CN108196549A - One kind is used for submersible AGV laser infrared obstacle avoidance systems - Google Patents

One kind is used for submersible AGV laser infrared obstacle avoidance systems Download PDF

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Publication number
CN108196549A
CN108196549A CN201810041055.5A CN201810041055A CN108196549A CN 108196549 A CN108196549 A CN 108196549A CN 201810041055 A CN201810041055 A CN 201810041055A CN 108196549 A CN108196549 A CN 108196549A
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China
Prior art keywords
laser infrared
infrared sensor
dot laser
mcu
dot
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CN201810041055.5A
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Chinese (zh)
Inventor
束鹏飞
冯康
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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    • 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]

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

Abstract

The invention discloses one kind to be used for submersible AGV laser infrared obstacle avoidance systems,Including power supply,Multiple dot laser infrared sensors,Isolated can transceiver,SDA,SCL,MCU,Drive module,Industrial personal computer and CAN bus,The power supply gives the dot laser infrared sensor,The MCU,The isolated can transceiver power supply,The distance value that the MCU is accessed each dot laser infrared sensor by way of multi-channel analog universal serial bus and acquires the dot laser infrared sensor is preserved to memory,The isolated can transceiver is sent to by PDO modes,Data are transmitted to the CAN bus through processing,The industrial personal computer obtains the distance value of the MCU transmission by the CAN bus,Then it is compared and obtains a result with the shift value of avoidance,Drive module is controlled by CAN bus.Present invention saves dot laser infrared sensor, and it can ensure avoidance area covering whole body.

