiency is high, save labour force.
3, this utility model adopts whether ultrasonic sensor detection track front has barrier, and greenhouse single track logistic car can avoidance send obstacle alarm voluntarily.
4, this utility model chassis wheel is that class rhombus is arranged, compact conformation, and volume is little, and the working environment of greenhouse single track logistic car is monorail, saves temperature indoor transporting area occupied.
Accompanying drawing explanation
Fig. 1 is the pinpoint single track logistic car structural representation of this utility model one industrialized agriculture;
Fig. 2 is front view of the present utility model;
Fig. 3 is top view of the present utility model;
Fig. 4 is control flow chart of the present utility model;
Fig. 5 is guide rail structural representation of the present utility model;
Fig. 6 is that in this utility model greenhouse, single track logistic car is accurately positioned embodiment schematic diagram;
In figure: 1, chassis 2, directive wheel 3, driving wheel 4, photoelectric encoder 5, ultrasonic sensor 6, proximity switch 7, guide rail 8, support 9, fixed mount 10, accumulator 11, control chamber 12, movable motor 13, differential bridge 14, Wi-Fi module 15, drum brake 16, relay switch 17, middle stationary positioned anchor 18, angle bar couple location anchor 19, end stationary positioned anchor
Detailed description of the invention
Below in conjunction with accompanying drawing, this utility model patent is further detailed. The present embodiment as shown in Figure 6, A, F of institute's labelling two place be beginning and end, through B, C, D, E 4 point, describe the accurate positioning method of greenhouse single track logistic car in detail for these 6 positions.
A kind of industrialized agriculture described in the utility model is with pinpoint single track logistic car, as shown in Fig. 1,2,3,4,5,6. A kind of industrialized agriculture includes guide rail 7, drive system, control system and accumulator 10 with pinpoint single track logistic car. Described guide rail 7 is for supporting logistic car and realizing guiding and the auxiliary positioning function of logistic car; Described drive system is used for driving logistic car to advance along monorail track, retreating and stop; Described control system is accurately positioned and uploads electronic chart for logistic car, control logistic car automatic obstacle-avoiding and report to the police, control logistic car automatization and move to appointed working place. Described accumulator 10 is for drive system and controls system offer power source.
Described guide rail 7 is the monorail track consisted of multistage angle bar and multiple stationary positioned anchor. Equal angle iron selected by described angle bar, and its geometry is linear and quadrant shape two kinds. Linear type, curved road type or even enclosed type monorail track is formed by combining difform angle bar; Described stationary positioned anchor is made up of middle stationary positioned anchor 17, angle bar connection location anchor 18 and end stationary positioned anchor 19. Described middle stationary positioned anchor 17 is to be fixed in anchors by angle bar along being perpendicular to angle bar length direction by angle bar both sides lower edge, and then is fixed on greenhouse floor by both sides anchors. It is fixed in anchors by angle bar along being perpendicular to angle bar length direction by two sections of angle bar by angle bar both sides lower edge that described angle bar couples location anchor 18, and then is fixed on greenhouse floor by both sides anchors. Described end stationary positioned anchor 19 is to be fixed in anchors by angle bar with being perpendicular to length direction at angle bar length direction by angle bar both sides lower edge and end, and then is fixed on greenhouse floor by both sides anchors.
Described drive system includes chassis 1, driving wheel 3, movable motor 12, differential bridge 13, drum brake 15, relay switch 16, U-bolt and servo-actuated guide wheel device. About 1 point of described chassis two-layer is for fixing and support and control system and accumulator 10; Described differential bridge 13 is drum brake differential bridge, is fixed on the centre position of chassis 1 lower level floor by U-bolt, and differential bridge 13 two ends are separately installed with drum brake 15;The shell at described drum brake 15 two ends is separately installed with driving wheel 3; Described movable motor 12 is fixed on differential bridge 13 central authorities; Described relay switch 16 is fixed on chassis 1 lower level floor, controls drum brake 15 brake hard; Two described servo-actuated guide wheel devices are arranged in front and rear part, chassis 1, and servo-actuated guide wheel device is made up of directive wheel 2, fixed mount 9, connecting bolt, locking nut, damping spring, ball bearing and fixing axle; Described fixed mount 9 two is separately fixed at below a stay tube of rear and front end, bottom, chassis 1 by connecting bolt and locking nut; Described stay tube is internally installed damping spring, and the two ends up and down of a stay tube are separately installed with ball bearing; Two, described ball bearing is fixed on connecting bolt; Described fixing axle is arranged in fixed mount 9, and fixing axle lower end is provided with directive wheel 2. Described directive wheel 2 design has triangle concave inward structure, relies on deadweight to be pressed on guide rail 7.
