According to the running control method of the garbage carrying robot, the garbage carrying robot is provided with a driving device capable of being adjusted in a telescopic mode, and the running control method comprises the following steps that the loading state of a garbage can is detected, and it is determined that a garbage can cover is closed; the two-dimensional gravity center N of the garbage can is calculated according to the weight, and the comprehensive gravity center (N2) is calculated according to the gravity center (N1) of the robot; adjusting the relative position (eyQ) of the drive device according to the comprehensive center of gravity (N2); according to the current driving position (eyQ), setting an initial speed V1 and an acceleration and deceleration a1, and formally starting to execute a walking task; in the driving process, the jump value integral of the pressure sensor is monitored in real time, and if the jump value integral of the pressure sensor exceeds a specified threshold value, the speed and the acceleration are adjusted to be V = V1 * 0.7 and a = a1 * 0.5; and arriving at the destination to complete the walking task. The relative position of the driving device is adjusted through the comprehensive gravity center, it is ensured that the driving device does not slip, the bounce value of the pressure sensor is detected in real time, and the operation efficiency is effectively ensured.
垃圾搬运机器人的行驶控制方法,所述垃圾搬运机器人设有可伸缩调节的驱动装置,所述行驶控制方法包括如下步骤:检测垃圾箱的载重状态,并确定垃圾桶盖已关闭;根据称重计算出垃圾桶的二维重心N,并根据机器人重心(N1),计算出综合重心(N2);根据综合重心(N2)调节驱动装置的相对位置(eyQ);根据目前的驱动位置(eyQ),设定初始速度V1和加减速度a1,并正式启动执行行走任务;行驶过程中实时监测压力传感器跳动值积分,若压力传感器跳动值积分超出指定阈值,则将速度和加速度调整为:V=V1*0.7,a=a1*0.5;到达目的地,完成行走任务。通过综合重心调节驱动装置的相对位置,确保了驱动装置不打滑,实时对压力传感器的跳动值检测,有效确保运行效率。
Travel control method of garbage carrying robot and medium
一种垃圾搬运机器人的行驶控制方法和介质
2023-04-14
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B65F GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE , Sammeln oder Entfernen von Haus- oder ähnlichem Müll |
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