Description

One kind is used for submersible AGV laser infrared obstacle avoidance systems
Technical field
The present invention relates to logistic storage AGV (automated guided vehicle) fields more particularly to a kind of submersible AGV laser are red Outer obstacle avoidance system.
Background technology
With the development of the development, especially submersible AGV of AGV (automated guided vehicle) robot market, avoidance system System becomes the key factor of each submersible AGV development competition.In order to which volume and cost is controlled to realize high performance keep away Barrier mode, mostly some avoidance modes such as laser radar avoidance or ultrasonic wave that present mainstream market uses.
Patent of invention CN201610576609.2, for the supersonic array device of robot obstacle-avoiding and ultrasound data processing side Method, the patent are mounted in robot, easily affected by environment using being above that the mode of supersonic sounding carries out avoidance, as temperature, Wind speed etc., and undetectable sound-absorbing material.
Although patent of invention CN201710760249.6, a kind of submersible AGV and operating system, the patent solve latent The problem of entering formula AGV avoidances, but the method that it is used is to use laser radar, this method cost is very high, large-scale Shared device cost is excessively high above for submersible AGV productions, increases the threshold of submersible AGV applications.
Patent of invention CN201710399667.7, based on how infrared robot obstacle-avoiding device, its control method and machine People is along side control method, and the patent is affected by environment very big using being above that infrared mode carries out avoidance, such as the face of object Color, direction, light around lead to measurement error, measure inaccurate.
PSD (Position Sensitive Detector) type infrared sensor, to testee surface smoothness requirements It is excessively high, so controlling is poor in terms of application implementation.It is and oversized.
In addition, car body whole body can not be completely covered in existing submersible avoidance.
Therefore, those skilled in the art is dedicated to developing a kind of submersible AGV laser infrared obstacle avoidance systems, reduces cost And installation requirement, sensor are low to detection environment and object to be detected requirement, detecting distance is remote, saves dot laser infrared sensing Device, while ensure avoidance area covering whole body.
Invention content
In view of the drawbacks described above of the prior art, the technical problems to be solved by the invention are：The avoidance of laser radar formula Mode relative cost is excessively high, and needs just carry out the avoidance of surrounding object mounted on higher position；Ultrasonic sensor avoidance Apply comparatively huge in robot, robot is enough, mounted on place liftoff or from top farther out, Wu Faying more For submersible AGV robots；Traditional infrared sensor antijamming capability is weaker, is easily interfered by outside, to measured object The color of body also has higher requirements, and measuring distance is close；PSD (Position Sensitive Detector) infrared biography of type Sensor, to testee surface smoothness requirements height, controlling is poor and oversized in terms of application implementation；It is existing latent Car body whole body can not be completely covered by entering formula avoidance.
To achieve the above object, it is more including power supply the present invention provides a kind of submersible AGV laser infrared obstacle avoidance systems A dot laser infrared sensor, MCU (Microcontroller Unit, micro-control unit can use ARM microprocessor), Isolated can transceiver, power supply are powered to dot laser infrared sensor, MCU, isolated can transceiver；MCU runs preset program, By the connection mode of multi-channel analog I2C, (I2C, Inter-Integrated Circuit are developed by PHILIPS companies Twin wire universal serial bus, for connecting microcontroller and its peripheral equipment, be microelectronics communication control field it is widely used one Kind bus standard, it is a kind of special shape of synchronous communication, and few with interface line, control mode is simple, device packing forms It is small, the advantages that traffic rate is higher.) dot laser infrared sensor is enabled successively；Since each dot laser infrared sensor is Mutually independent module, each dot laser infrared sensor is by certain frequency acquisition outer barrie object and the distance of oneself；MCU is not The disconnected working method by simulating I2C goes to access each dot laser infrared sensor, by they acquire distance value preserve to In the memory of oneself；Because MCU uses the communication protocol of CANOPEN (standard CAN protocol), it can will be in oneself by fixed frequency The distance value for depositing each sensor acquisition of middle preservation is sent to isolated can transceiver by way of PDO (process data object)； Isolated can transceiver is then delivered to by data processing above CAN bus；Industrial personal computer obtains MCU by CAN bus and sends out The distance value that each point laser infrared sensor come detected, is then compared with the shift value of oneself avoidance and obtains a result Afterwards, drive module is controlled again by CAN bus, so as to fulfill avoidance effect.
