CN105538326B - A kind of method for setting robot to run and server - Google Patents
A kind of method for setting robot to run and server Download PDFInfo
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- CN105538326B CN105538326B CN201610004661.0A CN201610004661A CN105538326B CN 105538326 B CN105538326 B CN 105538326B CN 201610004661 A CN201610004661 A CN 201610004661A CN 105538326 B CN105538326 B CN 105538326B
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- operational factor
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000001133 acceleration Effects 0.000 claims description 64
- 238000005303 weighing Methods 0.000 claims description 14
- 230000003068 static effect Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of method for setting robot to run and server, wherein, this method includes：Determine the robot itself weight and the robot loading after weight；According to the weight after the weight of the robot and the robot loading, the operational factor of the robot is calculated；The operational factor is sent to the robot.It is that robot sets operational factor according to the weight after the weight of each robot and loading, improves machine task efficiency.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of method for setting robot to run and service
Device.
Background technology
At present, with the development of the social economy, being applied to supermarket, airport, station, conference and exhibition center more and more widely
And the large-scale stream of people such as logistics warehouse, logistics place.Robot is the integration environment perception, route planning, dynamic decision, a behavior
The Integrated Multi-Purpose System that control and alarm module are integrated, timing, the self-service work of flowing can be realized.
During the present invention is realized, inventor has found problems be present in correlation technique：
In correlation technique, during robot cluster carries out extensive dynamic moving in the venue, due to own wt
And varying in weight after loading, its walking maximal rate of institute and acceleration are inevitable different, discounting for each machine
The peak acceleration that can be born after the maximal rate that can be walked of people and loading, then it is possible that some robots
Excessive velocities, goods is jolted or even is thrown out, and then cause robot operating efficiency low.
The content of the invention
In view of this, the purpose of the embodiment of the present invention is to provide a kind of method for setting robot to run and server,
The operational factor of each robot is calculated according to the weight after the weight of each robot and loading respectively, improves robot
Operating efficiency.
In a first aspect, the embodiments of the invention provide a kind of method for setting robot to run, wherein, methods described bag
Include：
Determine the robot itself weight and the robot loading after weight；
According to the weight after the weight of the robot and the robot loading, the operation for calculating the robot is joined
Number；
The operational factor is sent to the robot.
With reference in a first aspect, the embodiments of the invention provide the possible implementation of the first of above-mentioned first aspect, its
In, the weight according to after the weight of the robot and the robot loading, the operation for calculating the robot is joined
Number, including：
The maximum speed of the robot is calculated according to the weight after the weight of the robot and the robot loading
Degree and peak acceleration；
The operational factor of the robot is determined according to the maximal rate and peak acceleration.
With reference to the first possible implementation of first aspect, the embodiments of the invention provide the of above-mentioned first aspect
Two kinds of possible implementations, wherein, the weight meter according to after the weight of the robot and the robot loading
The maximal rate and peak acceleration of the robot are calculated, including：
The goods of the robot carrying is determined according to the weight after the weight of the robot and the robot loading
The weight of thing；
The maximal rate and maximum of the robot are calculated according to the weight of the robot and the weight of the goods
Acceleration.
With reference to the possible implementation of the first of first aspect and first aspect, the embodiments of the invention provide above-mentioned
The third possible implementation of first aspect, wherein, after the weight of the robot and the robot loading
Weight, calculate the operational factor of the robot, including：
According to the weight after the weight of the robot and the robot loading, when calculating the robot ambulation
Actual maximal rate, acceleration and walking path.
With reference in a first aspect, the embodiments of the invention provide the possible implementation of the 4th of above-mentioned first aspect kind, its
In, the weight after the weight for determining the robot itself and the robot loading, in addition to：
Before the robot loading, instruction of weighing is sent to the robot, indicates the robot in default position
Put and weigh the weight of itself；
Receive the weight data of itself that the robot weighs；
After the robot loading, instruction of weighing is sent to the robot, indicates the robot described pre-
If position weighs the weight after loading；
Receive the weight data after the loading that the robot weighs.
Second aspect, the embodiments of the invention provide a kind of server for setting robot to run, wherein, the server
Including：
Determining module, for determine the robot itself weight and the robot loading after weight；
Computing module, the machine is calculated for the weight after the weight according to the robot and the robot loading
The operational factor of device people；
Sending module, for the operational factor to be sent into the robot.
