The invention relates to a container carrying robot track control method. In existing automatic carrying equipment, a carrying robot is usually adopted for carrying containers, and due to the fact that the carrying equipment is large in size, large in turning radius and inflexible in movement, the carrying equipment is not suitable for being used in a narrow space. Two carrying devices are adoptedfor carrying a container, a control system can receive lane line information, collected by the camera, in an advancing route of the robot in real time, then high-speed operation is conducted according to the received lane line information, the speed and the turning angle of each wheel are calculated, and track control over the carrying robot is achieved. According to the method, the two carryingdevices are adopted, the size of the carrying devices is relatively small, the turning radius is small, and movement is flexible. In addition, the two carrying devices are usually distributed in the front side and the rear side of the container in a symmetrical structure, so that the track control strategy of the other carrying device can be conveniently obtained after the track control strategy of one carrying device is calculated.

    本发明涉及一种集装箱搬运机器人轨迹控制方法。在现有的自动化搬运设备中,往往采用一台搬运机器人对集装箱进行搬运,由于搬运设备体积较大,且其转弯半径较大,运动不灵活,不适合在狭小空间范围内使用。本发明采用了两台搬运设备对集装箱进行搬运,控制系统会实时接收相机采集到的机器人行进路线上的车道线信息,然后根据接收到的车道线信息进行高速的运算,计算出各个轮子的速度和打角,实现对搬运机器人的轨迹控制。该方法采用了两台搬运设备,搬运设备体积相对较小,其转弯半径较小,运动灵活。此外,由于两台搬运设备往往呈对称结构分布于集装箱前后侧,因此在计算出一台设备的轨迹控制策略后便可以方便得出另一台搬运设备的轨迹控制策略。


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    Title :

    Container carrying robot track control method


    Additional title:

    一种集装箱搬运机器人轨迹控制方法


    Contributors:
    GAO MINGYU (author) / WU HAOJIE (author) / YANG YUXIANG (author) / ZHU XIAOJING (author) / SUN YANZHI (author) / MENG ANDONG (author) / WANG ZHAOMING (author) / ZHANG HAO (author)

    Publication date :

    2020-05-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60P Fahrzeuge zum Transport von Lasten oder zum Befördern, Tragen oder Aufnehmen besonderer Lasten oder Gegenstände , VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS



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