CN207903267U - A kind of automated guided vehicle of detectable cargo - Google Patents

A kind of automated guided vehicle of detectable cargo Download PDF

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Publication number
CN207903267U
CN207903267U CN201820069917.0U CN201820069917U CN207903267U CN 207903267 U CN207903267 U CN 207903267U CN 201820069917 U CN201820069917 U CN 201820069917U CN 207903267 U CN207903267 U CN 207903267U
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China
Prior art keywords
automated guided
guided vehicle
cargo
shelf
ontology
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CN201820069917.0U
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Chinese (zh)
Inventor
韩圣男
吴王东
沈振华
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Zhejiang Guozi Robot Technology Co Ltd
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Zhejiang Guozi Robot Technology Co Ltd
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Classifications

    • 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
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
    • Y02B20/30—Semiconductor lamps, e.g. solid state lamps [SSL] light emitting diodes [LED] or organic LED [OLED]

Landscapes

  • Mechanical Engineering (AREA)
  • Engineering & Computer Science (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Pallets (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Circuit Arrangement For Electric Light Sources In General (AREA)
  • Assembled Shelves (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Brushes (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Studio Devices (AREA)
  • Specific Conveyance Elements (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

The utility model discloses a kind of automated guided vehicles of detectable cargo, are related to logistic storage field, including ontology shelf, domain, prong component, slide assemblies, hoisting mechanism and control system, it is characterized in that, further including photoelectric sensor, it is set on the prong component；The domain is set to the ontology bottom shelf, is fixedly connected with the ontology shelf；The side of the ontology shelf is provided with guide rail, matches with the slide assemblies；The prong component is scalable and turns round, and is fixedly connected on the slide assemblies；The hoisting mechanism is connected on the slide assemblies；The control system is for the control to the automated guided vehicle.Automated guided vehicle provided by the utility model saves demand and the installation of the photoelectric sensor that goods yard is installed online, saves cost, simplifies system.