Further, the VL53L0X range sensors of dot laser infrared sensor ST companies that the present invention uses, application Possess many advantages in terms of submersible AGV avoidances：It is small-sized；Price is low；Measuring distance is remote；It is very low to environmental requirement, it is right Sunlight is adaptable, not by sunlight interference；It is also interference-free to black object smooth object.But, due to this sensor Need to go to communicate with the mode of I2C, and each sensor is again only there are one address, thus cannot multiple sensor series together It uses, this constrains the application on AGV significantly.The present invention removes control vehicle using the mode of multi-channel analog I2C with single MCU Dot laser infrared sensor, method is that the SCL (clock bus) of all the points laser infrared sensor links together, and is passed through The SDA (data/address bus) of each point laser infrared sensor is respectively connected to the pin of MCU, each pin is controlled to go to simulate by MCU The operating mode of I2C goes to communicate with each waypoint laser infrared sensor so as to fulfill MCU, and driving and acquisition often sense all the way The data of device.
Further, dot laser infrared sensor of the present invention uses the mounting means for the ramp type that interlocks, and dot laser is infrared Sensor vertical horizontal line, then there is certain angle to install at a slant with bodywork surface, by before can just project it is infrared The mode of light, sideling projects away.It sideling projects compared to straight the area bigger of projection acquisition, in this sides of submersible AGV Above the larger robot of surface area ratio, sensor usage quantity can be greatly reduced, not only cost-effective but also increase detection area. Dot laser infrared sensor emitter is vertically-mounted downwards, and 3 degree are tilted backwards away from the direction on ground, each point laser infrared The infrared light projection that sensor emission pole is launched into the receiving terminal of other robot point infrared sensor, does not accomplish each robot It again can mutual avoidance while being mutually independent of each other.
The present invention is at low cost, and installation requirement is low, and sensor requires low, detecting distance to detection environment and object to be detected Far；The multi-channel analog I2C bus communication technologies used considerably increase the area of submersible AGV avoidances, improve safety；And And the method raised used, solve the problems, such as the common avoidance of multirobot inter-working；Use the installation of staggeredly ramp type Mode can also ensure avoidance area covering whole body while saving dot laser infrared sensor.
The technique effect of the design of the present invention, concrete structure and generation is described further below with reference to attached drawing, with It is fully understood from the purpose of the present invention, feature and effect.
Description of the drawings
Fig. 1 is the dot laser infrared sensor schematic diagram that the present invention uses；
Fig. 2 is the fundamental diagram of the present invention；
Fig. 3 is multi-channel analog I2C working timing figures of the present invention；
Fig. 4 is the schematic layout pattern of the embodiment of the present invention 1；
Fig. 5 is the schematic layout pattern of the embodiment of the present invention 2.
Wherein, " 1- power supplys, 2- dot laser infrared sensors, 3- isolated can transceivers, 4-SDA (data/address bus), 5-SCL (clock bus), 6-ARM microprocessors, 7- drive modules, 8- industrial personal computers, 9-CAN buses, 10- barriers, the detection of 11- forward directions Range, 12- detection dead zone ranges, the dot laser infrared sensor that 13- vertical water horizontal lines are tiltedly installed, the oblique side detection ranges of 14-, 15- submersible AGV robots, the SCL signal of 16-ARM microprocessors output, first dot laser infrared sensor of 17- receive SDA signal, second dot laser infrared sensor of 18- receive SDA signal, and n-th of dot laser infrared sensor of 19- receives SDA Signal, 20- are mounted on the dot laser infrared sensor before and after fork-lift type AGV robots, and 21- fronts detection range, 22- rears are surveyed Range, 23- fork-lift type AGV robots.”
Specific embodiment
Multiple preferred embodiments of the present invention are introduced below with reference to Figure of description, make its technology contents more clear and just In understanding.The present invention can be emerged from by many various forms of embodiments, and protection scope of the present invention not only limits The embodiment that Yu Wenzhong is mentioned.
In the accompanying drawings, the identical component of structure is represented with same numbers label, everywhere the similar component of structure or function with Like numeral label represents.The size and thickness of each component shown in the drawings are to be arbitrarily shown, and there is no limit by the present invention The size and thickness of each component.In order to make diagram apparent, some places suitably exaggerate the thickness of component in attached drawing.
As shown in Fig. 2, the embodiment of the present invention 1 is for submersible AGV laser infrared obstacle avoidance systems, including power supply 1, ten Six dot laser infrared sensors 2, isolated can transceiver 3, SDA4, SCL5, MCU (the present embodiment use ARM microprocessor 6), Drive module 7, industrial personal computer, CAN bus 9.Specific work process is as follows：