Described control system includes control chamber 11, wireless router, single-chip microcomputer, Wi-Fi module 12, movable motor controller, ultrasonic sensor 5, proximity switch 6, photoelectric encoder 4, warning lamp, support 8 and smart mobile phone; It is internal that described control chamber 11 is fixedly mounted on chassis 1, is used for placing single-chip microcomputer, Wi-Fi module 14 and movable motor controller; Described wireless router is fixed on rear wall of greenhouse; Described movable motor controller receives SCM PWM signal and controls the startup of movable motor, stopping and running speed; Two described ultrasonic sensors 5 are separately fixed at before and after chassis 1 along both sides, ultrasonic sensor 5 is concatenated into the analog signals input interface of single-chip microcomputer, whether detection logistic car traveling front has obstacle signal, if having obstacle, warning lamp is opened by single-chip microcomputer output high level; Two described proximity switches 6 are separately mounted to the anchors position corresponding to stationary positioned anchor, the left and right sides, chassis 1, and proximity switch 6 is concatenated on single-chip microcomputer, for detecting the metal signal of stationary positioned anchor anchors; Two described photoelectric encoders 4 are separately mounted to inside two driving wheel 3 wheel hubs, and photoelectric encoder 4 is concatenated on single-chip microcomputer, for determining the rotational angle of driving wheel 3, and then calculate the current location of logistic car; Described warning lamp is arranged on the support 8 of front end, chassis 1; Described Wi-Fi module 14 is concatenated into single-chip microcomputer, carries out communication with wireless router, it is achieved with the transmission-receiving function of smart mobile phone signal.
The accurate positioning method of a kind of industrialized agriculture single track logistic car of this utility model, comprises the steps:
1) accurate distance (respectively for A to B point and A to C point) during greenhouse logistic car linear running: in logistic car motor process in-orbit, proximity switch 6 detects the metal anchors signal of track both sides stationary positioned anchor always, the square-wave signal detected is sent to single-chip microcomputer carry out processing and record, it it is 3 by the metal anchors signal number detected in A point to B point process, stationary positioned anchor spacing distance is 1 meter, so the distance of logistic car walking is 3 × 1 meters, relative location A, the coordinate of B is (3,0). When the metal signal that proximity switch 6 detects is rising edge, the anglec of rotation of single-chip microcomputer recording light photoelectric coder 4 is as the current location of logistic car, recycling photoelectric encoder 4 records the pulse increment that logistic car walking produces, it is 2.5 by calculating acquisition angular displacement, thus recording logistic car from leaving the distance that fixing anchors walks in a spacing is 2.5 × 0.2 meters, 0.2 meter is driving wheel 3 radius;So the accurate distance that 2.5 × 0.2+3 × 1 meter is logistic car straight line moving, relative location A, the coordinate of C is (3.5,0).
2) accurate distance (for A to D and A to E) when logistic car bend in greenhouse runs: greenhouse inner orbit is respectively provided with stationary positioned anchor and metal anchors at quarter circular arc beginning and end place; In greenhouse single track logistic car motor process in-orbit, when proximity switch 6 detects the metal anchors signal of circular arc starting point, Single-chip Controlling photoelectric encoder 4 is started working, photoelectric encoder records photoelectric encoder 4 on two driving wheels 3 at the angle of turn of bend and travel distance, calculates and obtains the single track logistic car center coordinate in bend position. A to D just experienced by one section of air line distance and circular curve one section complete, so operating range is 5 × 1+1 × 1, and relative location A, the coordinate of D is (5.6,0.6); A to E experienced by three sections of straight lines, three sections of complete circular arcs and 1 section of imperfect circular arc, so operating range is 5 × 1+2.5 × 0.2+2 × 1+2 × 1+3 × 1+2.5 × 0.2, relative location A, the coordinate of E is (7.9,3.4).
Claims (1)
1. an industrialized agriculture is with pinpoint single track logistic car, it is characterised in that include guide rail, drive system, control system and accumulator; Described guide rail is for supporting logistic car and realizing guiding and the auxiliary positioning function of logistic car; Described drive system is used for driving logistic car to advance along monorail track, retreating and stop; Described control system is accurately positioned and uploads electronic chart for logistic car, control logistic car automatic obstacle-avoiding and report to the police, control logistic car and automatically run to appointed working place; Described accumulator is for drive system and controls system offer power source;
Described guide rail is the monorail track consisted of multistage angle bar and multiple stationary positioned anchor; Equal angle iron selected by described angle bar, and its geometry is linear and quadrant shape two kinds; Linear type, curved road type or enclosed type monorail track is formed by combining difform angle bar; Described stationary positioned anchor is made up of middle stationary positioned anchor, angle bar connection location anchor and end stationary positioned anchor; Described middle stationary positioned anchor is to be fixed in anchors by angle bar along being perpendicular to angle bar length direction by angle bar both sides lower edge, and then is fixed on greenhouse floor by both sides anchors; It is fixed in anchors by angle bar along being perpendicular to angle bar length direction by two sections of angle bar by angle bar both sides lower edge that described angle bar couples location anchor, and then is fixed on greenhouse floor by both sides anchors; Described end stationary positioned anchor is to be fixed in anchors by angle bar with being perpendicular to length direction at angle bar length direction by angle bar both sides lower edge and end, and then is fixed on greenhouse floor by both sides anchors;