Description

A kind of automated guided vehicle of detectable cargo
Technical field
The utility model is related to logistic storage field more particularly to a kind of automated guided vehicles of detectable cargo.
Background technology
With the innovation of logistlcs technology, more and more intelligent equipments be used to access cargo, i.e., by being mounted on intelligence The retractable fork on equipment such as automated guided vehicle can be changed, cargo is taken out from the shelf goods yard of storage, is placed on ontology On shelf, cargo is transported on another designated position or the goods yard of shelf further according to instruction and is placed.Should during picking and put Whether the action of goods is required to confirm on goods yard to be operated with the presence of cargo, to avoid due to system or artificial origin, certainly Dynamic guide transport lorry gets the pallet for not having arrangement of goods or the case where automated guided vehicle prong knocks over cargo.Mesh Cargo is confirmed on preceding goods yard, and whether there is or not most of to be sentenced using in the form of one photoelectric sensor of installation in each goods yard Disconnected, two photoelectricity are installed to reinforce judging in some even goods yards.After automated guided vehicle removes cargo from goods yard Cargo can be placed on oneself ontology shelf, multi-layered storage rack is equally existed on ontology shelf, need to equally configured in every layer of shelf Photoelectric sensor come judge cargo whether there is or not.
For photoelectric sensor using simply, price is low compared with other sensors, has greater advantage.But the arrangement is for light The integrated demand amount of electric transducer is larger, and such as one 2000 square metres of warehouse, the data of photoelectric sensor will be more than ten thousand grades, lead Cause overall cost it is higher, and install, debugging work load it is big, system is huge and complicated.
Therefore, those skilled in the art is dedicated to developing a kind of automated guided vehicle of detectable cargo, automatic Photoelectric sensor is set on the prong component of guide transport lorry, by the position of shift fork tooth assembly come judge place shelf and from On dynamic guide transport lorry ontology shelf cargo whether there is or not.Can detect the automated guided vehicle of cargo using this can save mounted on existing Quantity and the huge photoelectric sensor of system, save cost, and avoid tradition on goods yard and on automated guided vehicle Photoelectric sensor in-site installation construction working.
Utility model content
In view of the drawbacks described above of the prior art, technical problem to be solved in the utility model is that goods yard is avoided to pacify online Cost is saved in the demand of the photoelectric sensor of dress and installation, simplifies system.
To achieve the above object, the utility model provides a kind of automated guided vehicle of detectable cargo, including this Body shelf, domain, prong component, slide assemblies, hoisting mechanism and control system, which is characterized in that further include photoelectric sensor, It is set on the prong component；The domain is set to the ontology bottom shelf, is fixedly connected with the ontology shelf；Institute The side for stating ontology shelf is provided with guide rail, matches with the slide assemblies；The prong component is scalable and turns round, fixed It is connected on the slide assemblies；The hoisting mechanism is connected on the slide assemblies；The control system is used for described The control of automated guided vehicle.
Further, the photoelectric sensor is set as scattered reflection type photoelectricity.
Further, the photoelectric sensor is fixed on the front bottom end of the prong component；Before the prong component End refers to backwards to one end of ontology shelf.
Further, the ontology shelf are provided at least one layer.
Further, the hoisting mechanism is set to above the ontology shelf.
Further, the control system is independently disposed to except the automated guided vehicle, with the homing guidance Transport vehicle passes through electrical connection.
Further, the guide rail is perpendicular to the domain.
Further, the domain includes two stabilizer blades；Two stabilizer blades protrude from the side of the ontology shelf, with The guide rail homonymy.
Further, two foot plate surfaces are generally aligned in the same plane with the domain bottom surface.
Further, the domain is integrated.
The photoelectric sensor that the utility model is arranged on the prong component realizes the work(of the existence of detection cargo Can, relative to traditional photoelectric sensor arrangement, can save installation at the scene on goods yard and on automated guided vehicle Quantity and the huge photoelectric sensor of system, save cost, and the in-site installation for avoiding traditional photoelectric sensor is applied Work works.
The technique effect of the design of the utility model, concrete structure and generation is made furtherly below with reference to attached drawing It is bright, to be fully understood from the purpose of this utility model, feature and effect.
Description of the drawings
Fig. 1 is that a kind of automated guided vehicle of detectable cargo of a preferred embodiment of the utility model is integrally tied Structure schematic diagram；
Fig. 2 is a kind of photoelectricity of the automated guided vehicle of detectable cargo of a preferred embodiment of the utility model Sensor mounting location schematic diagram；
Fig. 3 is a kind of photoelectricity of the automated guided vehicle of detectable cargo of a preferred embodiment of the utility model Sensor detects cargo schematic diagram.
Specific implementation mode
Multiple preferred embodiments that the utility model is introduced below with reference to Figure of description, keep its technology contents clearer Be easy to understand.The utility model can be emerged from by many various forms of embodiments, the protection of the utility model Range is not limited only to the embodiment mentioned in text.
In the accompanying drawings, the identical component of structure is indicated with same numbers label, everywhere the similar component of structure or function with Like numeral label indicates.The size and thickness of each component shown in the drawings are to be arbitrarily shown, and the utility model is not Limit the size and thickness of each component.In order to keep diagram apparent, some places suitably exaggerate the thickness of component in attached drawing.