1) power supply 1 supplies electricity to ARM microprocessor 6, isolated can transceiver 3, dot laser infrared sensor 2；
2) ARM microprocessor 6 after the power is turned on, starts to perform preset program, the connection side which passes through multi-channel analog I2C Formula, i.e. each point laser infrared sensor 2 share SCL (clock bus) 5, and simulating control each point laser infrared with pin successively senses The SDA (data/address bus) 4 of device communicates, and enables each point laser infrared sensor 2；
3) each dot laser infrared sensor 2 is a mutually independent module, and each point laser infrared sensor 2 starts by one Determine frequency collection outer barrie object and the distance of oneself；
4) 6 continuous low pass of ARM microprocessor cross simulation I2C working method go to access each dot laser infrared sensor 2, The distance value that they are acquired is preserved into the memory of oneself；
5) because ARM microprocessor 6 using CANOPEN (standard CAN protocol) communication protocol, by fixed frequency by oneself The distance value of each sensor acquisition preserved in memory is sent to isolated can transmitting-receiving by way of PDO (process data object) Device 3；
6) isolated can transceiver 3 is transmitted to CAN bus 9 after by data processing；
7) industrial personal computer 8 is examined by each point laser infrared sensor 2 that the acquisition of CAN bus 9 ARM microprocessor 6 is sent out The distance value come is measured, is then compared and obtains a result with the shift value of oneself avoidance；
8) drive module 7 is controlled again by CAN bus 9, realizes avoidance effect.
The dot laser infrared sensor that the present embodiment uses is the VL53L0X range sensors of ST companies.Due to this biography Sensor needs to go to communicate with the mode of I2C, and only there are one addresses again for each sensor, it is impossible to which multiple sensor series are together It uses, therefore the present embodiment removes the dot laser infrared sensor of control vehicle using the mode of multi-channel analog I2C with single MCU. Specific method is that the SCL (clock bus) of all the points laser infrared sensor links together, by by the SDA of each sensor (data/address bus) is respectively connected to the pin of MCU.Work schedule controls as shown in figure 3, ARM microprocessor exports SCL signal 16； ARM microprocessor first controls the SDA pin output signals of first dot laser infrared sensor 2 of connection, and first dot laser is red Outer sensor 2 receives SDA signal 17, and the two communicates, first dot laser infrared sensor 2 of stopping after the completion of communication SDA leg signals；Then ARM microprocessor controls the SDA pins output letter of second dot laser infrared sensor 2 of connection again Number, second dot laser infrared sensor 2 receives SDA signal 18, and the two communicates, and stops second point after the completion of communication and swashs The SDA leg signals of light infrared sensor 2；ARM microprocessor control again connects third dot laser infrared sensor 2 SDA pin output signals, third dot laser infrared sensor 2 receive SDA signal 19, and the two communicates, after the completion of communication Stop the SDA leg signals of third dot laser infrared sensor 2；Last n-th of (the present embodiment n=16) dot laser is arrived always Infrared sensor 2 receives SDA signal 19, and the two carries out communication completion.It can reach in such a way red with each dot laser Outer sensor communicates, and process cycle carries out, you can constantly controls and read dot laser infrared sensor.
The present embodiment is installed as shown in figure 4, in 15 surrounding of submersible AGV robots, and setting vertical water horizontal line is tiltedly installed Dot laser infrared sensor 13, thus will appear oblique side detection range 14, and oblique side detection range is incident upon on barrier 10, returns Being moved back into the receiving terminal of oneself can be with detection object distance.It can not be detected entirely since this oblique side detection will appear a dead zone Face a, so sensor is added individually to detect dead zone range 12 again.Different from positive detection range 11, oblique side detection can be used few The sensor of amount detects very big area, is suitably applied on the submersible AGV of large area.
The embodiment of the present invention 2 is for fork-lift type AGV laser infrared obstacle avoidance systems, and there are six the infrared biographies of dot laser for installation Sensor, the operation principle and multi-channel analog I2C work schedules and embodiment 1 of the present embodiment are identical, repeat no more.Dot laser is infrared Sensor placement is as shown in Figure 5.Dot laser infrared sensor 20 before and after fork-lift type AGV robots 23, according to fork truck Travel direction including front detection range 21 and rear side detection range 22, realizes the effect of avoidance.
The preferred embodiment of the present invention described in detail above.It should be appreciated that the ordinary skill of this field is without wound The property made labour, which according to the present invention can conceive, makes many modifications and variations.Therefore, all technician in the art Pass through the available technology of logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea Scheme, all should be in the protection domain being defined in the patent claims.