With reference to the first possible implementation of second aspect, the embodiments of the invention provide the of above-mentioned second aspect
A kind of possible implementation, wherein, the computing module, including：
Computing unit, the machine is calculated for the weight after the weight according to the robot and the robot loading
The maximal rate and peak acceleration of device people；
Determining unit, for determining the operational factor of the robot according to the maximal rate and peak acceleration.
With reference to the first possible implementation of second aspect, the embodiments of the invention provide the of above-mentioned second aspect
Two kinds of possible implementations, wherein, the computing unit, including：
Determination subelement, for described in the weight determination after the weight according to the robot and the robot loading
The weight of the goods of robot carrying；
Computation subunit, the robot is calculated for the weight according to the robot and the weight of the goods
Maximal rate and peak acceleration.
With reference to the possible implementation of the first of second aspect and second aspect, the embodiments of the invention provide above-mentioned
The third possible implementation of second aspect, wherein,
The computing unit, is additionally operable to：According to the weight after the weight of the robot and the robot loading, meter
Calculate actual maximal rate, acceleration and the walking path during robot ambulation.
With reference to second aspect, the embodiments of the invention provide the possible implementation of the 4th of above-mentioned second aspect kind, its
In, the determining module, in addition to：
Own wt determining unit, for before the robot loading, sending instruction of weighing to the robot, referring to
Show that the robot weighs the weight of itself in predeterminated position；
Receiving unit, the weight data of itself weighed for receiving the robot；
Pay load determining unit, for after the robot loading, sending instruction of weighing to the robot, referring to
Show weight of the robot after the predeterminated position weighs loading；
The receiving unit, it is additionally operable to receive the weight data after the loading that the robot weighs.
In method and device provided in an embodiment of the present invention, the weight of the robot itself and the machine are determined
Weight after people's loading；According to the weight after the weight of the robot and the robot loading, the robot is calculated
Operational factor；The operational factor is sent to the robot.According to the weight after the weight of each robot and loading
Measure and operational factor is set for robot, improve machine task efficiency.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 shows a kind of method flow diagram for setting machine operation that the embodiment of the present invention is provided；
Fig. 2 shows a kind of structure chart of the server for setting robot operation that the embodiment of the present invention is provided；
Fig. 3 shows the structure chart for the computing module 22 that the embodiment of the present invention is provided；
Fig. 4 shows the structure chart for the computing unit 221 that the embodiment of the present invention is provided；
Fig. 5 shows the structure chart for the determining module 21 that the embodiment of the present invention is provided.
Embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Generally exist
The component of the embodiment of the present invention described and illustrated in accompanying drawing can be configured to arrange and design with a variety of herein.Cause
This, the detailed description of the embodiments of the invention to providing in the accompanying drawings is not intended to limit claimed invention below
Scope, but it is merely representative of the selected embodiment of the present invention.Based on embodiments of the invention, those skilled in the art are not doing
The every other embodiment obtained on the premise of going out creative work, belongs to the scope of protection of the invention.
In view of in correlation technique, each robot is due to varying in weight after the weight of itself and loading, its energy
The maximal rate and acceleration of walking are inevitable different, discounting for the maximal rate and load that can walk of each robot
The peak acceleration that can be born after goods, the then it is possible that excessive velocities of some robots, make goods jolt or even throw away
Go, and then cause robot operating efficiency low.Based on this, the embodiments of the invention provide a kind of side for setting robot to run
Method and server.It is described below by embodiment.
Embodiment 1
Referring to Fig. 1, the embodiments of the invention provide a kind of method for setting robot to run.This method specifically includes following
Step：
Weight after step 101, the weight for determining the robot itself and loading.
In the embodiment of the present invention, server establishes data with each robot in place and is connected, and can monitor in real time
To the state of the robot, and then before the robot loading, send and weigh instruction to the robot, described in instruction
Robot weighs the weight of itself in predeterminated position, and after the robot weighs own wt, the weight of itself is returned into institute
Server is stated, the server receives the weight of itself that the robot weighs.
After the robot loading is monitored, instruction of weighing is sent to the robot, indicates the machine person
The weight being derived from after body loading, after the robot weighs the weight after itself loading, the weight after loading is returned to described
Server, the server receive the weight after the loading.
It should be noted that the weight information of itself can be just sent to by robot when to the server registration
The server.In addition, robot is in the course of the work, because part of itself etc. has replacement, deletes and increases, therefore, this
The accuracy of the weight for the robot itself that invention obtains in order to ensure server, before the robot loading, to described
Robot sends the instruction weighed.Follow-up, if monitoring that the weight of the robot changes, to the machine human hair
Instruction of weighing is sent, reacquires the robot weight of itself.