In a kind of automated guided vehicle of detectable cargo of the better embodiment of the utility model, such as Fig. 1 and Fig. 2 It is shown, including ontology shelf 1, domain 3, prong component 4, slide assemblies 6, hoisting mechanism and control system, which is characterized in that also Including photoelectric sensor 5, it is set on the prong component 4；The domain 3 is set to 1 bottom of ontology shelf, and described Ontology shelf 1 are fixedly connected；The side of the ontology shelf 1 is provided with guide rail, matches with the slide assemblies 6；The fork Tooth assembly 4 is scalable and turns round, and is fixedly connected on the slide assemblies 6；The hoisting mechanism is connected to the slide assemblies 6 On；The control system is for the control to the automated guided vehicle.The photoelectric sensor 5 is set as scattered reflection type Light, electric light type can be visible light, infrared light or type of laser, and have background and inhibit function, to the cargo of different colours All have preferable detectability.The photoelectric sensor 5 is fixed on the front bottom end of the prong component 4, passes through shift fork Tooth assembly 4 detects 2 existence of cargo positioned at different location；The front end of the prong component 4 refers to backwards to ontology shelf 1 One end.The ontology shelf 1 are provided at least one layer, and in the present embodiment, the shelf that are of five storeys are arranged in ontology shelf 1 altogether, are used for Arrangement of goods 2；The hoisting mechanism is set to 1 top of the ontology shelf and drives prong component 4 for promoting slide assemblies 6 It is moved up and down in sliding rail；The control system is independently disposed to except the automated guided vehicle, is transported with the homing guidance Defeated vehicle passes through electrical connection；For the guide rail perpendicular to the domain 3, the domain 3 includes two stabilizer blades, and two stabilizer blades are prominent For the side of the ontology shelf 1, with the guide rail homonymy, two foot plate surfaces are located at same flat with the domain bottom surface Face, the domain 3 are integrated.It, according to actual needs, can be in the automatic of detectable cargo in another good embodiment The domain following settings wheel of guide transport lorry, facilitates the movement of automated guided vehicle in the plane.
Fig. 3 is a kind of photoelectricity of the automated guided vehicle of detectable cargo of a preferred embodiment of the utility model Sensor detects cargo schematic diagram, and specific the step of detecting cargo is as follows.
1, it when needing to fork the cargo on other goods yards, needs to follow the steps below：
Step 1：Control system sends out command signal when forking the cargo on other goods yards；
Step 2：The prong component 4 of the automated guided vehicle of detectable cargo is carried according to the command signal of step 1 It rises mechanism and is moved to position and height needed for goods yard；
Step 3：Prong component 4 is turned round to external extension and the photoelectric sensor 5 by being installed on it confirms the designated position Control system is fed back to the presence or absence of cargo, and by testing result signal；
Step 4：If testing result signal is to fork the cargo there are when cargo, control system is sent out on the goods yard Action command；If testing result signal is when cargo being not present on the ontology shelf goods yard, control system sends out alarm signal, And send out the action command that prong component 4 is moved to next designated position；If prong component 4 is moved up and down along guide rail, do not have It when finding cargo, gives a warning, and stops execution task；
Step 5：Prong component 4 executes action by the action command of step 4, such as forks the cargo, or send out police It accuses and continues to move to the next position and continue step 3, or give a warning and stop execution task.
2, it when needing to place goods onto on other goods yards, needs to follow the steps below：
Step 1：Control system sends out the command signal placed goods onto on other specified goods yards；
Step 2：The prong component 4 of the automated guided vehicle of detectable cargo is carried according to the command signal of step 1 It rises mechanism and is moved to position and height needed for specified goods yard；
Step 3：Prong component turns round to external extension and confirms that the designated position whether there is goods by photoelectric sensor Object, and testing result signal is fed back into control system；
Step 4：If testing result signal is that there is no when cargo, send out the action for placing the cargo to refer on the goods yard It enables；If testing result signal is, there are when cargo, control system sends out alarm signal, and sends out fork on the ontology shelf goods yard Tooth assembly 4 is moved to the action command of next designated position；If prong component 4 is moved up and down along guide rail, exist on goods yard It when cargo, gives a warning, and stops execution task；
Step 5：Prong component 4 executes action by the action command of step 4, such as places the cargo, or send out police It accuses and continues to move to the next position and continue step 3, or give a warning and stop execution task.
3, it when needing to fork the cargo on ontology shelf goods yard, needs to follow the steps below：
Step 1：Control system sends out the command signal for forking the cargo on ontology shelf goods yard；
Step 2：The prong component 4 of the automated guided vehicle of detectable cargo is carried according to the command signal of step 1 It rises mechanism and is moved to position and height needed for 1 goods yard of ontology shelf；
Step 3：Prong component 4 turns round the inwardly flexible and photoelectric sensor 5 by being installed on it and confirms the designated position Control system is fed back to the presence or absence of cargo, and by testing result signal；
Step 4：If testing result signal is to send out there are when cargo on the ontology shelf goods yard and fork the cargo Action command；If testing result signal is when cargo being not present on the ontology shelf goods yard, control system sends out alarm signal, And send out the action command that prong component 4 is moved to next designated position；If prong component 4 is moved up and down along guide rail, do not have It when finding cargo, gives a warning, and stops execution task；
Step 5：Prong component executes action by the action command of step 4, such as forks the cargo, or send out police It accuses and continues to move to the next position and continue step 3, or give a warning and stop execution task.
4., when on the goods yard for needing to place goods onto ontology shelf, need to follow the steps below：
Step 1：Control system sends out the command signal on arrangement of goods to 1 goods yard of ontology shelf；
Step 2：The prong component 4 of the automated guided vehicle of detectable cargo is carried according to the command signal of step 1 It rises mechanism and is moved to position and height needed for 1 goods yard of ontology shelf；
Step 3：Prong component 4 turns round the inwardly flexible and photoelectric sensor 5 by being installed on it and confirms the designated position Control system is fed back to the presence or absence of cargo, and by testing result signal；
Step 4：If testing result signal is when cargo being not present on the ontology shelf goods yard, to send out and place the cargo Action command；If testing result signal be the ontology shelf goods yard on there are when cargo, control system sends out alarm signal, And send out the action command that prong component 4 is moved to next designated position；If prong component 4 is moved up and down along guide rail, ontology It when there is cargo on shelf 1, gives a warning, and stops execution task；
Step 5：Prong component 4 executes action by the action command of step 4, such as places the cargo, or send out police It accuses and continues to move to the next position and continue step 3, or give a warning and stop execution task.
The preferred embodiment of the utility model described in detail above.It should be appreciated that this field ordinary skill without It needs creative work according to the present utility model can conceive and makes many modifications and variations.Therefore, it is all in the art Technical staff on the basis of existing technology can by logical analysis, reasoning, or a limited experiment according to the design of the utility model It, all should be in the protection domain being defined in the patent claims with obtained technical solution.