Claims (10)

1. one kind is used for submersible AGV laser infrared obstacle avoidance systems, which is characterized in that including power supply, the infrared biography of multiple dot lasers Sensor, isolated can transceiver, SDA, SCL, MCU, drive module, industrial personal computer and CAN bus, the power supply give the dot laser Infrared sensor, the MCU, the isolated can transceiver power supply, the MCU, by way of multi-channel analog universal serial bus according to Secondary to enable the dot laser infrared sensor, the dot laser infrared sensor acquires outer barrie by certain frequency acquisition respectively Object and the distance of oneself, the MCU constantly go to access each dot laser infrared sensing by way of multi-channel analog universal serial bus Device simultaneously preserves the distance value that the dot laser infrared sensor acquires into memory, and passes through communication protocol and incited somebody to action by fixed frequency The distance value of dot laser infrared sensor acquisition preserved in memory is sent to the isolated can by PDO modes and receives and dispatches Device, the isolated can transceiver will be transmitted to the CAN bus after data processing, the industrial personal computer is obtained by the CAN bus The distance value of the dot laser infrared sensor acquisition of the MCU transmission is taken, is then compared with the shift value of avoidance Go out as a result, controlling drive module, completion avoidance by CAN bus.
2. it to be used for submersible AGV laser infrared obstacle avoidance systems as described in claim 1, which is characterized in that the MCU is ARM Microprocessor.
3. it to be used for submersible AGV laser infrared obstacle avoidance systems as described in claim 1, which is characterized in that for submersible AGV Robot, the quantity of the dot laser infrared sensor is 16.
4. it to be used for submersible AGV laser infrared obstacle avoidance systems as described in claim 1, which is characterized in that for fork-lift type AGV Robot, the quantity of the dot laser infrared sensor is 6.
5. it is used for submersible AGV laser infrared obstacle avoidance systems as described in claim 1-4 is any, which is characterized in that described Communication protocol is CANOPEN.
6. it to be used for submersible AGV laser infrared obstacle avoidance systems as claimed in claim 5, which is characterized in that the dot laser is red Outer sensor is the VL53L0X range sensors of ST companies.
7. it to be used for submersible AGV laser infrared obstacle avoidance systems as claimed in claim 6, which is characterized in that the multi-channel analog For the connection mode of multi-channel analog I2C, the SCL of all the points laser infrared sensor is linked together for the mode of universal serial bus, By the way that the SDA of each point laser infrared sensor to be respectively connected to the pin of the MCU, each pin is controlled to remove mould by the MCU Intend I2C.
8. it to be used for submersible AGV laser infrared obstacle avoidance systems as claimed in claim 6, which is characterized in that the dot laser is red Outer sensor is had using the mounting means for the ramp type that interlocks by dot laser infrared sensor vertical water horizontal line, then with bodywork surface Certain angle is installed at a slant.
9. it to be used for submersible AGV laser infrared obstacle avoidance systems as claimed in claim 7 or 8, which is characterized in that the point Laser infrared sensor is vertically-mounted downwards, and tilts backwards 3 degree away from the direction on ground.
10. it to be used for submersible AGV laser infrared obstacle avoidance systems as claimed in claim 7, which is characterized in that the MCU and institute The work schedule control for stating multiple dot laser infrared sensors is as follows：MCU exports SCL signal；MCU first controls first point of connection The SDA pin output signals of laser infrared sensor, first dot laser infrared sensor receive SDA signal, and the two is led to Letter stops the SDA leg signals of first dot laser infrared sensor after the completion of communication；Then MCU controls connection second again The SDA pin output signals of dot laser infrared sensor, second dot laser infrared sensor receive SDA signal, and the two carries out Communication stops the SDA leg signals of second dot laser infrared sensor after the completion of communication；Until the last one dot laser is red Outer sensor receives SDA signal, and the two carries out communication completion, is finally completed and communicates with each dot laser infrared sensor.
CN201810041055.5A 2017-01-16 2018-01-16 One kind is used for submersible AGV laser infrared obstacle avoidance systems Pending CN108196549A (en)

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

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CN108196549A true CN108196549A (en) 2018-06-22