Step 102, according to the weight after the weight of the robot and the robot loading, calculate the robot
Operational factor.
In the particular embodiment, the machine is calculated according to the weight after the weight of the robot and the loading
The maximal rate and peak acceleration of people；The operation for determining the robot according to the maximal rate and peak acceleration is joined
Number.
Wherein, the maximal rate of the robot is calculated according to the weight after the weight of the robot and the loading
Include with peak acceleration：Determine what the robot carried according to the weight after the weight of the robot and the loading
The weight of goods, further, the robot is calculated most according to the weight of the robot and the weight of the goods
Big speed and peak acceleration.
Specifically, after weight after the weight and loading for determining the robot itself, the weight after loading is utilized
The robot weight of itself is subtracted, has just obtained the weight of the goods of the robot carrying.
In order to ensure that robot itself and goods do not slide, therefore, goods and robot and robot and field
Active force between ground should be within maximum static friction force, behind the place of robot and robot determination, each machine
The coefficient of sliding friction of goods of the frictional force and robot in people and place with carrying just can determine, therefore the weight of goods
Maximum static friction force direct proportionality between the goods and robot, weight after the robot loading with it is described
Robot and the maximum static friction force direct proportionality in place.
Therefore, the peak acceleration that can be born according to the maximum static friction force of the goods and robot calculating goods
a1, can be born after calculating the robot loading according to the maximum static friction force in the weight after the robot loading and place
Peak acceleration a2.Wherein a1And a2The minimum peak acceleration that can be born as the robot after loading of middle selection, example
Such as, a is worked as1<a2, it is determined that the peak acceleration that the robot after loading can be born is a1If a1>a2, it is determined that after loading
The peak acceleration that robot can be born is a2, this is to be able to ensure to slide when walking after robot loading
It is dynamic.
It should be noted that because the mode of robot bearing goods is different, goods is not in the case where sliding
The peak acceleration a that can be born1Difference, a in the present embodiment1For carrying of the robot when being easiest to slide
Peak acceleration corresponding to the mode of peak acceleration corresponding to goods mode, i.e. other bearing goods is all higher than being equal to a1, also
It should be noted that in the peak acceleration of the robot after calculating loading, it is also necessary to consider that the robot after loading is entering
When row bend is walked, goods and the peak acceleration itself slided are avoided.
Further, after the peak acceleration that the robot after calculating loading can be born, the machine after loading
The speed of people is nor unconfined acceleration is gone down, it is contemplated that the power that each robot can provide is certain, then after loading
The weight of robot and maximal rate are inversely proportional, therefore according to the weight of the robot after loading, can calculate robot
Maximal rate, it should be noted that when the maximal rate of the robot after calculating loading, also to ensure maximal rate
Robot after the limitation and loading that server is set for each robot in advance is not sent out when carrying out bend walking
Within the raw limitation slided.
Further, after the maximal rate of robot after loading and peak acceleration determine, due in place simultaneously
A robot is there is more than, in order to avoid robot collides and path blocks, server is according to robot after loading
Maximal rate and peak acceleration be that the robot sets route scheme, route scheme includes the machine after the loading
Actual maximal rate and acceleration when people walks, and walking path.
It should be noted that the actual maximal rate walked of robot is less than or equal to the maximum speed of the robot calculated
Degree, the actual acceleration walked of robot are less than or equal to the peak acceleration of the robot calculated, and robot is real in the present invention
Border is not limited in even acceleration walking when walking, as long as meeting that acceleration is less than or equal to the peak acceleration calculated.
Step 103, the operational factor is sent to the robot.
After calculating the operational factor after the robot loading, the operational factor is sent to the machine after the loading
Device people, after the robot receives route scheme, maximum speed is accelerated to acceleration according to the walking path in operational factor
Degree.
In method and device provided in an embodiment of the present invention, the weight of the robot itself and the machine are determined
Weight after people's loading；According to the weight after the weight of the robot and the robot loading, the robot is calculated
Operational factor；The operational factor is sent to the robot.According to the weight after the weight of each robot and loading
Measure and operational factor is set for robot, improve machine task efficiency.
The method that the robot speed proposed with reference to specific application scenarios to the present embodiment is set carries out detailed
Explanation.Wherein, robot 1 in system be present and robot control server, server monitoring to robot 1 are appointed positioned at reception
Business article region, wherein, the equipment that can be weighed has been disposed in the region, and then before the bearing goods of robot 1, to machine
Device people 1 sends instruction of weighing, and indicates that the robot weighs the weight of itself in the equipment weighed, the server can lead to
The weight that the equipment weighed directly obtains the robot is crossed, the weight of itself can also be obtained by the robot
Amount, and it is returned to server.
