CN116081337A - Automatic loading and unloading device and transportation method for unmanned logistics vehicle - Google Patents
Automatic loading and unloading device and transportation method for unmanned logistics vehicle Download PDFInfo
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- CN116081337A CN116081337A CN202310197076.7A CN202310197076A CN116081337A CN 116081337 A CN116081337 A CN 116081337A CN 202310197076 A CN202310197076 A CN 202310197076A CN 116081337 A CN116081337 A CN 116081337A
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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
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
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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
- B65G13/00—Roller-ways
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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
- B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
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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
- B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
- B65G41/001—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames with the conveyor adjustably mounted on the supporting frame or base
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an automatic loading and unloading device of an unmanned logistics vehicle, which comprises a loading and unloading bottom plate, wherein a lifting system is arranged on the loading and unloading bottom plate, the upper surface of the lifting system is connected with the lower surface of a carrying platform, the upper surface of the carrying platform is provided with a plurality of rollers, the rollers are connected with the power output end of an external driving motor a, the rollers are used for transferring whole materials, the loading and unloading bottom plate is provided with an installation rod, a navigation module a is arranged on the installation rod and used for navigating the path of the loading and unloading bottom plate, and the carrying platform is provided with an induction module a and a positioning module a. The conveyer belt system transmits the material, and navigation module a guides it to corresponding position, and positioning module a carries out accurate location, and operating system adjusts the height of carrying the thing platform, relies on the cylinder to transport whole material that holds in the palm to carrying on the thing platform, discerns unmanned commodity circulation car, transports unmanned commodity circulation car with the material, realizes accomplishing the loading and unloading of material under the unmanned participation condition, transportation and delivery.
Description
Technical Field
The invention relates to the technical field of logistics, in particular to an automatic loading and unloading device of an unmanned logistics vehicle and a transportation method.
Background
Along with the rapid development of social economy and science and technology, higher requirements are put forward on intelligent manufacturing; as the least controllable factor, large-scale manufacturing workers cannot go on duty on time, and logistics warehouse personnel do not have enough personnel to be applied to the management, distribution and other businesses of warehouse logistics. For logistics storage and delivery industry, unmanned is realized, and the robot replaces the robot to accomplish logistics delivery work, becomes mainstream development trend now, and in the current logistics system, the ability of material automatic loading and unloading is generally weaker, just has led to can not realizing full-automatic logistics transportation. Through long-term researches of the inventor, an automatic loading and unloading device and a transportation method of an unmanned logistics vehicle are invented.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an automatic loading and unloading device and a transportation method of an unmanned logistics vehicle.
The aim of the invention is achieved by the following technical scheme: the utility model provides an unmanned logistics vehicle automatic handling device, including loading and unloading bottom plate, be provided with operating system on the loading and unloading bottom plate, operating system's upper surface is connected with loading platform's lower surface, operating system is connected with the control center electricity, loading platform's upper surface is provided with a plurality of cylinders, the cylinder is connected with outside driving motor a's power take off end, the cylinder is used for transporting whole material that holds in the palm, loading and unloading bottom plate's tip is provided with the installation pole, be provided with navigation module a on the installation pole, navigation module a is used for navigating loading and unloading bottom plate's route, loading platform is last to be provided with sensing module a and positioning module a, sensing module a is used for discernment unmanned logistics vehicle information, driving motor a, navigation module a, sensing module a and positioning module a are all connected with the control center electricity.
Preferably, the carrying platform is further provided with a communication module a, and the communication module a is electrically connected with the control center.
Preferably, a plurality of sensing modules b are arranged on the conveyor belt system, and the sensing modules b are electrically connected with the control center.
Preferably, be provided with a plurality of cylinder b and induction system c in unmanned commodity circulation car's the carriage, cylinder b is connected with outside driving motor b's power take off end, and the lower extreme in carriage is provided with the identification code, and induction module a is used for reading the identification code, is provided with positioning module b on the unmanned commodity circulation car, and positioning module b is used for the unmanned commodity circulation car of location, and positioning module b, induction system c and driving motor b all are connected with the control center electricity.