Claims (10)

1. a kind of automated guided vehicle of detectable cargo, including ontology shelf, domain, prong component, slide assemblies are promoted Mechanism and control system, which is characterized in that further include photoelectric sensor, be set on the prong component；The domain setting In the ontology bottom shelf, it is fixedly connected with the ontology shelf；The side of the ontology shelf is provided with guide rail, and described Slide assemblies match；The prong component is scalable and turns round, and is fixedly connected on the slide assemblies；The hoisting mechanism It is connected on the slide assemblies；The control system is for the control to the automated guided vehicle.
2. a kind of automated guided vehicle of detectable cargo as described in claim 1, which is characterized in that the photoelectric sensing Device is set as scattered reflection type photoelectricity.
3. a kind of automated guided vehicle of detectable cargo as described in claim 1, which is characterized in that the photoelectric sensing Device is fixed on the front bottom end of the prong component；The front end of the prong component refers to backwards to one end of ontology shelf.
4. a kind of automated guided vehicle of detectable cargo as described in claim 1, which is characterized in that the ontology shelf It is provided at least one layer.
5. a kind of automated guided vehicle of detectable cargo as described in claim 1, which is characterized in that the hoisting mechanism It is set to above the ontology shelf.
6. a kind of automated guided vehicle of detectable cargo as described in claim 1, which is characterized in that the control system It is independently disposed to except the automated guided vehicle, passes through electrical connection with the automated guided vehicle.
7. a kind of automated guided vehicle of detectable cargo as described in claim 1, which is characterized in that the guide rail is vertical In the domain.
8. a kind of automated guided vehicle of detectable cargo as described in claim 1, which is characterized in that the domain includes Two stabilizer blades；Two stabilizer blades protrude from the side of the ontology shelf, with the guide rail homonymy.
9. a kind of automated guided vehicle of detectable cargo as claimed in claim 8, which is characterized in that two stabilizer blades Bottom surface is generally aligned in the same plane with the domain bottom surface.
10. a kind of automated guided vehicle of detectable cargo as claimed in claim 8, which is characterized in that the domain is One.
CN201820069917.0U 2017-01-16 2018-01-16 A kind of automated guided vehicle of detectable cargo Active CN207903267U (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN2017100290864 2017-01-16
CN201710029086 2017-01-16