Further, robot bearing goods, the server can get institute in the equipment weighed
State the weight after robot loading.
Further, the machine after the loading is calculated according to the weight after the weight of the robot itself and loading
The operational factor of people.Specifically, the goods of carrying is determined according to the weight after the weight of the robot itself and loading
Weight, the maximal rate that can be walked of the robot is calculated according to the weight of the robot and the weight of the goods
vmaxWith peak acceleration amax。
Further, according to the robot operation conditions in place, maximal rate v and acceleration a is set for the robot
And the path arrived at as early as possible, and the operational factor is sent to the robot.Wherein, V is less than or equal to vmax, a is small
In equal to amax。
After the robot receives the operational factor, bearing goods are walked with acceleration a according to the path of setting, when
When speed reaches v, do not further accelerate.
In method and device provided in an embodiment of the present invention, the weight of the robot itself and the machine are determined
Weight after people's loading；According to the weight after the weight of the robot and the robot loading, the robot is calculated
Operational factor；The operational factor is sent to the robot.According to the weight after the weight of each robot and loading
Measure and operational factor is set for robot, improve machine task efficiency.
Embodiment 2
Referring to Fig. 2, the present embodiment additionally provides a kind of server for setting robot to run, wherein, the server bag
Include：
Determining module 21, for determine the robot itself weight and the robot loading after weight；
Computing module 22, for described in the weight calculating after the weight according to the robot and the robot loading
The operational factor of robot；
Sending module 23, for the operational factor to be sent into the robot.
Wherein, it is the structure chart of the computing module 22 referring to Fig. 3, including：
Computing unit 221, institute is calculated for the weight after the weight according to the robot and the robot loading
State the maximal rate and peak acceleration of robot；
Determining unit 222, for determining the operational factor of the robot according to the maximal rate and peak acceleration.
It is the structure chart of the computing unit 221 referring to Fig. 4, including：
Determination subelement 2211, determined for the weight after the weight according to the robot and the robot loading
The weight of the goods of the robot carrying；
Computation subunit 2212, the machine is calculated for the weight according to the robot and the weight of the goods
The maximal rate and peak acceleration of people.
Wherein, the computing unit 22, is additionally operable to：After the weight of the robot and the robot loading
Weight, calculate actual maximal rate, acceleration and walking path during the robot ambulation
It is the structure chart of the determining module 21 referring to Fig. 5, including：
Own wt determining unit 211, for before the robot loading, finger of weighing to be sent to the robot
Order, indicates that the robot weighs the weight of itself in predeterminated position；
Receiving unit 212, the weight data of itself weighed for receiving the robot；
Pay load determining unit 213, for after the robot loading, finger of weighing to be sent to the robot
Order, indicates weight of the robot after the predeterminated position weighs loading；
The receiving unit 212, it is additionally operable to receive the weight data after the loading that the robot weighs.
In method and device provided in an embodiment of the present invention, the weight of the robot itself and the machine are determined
Weight after people's loading；According to the weight after the weight of the robot and the robot loading, the robot is calculated
Operational factor；The operational factor is sent to the robot.According to the weight after the weight of each robot and loading
Measure and operational factor is set for robot, improve machine task efficiency.
In several embodiments provided herein, it should be understood that disclosed apparatus and method, can be by other
Mode realize.Device embodiment described above is only schematical, for example, the division of the unit, only one
Kind of division of logic function, can there is other dividing mode when actually realizing, in another example, multiple units or component can combine or
Person is desirably integrated into another system, or some features can be ignored, or does not perform.Another, shown or discussed is mutual
Between coupling or direct-coupling or communication connection can be the INDIRECT COUPLING or logical of device or unit by some communication interfaces
Letter connection, can be electrical, mechanical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.
If the function is realized in the form of SFU software functional unit and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part to be contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are causing a computer equipment (can be
People's computer, server, or network equipment etc.) perform all or part of step of each embodiment methods described of the present invention.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (10)
- A kind of 1. method for setting robot to run, it is characterised in that methods described includes：Determine the robot itself weight and the robot loading after weight；According to the weight after the weight of the robot and the robot loading, the operational factor of the robot is calculated, The operational factor includes peak acceleration；By in the acceleration after the acceleration between the loading and the robot, the loading between robot and ground Peak acceleration of the minimum acceleration as robot；The operational factor is sent to the robot.