Preferably, the unmanned logistics vehicle is provided with a navigation module b, the navigation module b is used for navigating the path of the unmanned logistics vehicle, and the navigation module b is electrically connected with the control center.
Preferably, be provided with communication module b on the unmanned commodity circulation car, communication module b is used for unmanned commodity circulation car internal communication, and communication module b is connected with the control center electricity.
Preferably, a car door switch is arranged on the carriage and is electrically connected with the control center.
The material transportation method of the unmanned logistics vehicle comprises the automatic loading and unloading device of the unmanned logistics vehicle, and further comprises the following steps:
s1: according to the ERP system, an order is placed, the order is received through the WMS order management system, the order is placed to the warehouse management system and the unmanned logistics vehicle, a picking task is completed according to the order, the unmanned logistics vehicle is coded and supported to the conveyor belt system, after receiving a scheduling instruction, the control module enables the navigation module b to guide the unmanned logistics vehicle to reach a material taking area, and the positioning module b guides the unmanned logistics vehicle to stop at a material receiving point for waiting;
s2: the whole material in the code support is transmitted on a conveyor belt system, the whole material is transmitted to a position b through a position a, when the whole material passes through a sensing module b, the sensing module b sends information of the passing of the whole material to a control center, the control center sends a signal to a communication module a immediately after receiving the information, and a loading and unloading base plate action path is planned, and a navigation module a carries out navigation to the position b according to the planned path;
s3: the loading and unloading bottom plate senses the whole material at the position b through the sensing module a, the positioning module a is used for accurately positioning the loading and unloading bottom plate, the control center immediately controls the lifting system to drive the carrying platform to lift, the carrying platform is equal to the conveying belt in height, the control center informs the driving motor a to start, the roller is driven to rotate, and the whole material at the position b is transmitted to the carrying platform;
s4: the loading and unloading bottom plate is guided by the navigation module a to move to an unmanned logistics vehicle parking area, the sensing module c senses the automatic loading and unloading device, the sensing module a recognizes the recognition code and positions the automatic loading and unloading device through the positioning module a, the control center controls the opening and closing of the vehicle door, and then controls the lifting system to drive the carrying platform to lift, so that the carrying platform is equal to the carriage, and the whole material is driven to be transferred into the carriage through the rotation of the roller and the roller b, so that the material loading and unloading is completed.
Preferably, the sensing module b communicates with the control center through 5G.
The invention has the following advantages: according to the invention, the whole material is transmitted through the conveyor belt system, the navigation module a guides the loading and unloading bottom plate to the corresponding position, the whole material is sensed through the sensing module a, the positioning module a is accurately positioned, the butt joint is ensured to be accurate, finally, the lifting system is controlled to adjust the height of the material carrying platform, the whole material is transported to the material carrying platform by virtue of the roller, the unmanned logistics vehicle is identified, and the material is transported to the unmanned logistics vehicle, so that the loading and unloading, the transportation and the distribution of the material are completed under the condition of unmanned participation.
Drawings
FIG. 1 is a schematic diagram of an auto-handler hardware architecture;
FIG. 2 is a schematic diagram of an auto-handler software architecture;
in the figure, the 1-position b, the 2-sensing module b, the 3-position a, the 4-conveyor system, the 5-loading and unloading bottom plate, the 6-lifting system, the 7-navigation module a, the 8-positioning module a, the 9-sensing module a, the 10-roller, the 11-communication module a, the 12-carrying platform, the 13-navigation module b, the 14-unmanned logistics vehicle, the 15-communication module b, the 16-positioning module b, the 17-identification code, the 18-roller b, the 19-vehicle door switch, the 20-sensing device c and the 100-control center are arranged.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, based on the embodiments of the invention, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the invention.