Described drive system includes chassis, driving wheel, movable motor, differential bridge, drum brake, relay switch, U-bolt and servo-actuated guide wheel device; Described chassis divides upper and lower two-layer for fixing and support and control system and accumulator; Described differential bridge is drum brake differential bridge, is fixed on the centre position of chassis lower level floor by U-bolt, and differential bridge two ends are separately installed with drum brake; The shell at described drum brake two ends is separately installed with driving wheel; Described movable motor is fixed on differential bridge central authorities; Described relay switch is fixed on chassis lower level floor, controls drum brake brake hard; Described servo-actuated guide wheel device is two and is arranged in front and rear part, chassis, and servo-actuated guide wheel device is made up of directive wheel, fixed mount, connecting bolt, locking nut, damping spring, ball bearing and fixing axle; Described fixed mount is two and is separately fixed at below a stay tube of rear and front end, bottom, chassis by connecting bolt and locking nut; Described stay tube is internally installed damping spring, and the two ends up and down of a stay tube are separately installed with ball bearing; Described ball bearing is two and is fixed on connecting bolt; Described fixing axle is arranged in fixed mount, and fixing axle lower end is provided with directive wheel; Described directive wheel design has triangle concave inward structure, relies on deadweight to be pressed on guide rail;
Described control system includes control chamber, wireless router, single-chip microcomputer, Wi-Fi module, movable motor controller, ultrasonic sensor, proximity switch, photoelectric encoder, warning lamp, support and smart mobile phone;Described control chamber is fixedly mounted on inside chassis, is used for placing single-chip microcomputer, Wi-Fi module and movable motor controller; Wireless router is fixed on rear wall of greenhouse; Described movable motor controller receives SCM PWM signal and controls the startup of movable motor, stopping and running speed; Described ultrasonic sensor is two and is separately fixed at before and after chassis along both sides, ultrasonic sensor is concatenated into the analog signals input interface of single-chip microcomputer, whether detection logistic car traveling front has obstacle signal, if having obstacle, warning lamp is opened by single-chip microcomputer output high level; Described proximity switch is two and is separately mounted to the anchors position corresponding to stationary positioned anchor, the left and right sides, chassis, and proximity switch is concatenated on single-chip microcomputer, for detecting the metal signal of stationary positioned anchor anchors; Described photoelectric encoder is two and is separately mounted to inside two driving wheel hubs, and photoelectric encoder is concatenated on single-chip microcomputer, for determining the rotational angle of driving wheel, and then calculates the current location of logistic car; Described warning lamp is arranged on the support of chassis front end; Described Wi-Fi module is concatenated into single-chip microcomputer, carries out communication with wireless router, it is achieved with the transmission-receiving function of smart mobile phone signal.
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| CN201521015093.1U CN205311599U (en) | 2015-12-08 | 2015-12-08 | Single track commodity circulation car of accurate positioning for industrialized agriculture |
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| CN201521015093.1U CN205311599U (en) | 2015-12-08 | 2015-12-08 | Single track commodity circulation car of accurate positioning for industrialized agriculture |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106338994A (en) * | 2016-10-11 | 2017-01-18 | 山东农业大学 | Greenhouse logistics plant protection robot control system and method |
| CN111716969A (en) * | 2020-06-30 | 2020-09-29 | 苏州博田自动化技术有限公司 | Rail dual-purpose chassis vehicle for automatic operation of greenhouse |
| CN112659826A (en) * | 2020-12-08 | 2021-04-16 | 北京农业智能装备技术研究中心 | Special chassis for facility agriculture rail dual-purpose robot |
| CN112902737A (en) * | 2021-02-07 | 2021-06-04 | 蔡敬卫 | Lower pulley of cleaning device for heat exchanger in indirect cooling tower |
| CN114967616A (en) * | 2022-05-20 | 2022-08-30 | 山东农业大学 | Hanging AGV system and method with binary tree layout |
-
2015
- 2015-12-08 CN CN201521015093.1U patent/CN205311599U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106338994A (en) * | 2016-10-11 | 2017-01-18 | 山东农业大学 | Greenhouse logistics plant protection robot control system and method |
| CN111716969A (en) * | 2020-06-30 | 2020-09-29 | 苏州博田自动化技术有限公司 | Rail dual-purpose chassis vehicle for automatic operation of greenhouse |
| CN112659826A (en) * | 2020-12-08 | 2021-04-16 | 北京农业智能装备技术研究中心 | Special chassis for facility agriculture rail dual-purpose robot |
| CN112659826B (en) * | 2020-12-08 | 2022-07-01 | 北京农业智能装备技术研究中心 | Special chassis for facility agriculture rail dual-purpose robot |
| CN112902737A (en) * | 2021-02-07 | 2021-06-04 | 蔡敬卫 | Lower pulley of cleaning device for heat exchanger in indirect cooling tower |
| CN112902737B (en) * | 2021-02-07 | 2023-12-15 | 蔡敬卫 | Lower pulley of heat exchanger cleaning device in inter-cooling tower |
| CN114967616A (en) * | 2022-05-20 | 2022-08-30 | 山东农业大学 | Hanging AGV system and method with binary tree layout |
| CN114967616B (en) * | 2022-05-20 | 2024-05-14 | 山东农业大学 | Hanging AGV system and method of binary tree layout |
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