- 2. the method as described in claim 1, it is characterised in that the weight according to the robot and the robot Weight after loading, the operational factor of the robot is calculated, including：According to the weight after the weight of the robot and the robot loading calculate the robot maximal rate and Peak acceleration；The operational factor of the robot is determined according to the maximal rate and peak acceleration.
- 3. method as claimed in claim 2, it is characterised in that the weight according to the robot and the robot Weight after loading calculates the maximal rate and peak acceleration of the robot, including：The goods of the robot carrying is determined according to the weight after the weight of the robot and the robot loading Weight；The maximal rate of the robot and maximum acceleration are calculated according to the weight of the robot and the weight of the goods Degree.
- 4. method as claimed in claim 1 or 2, it is characterised in that according to the weight of the robot and the robot Weight after loading, the operational factor of the robot is calculated, including：According to the weight after the weight of the robot and the robot loading, the reality during robot ambulation is calculated Maximal rate, acceleration and walking path.
- 5. the method as described in claim 1, it is characterised in that the weight for determining the robot itself and the machine Weight after device people's loading, in addition to：Before the robot loading, instruction of weighing is sent to the robot, indicates that the robot claims in predeterminated position It is derived from the weight of body；Receive the weight data of itself that the robot weighs；After the robot loading, instruction of weighing is sent to the robot, indicates the robot in the default position Put the weight after weighing loading；Receive the weight data after the loading that the robot weighs.
- 6. a kind of server for setting robot to run, it is characterised in that the server includes：Determining module, for determine the robot itself weight and the robot loading after weight；Computing module, the robot is calculated for the weight after the weight according to the robot and the robot loading Operational factor, the operational factor includes peak acceleration；By in the acceleration after the acceleration between the loading and the robot, the loading between robot and ground Peak acceleration of the minimum acceleration as robot；Sending module, for the operational factor to be sent into the robot.
- 7. server as claimed in claim 6, it is characterised in that the computing module, including：Computing unit, the robot is calculated for the weight after the weight according to the robot and the robot loading Maximal rate and peak acceleration；Determining unit, for determining the operational factor of the robot according to the maximal rate and peak acceleration.
- 8. server as claimed in claim 7, it is characterised in that the computing unit, including：Determination subelement, the machine is determined for the weight after the weight according to the robot and the robot loading The weight of the goods of people's carrying；Computation subunit, the maximum of the robot is calculated for the weight according to the robot and the weight of the goods Speed and peak acceleration.
- 9. server as claimed in claims 6 or 7, it is characterised in thatThe computing unit, is additionally operable to：According to the weight after the weight of the robot and the robot loading, institute is calculated State actual maximal rate, acceleration and the walking path during robot ambulation.
- 10. server as claimed in claim 6, it is characterised in that the determining module, in addition to：Own wt determining unit, for before the robot loading, sending instruction of weighing to the robot, indicating institute State robot and the weight of itself is weighed in predeterminated position；Receiving unit, the weight data of itself weighed for receiving the robot；Pay load determining unit, for after the robot loading, sending instruction of weighing to the robot, indicating institute State weight of the robot after the predeterminated position weighs loading；The receiving unit, it is additionally operable to receive the weight data after the loading that the robot weighs.
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| CN201610004661.0A CN105538326B (en) | 2016-01-04 | 2016-01-04 | A kind of method for setting robot to run and server |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106200637A (en) * | 2016-07-06 | 2016-12-07 | 尚艳燕 | A kind of method utilizing balance car loading and balance car |
| CN108897329A (en) * | 2018-09-29 | 2018-11-27 | 苏州博众机器人有限公司 | A kind of robot speed's control method, device, equipment and storage medium |
| DE102019122052B4 (en) * | 2019-08-16 | 2021-03-04 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Vehicle for transporting cargo |
| DE102019122055B4 (en) * | 2019-08-16 | 2021-08-26 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Method for the transfer of cargo from a cargo receptacle of a vehicle and vehicle for carrying out the method |
| CN111085446B (en) * | 2020-01-03 | 2023-07-18 | 华南理工大学 | Logistics robot with quick response balance and regulation and control method thereof |
| CN112207828A (en) * | 2020-09-30 | 2021-01-12 | 广东唯仁医疗科技有限公司 | Retail robot control method and system based on 5G network |
| CN117565061B (en) * | 2024-01-16 | 2024-03-29 | 山西大学 | Speed and weight balance control system based on mechanical arm carrying |
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