The invention provides carrying equipment and a motion control method and device of the carrying equipment, and the carrying equipment comprises an equipment main body, at least two weighing sensors and a controller; the weighing sensor is arranged on the bearing connecting piece of the equipment main body and is configured to measure the bearing load of the bearing connecting piece; and the controller is configured to calculate the weight of goods carried by the carrying equipment according to the structure parameters of the equipment main body, the mounting parameters of the weighing sensor and the bearing load, inversely calculate the gravity center height of the goods by using overturning moment according to the weight of the goods, and perform motion control on the carrying equipment according to the gravity center height of the goods. The gravity center height of the goods is obtained according to the bearing load measured by the weighing sensor, the installation parameters and the structure parameters of the equipment body, motion control is conducted on the carrying equipment based on the gravity center height, the motion of the carrying equipment corresponds to the gravity center height, and accurate control over the motion of the carrying equipment is achieved.
本发明提供搬运设备,以及搬运设备的运动控制方法和装置,其中,搬运设备包括设备主体、至少两个称重传感器和控制器;称重传感器设于设备主体的承重连接件上,并被配置为测量承重连接件的承重载荷;控制器被配置为根据设备主体的结构参数、称重传感器的安装参数以及承重载荷,计算搬运设备运载的货物重量,根据货物重量,利用倾覆力矩反算得到货物重心高度,根据货物重心高度对搬运设备进行运动控制。根据称重传感器测得的承重载荷、安装参数和设备主体的结构参数,得到货物的重心高度,基于重心高度对搬运设备进行运动控制,使得搬运设备的运动是与重心高度相对应,实现对搬运设备运动的准确控制。
Carrying equipment and motion control method and device of carrying equipment
搬运设备,以及搬运设备的运动控制方法和装置
2024-06-07
Patent
Electronic Resource
Chinese
IPC: | G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / 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 / B62D MOTOR VEHICLES , Motorfahrzeuge |
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