In addition, the embodiments of the present invention and the features of the embodiments may be combined with each other without collision.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, or are directions or positional relationships conventionally understood by those skilled in the art, are merely for convenience of describing the present invention and for simplifying the description, and are not to indicate or imply that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In this embodiment, as shown in fig. 1 and fig. 2, an automatic loading and unloading device for an unmanned logistics vehicle comprises a loading and unloading bottom plate 5, wherein a lifting system 6 is arranged on the loading and unloading bottom plate 5, the upper surface of the lifting system 6 is connected with the lower surface of a carrying platform 12, the lifting system 6 is electrically connected with a control center 100, the upper surface of the carrying platform 12 is provided with a plurality of rollers 10, the rollers 10 are connected with the power output end of an external driving motor a, the rollers 10 are used for transporting the whole material, the end part of the loading and unloading bottom plate 5 is provided with an installation rod, a navigation module a7 is arranged on the installation rod, the navigation module a7 is used for navigating the path of the loading and unloading bottom plate 5, a sensing module a9 and a positioning module a8 are arranged on the carrying platform 12, and further, a communication module a11 is further arranged on the carrying platform 12, and the communication module a11 is electrically connected with the control center 100. The sensing module a9 is used for identifying information of the unmanned logistics vehicle 14, and the driving motor a, the navigation module a7, the sensing module a9 and the positioning module a8 are all electrically connected with the control center 100. The whole material that holds in palm through conveyer belt system 4 is transmitted, navigation module a7 will load and unload bottom plate 5 and guide the corresponding position, rethread sensing module a9 responds to whole material that holds in the palm, positioning module a8 carries out accurate location, guarantee to dock accurately, control lift system 6 at last and adjust the height of carrying platform 12, rely on cylinder 10 to transport whole material to carrying platform 12 on, discern unmanned logistics car 14 again, transport the material to unmanned logistics car 14 on, thereby accomplish the loading and unloading of material under the unmanned participation condition, transportation and delivery are realized. In this embodiment, the travelling wheels are disposed below the loading and unloading base plate 5, the lifting system 6 is an existing system, and the driving of the drum 10 by the driving motor a is also achieved by an existing method, which is not improved here, and will not be described again.
In this embodiment, a plurality of sensing modules b2 are disposed on the conveyor system 4, and the sensing modules b2 are electrically connected to the control center 100. Preferably, the sensing module b2 communicates with the control center 100 through 5G.
In this embodiment, a plurality of rollers b18 and a sensing device c20 are disposed in a carriage of the unmanned logistics vehicle 14, the rollers b18 are connected with a power output end of an external driving motor b, an identification code 17 is disposed at a lower end of the carriage, a sensing module a9 is used for reading the identification code 17, preferably, a door switch 19 is disposed on the carriage, the door switch 19 is electrically connected with the control center 100, and when an emergency is encountered, the door switch 19 can be opened manually. The unmanned logistics vehicle 14 is provided with a positioning module b16, the positioning module b16 is used for positioning the unmanned logistics vehicle 14, and the positioning module b16, the sensing device c20 and the driving motor b are electrically connected with the control center 100. Further, a navigation module b13 is disposed on the unmanned logistics vehicle 14, the navigation module b13 is used for navigating a path of the unmanned logistics vehicle 14, and the navigation module b13 is electrically connected with the control center 100. Still further, be provided with communication module b15 on the unmanned commodity circulation car 14, communication module b15 is used for unmanned commodity circulation car 14 internal communication, and communication module b15 is connected with control center 100 electricity. Specifically, after the unmanned logistics vehicle 14 receives the dispatching instruction, the control module 100 enables the navigation module b13 to guide the unmanned logistics vehicle 14 to reach the material taking area, the positioning module b16 guides the unmanned logistics vehicle 14 to stop at the material receiving point for waiting, the loading and unloading bottom plate 5 transfers the carrying platform 12 to the area where the unmanned logistics vehicle 14 is located, the sensing module c20 on the unmanned logistics vehicle 14 senses the automatic loading and unloading device, the sensing module a9 recognizes the identification code 17, thereby determining the information of the unmanned logistics vehicle 14, determining the material flow direction, positioning through the positioning module a8, controlling the opening of the door switch 19 by the control center 100, controlling the lifting system 6 to drive the carrying platform 12 to lift, enabling the carrying platform 12 to be equal to the carriage, driving the whole carrying material to be transferred into the carriage through the rotation of the roller 10 and the roller b18, completing the automatic loading and unloading of the material, and avoiding manual operation. In this embodiment, the driving motor b drives the drum b18 to rotate by the conventional method, which is not modified here and will not be described in detail.