Publications (1)

Publication Number Publication Date
CN207903267U true CN207903267U (en) 2018-09-25

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Family Applications (25)

Application Number Title Priority Date Filing Date
CN201810040045.XA Pending CN108363389A (en) 2017-01-16 2018-01-16 A kind of ultrasonic evadible system applied to mobile robot
CN201810041801.0A Pending CN108357846A (en) 2017-01-16 2018-01-16 A method of cargo is detected using photoelectric sensor
CN201810041483.8A Active CN108357585B (en) 2017-01-16 2018-01-16 A kind of the optoelectronic switch multiplexing method and device of material flow A GV
CN201810039560.6A Active CN108388243B (en) 2017-01-16 2018-01-16 Safety protection method and safety protection structure of AGV robot
CN201820070532.6U Active CN207902024U (en) 2017-01-16 2018-01-16 A kind of castor protective device
CN201810041055.5A Pending CN108196549A (en) 2017-01-16 2018-01-16 One kind is used for submersible AGV laser infrared obstacle avoidance systems
CN201810041896.6A Pending CN108217038A (en) 2017-01-16 2018-01-16 A kind of robot and its method for carrying container
CN201810040559.5A Active CN108298239B (en) 2017-01-16 2018-01-16 Device for passively preventing tray from falling
CN201820068727.7U Active CN207903264U (en) 2017-01-16 2018-01-16 A kind of transport device with freight detection function
CN201810040589.6A Pending CN108341201A (en) 2017-01-16 2018-01-16 A kind of automatic guiding equipment transported goods for logistic storage
CN201810040847.0A Pending CN108190337A (en) 2017-01-16 2018-01-16 A kind of homing guidance equipment and corresponding order implementation method
CN201820070470.9U Active CN207903268U (en) 2017-01-16 2018-01-16 A kind of container transfer robot
CN202110062907.0A Active CN112607293B (en) 2017-01-16 2018-01-16 Safety protection method and safety protection structure of AGV robot
CN201810040556.1A Pending CN108381572A (en) 2017-01-16 2018-01-16 The robot prong component of device and corresponding means of defence are knocked over anticollision
CN201810040588.1A Active CN108383043B (en) 2017-01-16 2018-01-16 Modular forklift type transfer robot
CN201810041802.5A Pending CN108382880A (en) 2017-01-16 2018-01-16 A kind of automatic guided vehicle and its working method with automatic loading and unloading loading system
CN201810040610.2A Active CN108271291B (en) 2017-01-16 2018-01-16 Constant-current self-diagnosis infrared stroboscopic illuminating lamp system based on CAN bus positioning camera
CN201820069917.0U Active CN207903267U (en) 2017-01-16 2018-01-16 A kind of automated guided vehicle of detectable cargo
CN201810041860.8A Active CN108408647B (en) 2017-01-16 2018-01-16 Telescopic fork leveling mechanism of cargo box carrying robot
CN201810040042.6A Pending CN108158369A (en) 2017-01-16 2018-01-16 A kind of storage tank
CN201820069876.5U Active CN207903266U (en) 2017-01-16 2018-01-16 A kind of homing guidance equipment
CN201810041852.3A Pending CN108364043A (en) 2017-01-16 2018-01-16 A kind of electronics selection label system turning Ethernet based on CAN
CN201810040025.2A Active CN108321866B (en) 2017-01-16 2018-01-16 Autonomous charging device for mobile robot
CN201810040560.8A Pending CN108340797A (en) 2017-01-16 2018-01-16 A kind of AGV rechargings device and its recharging method
CN201810039576.7A Pending CN108363388A (en) 2017-01-16 2018-01-16 A kind of AGV robot obstacle-avoiding systems based on infrared sensor