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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
CN201810040560.8A Pending CN108340797A (en) 2017-01-16 2018-01-16 A kind of AGV rechargings device and its recharging method
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
CN201810040025.2A Active CN108321866B (en) 2017-01-16 2018-01-16 Autonomous charging device for mobile robot
CN201810041852.3A Pending CN108364043A (en) 2017-01-16 2018-01-16 A kind of electronics selection label system turning Ethernet based on CAN
CN201820070532.6U Active CN207902024U (en) 2017-01-16 2018-01-16 A kind of castor protective device
CN201810041896.6A Pending CN108217038A (en) 2017-01-16 2018-01-16 A kind of robot and its method for carrying container
CN201820068727.7U Active CN207903264U (en) 2017-01-16 2018-01-16 A kind of transport device with freight detection function
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
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
CN202110062907.0A Active CN112607293B (en) 2017-01-16 2018-01-16 Safety protection method and safety protection structure of AGV robot
CN201810040042.6A Pending CN108158369A (en) 2017-01-16 2018-01-16 A kind of storage tank
CN201810040588.1A Active CN108383043B (en) 2017-01-16 2018-01-16 Modular forklift type transfer robot
CN201820069917.0U Active CN207903267U (en) 2017-01-16 2018-01-16 A kind of automated guided vehicle of detectable cargo
CN201810040847.0A Pending CN108190337A (en) 2017-01-16 2018-01-16 A kind of homing guidance equipment and corresponding order implementation method
CN201810039576.7A Pending CN108363388A (en) 2017-01-16 2018-01-16 A kind of AGV robot obstacle-avoiding systems based on infrared sensor
CN201810041860.8A Active CN108408647B (en) 2017-01-16 2018-01-16 Telescopic fork leveling mechanism of cargo box carrying robot
CN201820069876.5U Active CN207903266U (en) 2017-01-16 2018-01-16 A kind of homing guidance equipment
CN201810041055.5A Pending CN108196549A (en) 2017-01-16 2018-01-16 One kind is used for submersible AGV laser infrared obstacle avoidance systems
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
CN201810040589.6A Pending CN108341201A (en) 2017-01-16 2018-01-16 A kind of automatic guiding equipment transported goods for logistic storage
CN201820070470.9U Active CN207903268U (en) 2017-01-16 2018-01-16 A kind of container transfer robot
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CN201810039560.6A Active CN108388243B (en) 2017-01-16 2018-01-16 Safety protection method and safety protection structure of AGV robot

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Application Number Title Priority Date Filing Date
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
CN201810040560.8A Pending CN108340797A (en) 2017-01-16 2018-01-16 A kind of AGV rechargings device and its recharging method
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
CN201810040025.2A Active CN108321866B (en) 2017-01-16 2018-01-16 Autonomous charging device for mobile robot
CN201810041852.3A Pending CN108364043A (en) 2017-01-16 2018-01-16 A kind of electronics selection label system turning Ethernet based on CAN
CN201820070532.6U Active CN207902024U (en) 2017-01-16 2018-01-16 A kind of castor protective device
CN201810041896.6A Pending CN108217038A (en) 2017-01-16 2018-01-16 A kind of robot and its method for carrying container
CN201820068727.7U Active CN207903264U (en) 2017-01-16 2018-01-16 A kind of transport device with freight detection function
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
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
CN202110062907.0A Active CN112607293B (en) 2017-01-16 2018-01-16 Safety protection method and safety protection structure of AGV robot
CN201810040042.6A Pending CN108158369A (en) 2017-01-16 2018-01-16 A kind of storage tank
CN201810040588.1A Active CN108383043B (en) 2017-01-16 2018-01-16 Modular forklift type transfer robot
CN201820069917.0U Active CN207903267U (en) 2017-01-16 2018-01-16 A kind of automated guided vehicle of detectable cargo
CN201810040847.0A Pending CN108190337A (en) 2017-01-16 2018-01-16 A kind of homing guidance equipment and corresponding order implementation method
CN201810039576.7A Pending CN108363388A (en) 2017-01-16 2018-01-16 A kind of AGV robot obstacle-avoiding systems based on infrared sensor
CN201810041860.8A Active CN108408647B (en) 2017-01-16 2018-01-16 Telescopic fork leveling mechanism of cargo box carrying robot
CN201820069876.5U Active CN207903266U (en) 2017-01-16 2018-01-16 A kind of homing guidance equipment

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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
CN201810040589.6A Pending CN108341201A (en) 2017-01-16 2018-01-16 A kind of automatic guiding equipment transported goods for logistic storage
CN201820070470.9U Active CN207903268U (en) 2017-01-16 2018-01-16 A kind of container transfer robot
CN201810040559.5A Active CN108298239B (en) 2017-01-16 2018-01-16 Device for passively preventing tray from falling
CN201810039560.6A Active CN108388243B (en) 2017-01-16 2018-01-16 Safety protection method and safety protection structure of AGV robot

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