The material transportation method of the unmanned logistics vehicle comprises the automatic loading and unloading device of the unmanned logistics vehicle, and further comprises the following steps:
s1: according to the ERP system, an order is placed, the order is received through the WMS order management system, the order is placed to the warehouse management system and the unmanned logistics vehicle 14, picking tasks are completed according to the order, the order is coded and supported to the conveyor belt system 4, after the unmanned logistics vehicle 14 receives a scheduling instruction, the control module 100 enables the navigation module b13 to guide the unmanned logistics vehicle 14 to reach a material taking area, and the positioning module b16 guides the unmanned logistics vehicle 14 to stop at a material receiving point for waiting; specifically, the ERP system, the WMS order management system and the warehouse management system are all existing systems, and are not improved herein, so that detailed description is omitted; the navigation module b13 uses the existing SLAM technology and radar technology to navigate the unmanned logistics vehicle 14.
S2: the whole material with the code support is transmitted on the conveyor belt system 4, the whole material is transmitted to the position b1 through the position a3, when the whole material passes through the sensing module b2, the sensing module b2 sends information of the passing of the whole material to the control center 100, the control center 100 sends a signal to the communication module a11 immediately after receiving the information, and plans the action path of the loading and unloading base plate 5, and the navigation module a7 navigates to the position b1 according to the planned path; specifically, the navigation module a7 uses the existing SLAM technology and radar technology to navigate it.
S3: the loading and unloading bottom plate 5 senses the whole material at the position b1 through the sensing module a9, the positioning module a8 is used for accurately positioning the loading and unloading bottom plate 5, the control center 100 immediately controls the lifting system 6 to drive the carrying platform 12 to lift, the carrying platform 12 is equal to the conveying belt in height, the control center 100 informs the driving motor a to start, the roller 10 is driven to rotate, and the whole material at the position b1 is transmitted to the carrying platform 12;
s4: the loading and unloading bottom plate 5 moves to the parking area of the unmanned logistics vehicle 14 under the guidance of the navigation module a7, the sensing module c20 senses the automatic loading and unloading device, the sensing module a9 recognizes the identification code 17 and positions the automatic loading and unloading device through the positioning module a8, the control center 100 controls the opening of the door switch 19, the lifting system 6 is controlled to drive the carrying platform 12 to lift, the carrying platform 12 is equal to the carriage in height, and the whole carrying material is driven to be transferred into the carriage through the rotation of the roller 10 and the roller b18, so that the material loading and unloading is completed.
Although the present invention has been described with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and changes may be made without departing from the spirit and principles of the present invention.
Claims (9)
1. An unmanned commodity circulation car automatic handling device, its characterized in that: including loading and unloading bottom plate (5), be provided with operating system (6) on loading and unloading bottom plate (5), operating system (6)'s upper surface is connected with the lower surface of year thing platform (12), operating system (6) are connected with control center (100) electricity, the upper surface of year thing platform (12) is provided with a plurality of cylinders (10), cylinder (10) are connected with the power take off end of outside driving motor a, cylinder (10) are used for transporting whole material that holds in the palm, the tip of loading and unloading bottom plate (5) is provided with the installation pole, be provided with navigation module a (7) on the installation pole, navigation module a (7) are used for navigating the route of loading and unloading bottom plate (5), be provided with on the year thing platform (12) sensing module a (9) and positioning module a (8), sensing module a (9) are used for discernment unmanned logistics car (14) information, driving motor a navigation module a (7) sensing module a (9) with positioning module a (8) all are connected with control center (100) electricity.
2. The automated handling device of an unmanned logistics vehicle of claim 1, wherein: the carrying platform (12) is also provided with a communication module a (11), and the communication module a (11) is electrically connected with the control center (100).
3. The automated handling device of an unmanned logistics vehicle of claim 2, wherein: a plurality of sensing modules b (2) are arranged on the conveyor belt system (4), and the sensing modules b (2) are electrically connected with the control center (100).