Family Applications Before (17)

Application Number Title Priority Date Filing Date
CN201810040045.XA Pending CN108363389A (en) 2017-01-16 2018-01-16 A kind of ultrasonic evadible system applied to mobile robot
CN201810041801.0A Pending CN108357846A (en) 2017-01-16 2018-01-16 A method of cargo is detected using photoelectric sensor
CN201810041483.8A Active CN108357585B (en) 2017-01-16 2018-01-16 A kind of the optoelectronic switch multiplexing method and device of material flow A GV
CN201810039560.6A Active CN108388243B (en) 2017-01-16 2018-01-16 Safety protection method and safety protection structure of AGV robot
CN201820070532.6U Active CN207902024U (en) 2017-01-16 2018-01-16 A kind of castor protective device
CN201810041055.5A Pending CN108196549A (en) 2017-01-16 2018-01-16 One kind is used for submersible AGV laser infrared obstacle avoidance systems
CN201810041896.6A Pending CN108217038A (en) 2017-01-16 2018-01-16 A kind of robot and its method for carrying container
CN201810040559.5A Active CN108298239B (en) 2017-01-16 2018-01-16 Device for passively preventing tray from falling
CN201820068727.7U Active CN207903264U (en) 2017-01-16 2018-01-16 A kind of transport device with freight detection function
CN201810040589.6A Pending CN108341201A (en) 2017-01-16 2018-01-16 A kind of automatic guiding equipment transported goods for logistic storage
CN201810040847.0A Pending CN108190337A (en) 2017-01-16 2018-01-16 A kind of homing guidance equipment and corresponding order implementation method
CN201820070470.9U Active CN207903268U (en) 2017-01-16 2018-01-16 A kind of container transfer robot
CN202110062907.0A Active CN112607293B (en) 2017-01-16 2018-01-16 Safety protection method and safety protection structure of AGV robot
CN201810040556.1A Pending CN108381572A (en) 2017-01-16 2018-01-16 The robot prong component of device and corresponding means of defence are knocked over anticollision
CN201810040588.1A Active CN108383043B (en) 2017-01-16 2018-01-16 Modular forklift type transfer robot
CN201810041802.5A Pending CN108382880A (en) 2017-01-16 2018-01-16 A kind of automatic guided vehicle and its working method with automatic loading and unloading loading system
CN201810040610.2A Active CN108271291B (en) 2017-01-16 2018-01-16 Constant-current self-diagnosis infrared stroboscopic illuminating lamp system based on CAN bus positioning camera

Family Applications After (7)

Application Number Title Priority Date Filing Date
CN201810041860.8A Active CN108408647B (en) 2017-01-16 2018-01-16 Telescopic fork leveling mechanism of cargo box carrying robot
CN201810040042.6A Pending CN108158369A (en) 2017-01-16 2018-01-16 A kind of storage tank
CN201820069876.5U Active CN207903266U (en) 2017-01-16 2018-01-16 A kind of homing guidance equipment
CN201810041852.3A Pending CN108364043A (en) 2017-01-16 2018-01-16 A kind of electronics selection label system turning Ethernet based on CAN
CN201810040025.2A Active CN108321866B (en) 2017-01-16 2018-01-16 Autonomous charging device for mobile robot
CN201810040560.8A Pending CN108340797A (en) 2017-01-16 2018-01-16 A kind of AGV rechargings device and its recharging method
CN201810039576.7A Pending CN108363388A (en) 2017-01-16 2018-01-16 A kind of AGV robot obstacle-avoiding systems based on infrared sensor

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