4. An automated handling device for an unmanned logistics vehicle as set forth in claim 3 wherein: be provided with a plurality of cylinder b (18) and induction system c (20) in the carriage of unmanned commodity circulation car (14), cylinder b (18) are connected with outside driving motor b's power take off end, the lower extreme in carriage is provided with identification code (17), induction module a (9) are used for reading identification code (17), be provided with positioning module b (16) on unmanned commodity circulation car (14), positioning module b (16) are used for the location unmanned commodity circulation car, positioning module b (16) induction system c (20) with driving motor b all with control center (100) electricity is connected.
5. The automated handling device for an unmanned logistics vehicle of claim 4, wherein: the unmanned logistics vehicle (14) is provided with a navigation module b (13), the navigation module b (13) is used for navigating the path of the unmanned logistics vehicle (14), and the navigation module b (13) is electrically connected with the control center (100).
6. The automated handling device of an unmanned logistics vehicle of claim 5, wherein: be provided with communication module b (15) on unmanned commodity circulation car (14), communication module b (15) are used for unmanned commodity circulation car (14) internal communication, communication module b (15) with control center (100) electricity is connected.
7. The automated handling device of an unmanned logistics vehicle of claim 6, wherein: the carriage is provided with a door switch (19), and the door switch (19) is electrically connected with the control center (100).
8. An unmanned logistics vehicle material transportation method, comprising the unmanned logistics vehicle automatic loading and unloading device according to any one of claims 1-7, characterized in that: the method also comprises the following steps:
s1: according to an ERP system, an order is placed, the order is received through a WMS order management system, the order is placed to a warehouse management system and the unmanned logistics vehicle (14), a picking task is completed according to the order, the order is supported to a conveyor belt system (4), after the unmanned logistics vehicle (14) receives a dispatching instruction, the control module (100) enables the navigation module b (13) to guide the unmanned logistics vehicle (14) to reach a material taking area, and the positioning module b (16) guides the unmanned logistics vehicle (14) to stop at a material receiving point for waiting;
s2: the whole material with the code support is transmitted on the conveyor belt system (4), the whole material is transmitted to a position b (1) through a position a (3), when the whole material passes through the sensing module b (2), the sensing module b (2) sends information of the passing of the whole material to the control center (100), the control center (100) sends a signal to the communication module a (11) immediately after receiving the information, and plans an action path of the loading and unloading base plate (5), and the navigation module a (7) navigates to the position b (1) according to the planned path;
s3: the loading and unloading bottom plate (5) senses the whole material at the position b (1) through the sensing module a (9), the positioning module a (8) is used for accurately positioning the position of the loading and unloading bottom plate (5), the control center (100) immediately controls the lifting system (6) to drive the carrying platform (12) to lift, so that the carrying platform (12) is equal to the conveying belt in height, the control center (100) informs the driving motor a to start, the roller (10) is driven to rotate, and the whole material at the position b (1) is conveyed to the carrying platform (12);
s4: the loading and unloading bottom plate (5) is guided by the navigation module a (7) to move to a parking area of the unmanned logistics vehicle (14), the sensing module c (20) senses the automatic loading and unloading device, the sensing module a (9) recognizes the identification code (17) and positions the automatic loading and unloading device through the positioning module a (8), the control center (100) controls the opening of the vehicle door switch (19) and then controls the lifting system (6) to drive the carrying platform (12) to lift, so that the carrying platform (12) is equal to the carriage, and the whole carrying material is driven to be transferred into the carriage through the rotation of the roller (10) and the roller b (18), so that the material loading and unloading is completed.
9. The unmanned logistics vehicle material transportation method of claim 8, wherein: the sensing module b (2) is communicated with the control center (100) through 5G.
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| CN202310197076.7A CN116081337A (en) | 2023-03-03 | 2023-03-03 | Automatic loading and unloading device and transportation method for unmanned logistics vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116620802A (en) * | 2023-07-19 | 2023-08-22 | 中建安装集团有限公司 | Transportation method utilizing indoor construction intelligent material transportation system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116620802A (en) * | 2023-07-19 | 2023-08-22 | 中建安装集团有限公司 | Transportation method utilizing indoor construction intelligent material transportation system |
| CN116620802B (en) * | 2023-07-19 | 2023-10-24 | 中建安装集团有限公司 | Transportation method utilizing indoor construction intelligent material transportation system |
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