CN106970621A - 搬运机器人运行控制方法、装置及机器人 - Google Patents
搬运机器人运行控制方法、装置及机器人 Download PDFInfo
- Publication number
- CN106970621A CN106970621A CN201710247046.7A CN201710247046A CN106970621A CN 106970621 A CN106970621 A CN 106970621A CN 201710247046 A CN201710247046 A CN 201710247046A CN 106970621 A CN106970621 A CN 106970621A
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- driving wheel
- left driving
- position adjustment
- right driving
- transfer robot
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- 238000012546 transfer Methods 0.000 title claims abstract description 86
- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000033001 locomotion Effects 0.000 claims abstract description 33
- 230000010354 integration Effects 0.000 claims description 8
- 238000005516 engineering process Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 5
- 230000004044 response Effects 0.000 description 5
- 230000005611 electricity Effects 0.000 description 4
- 238000006880 cross-coupling reaction Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 210000001367 artery Anatomy 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000002407 reforming Methods 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
Classifications
-
- 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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
-
- 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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (15)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710247046.7A CN106970621B (zh) | 2017-04-17 | 2017-04-17 | 搬运机器人运行控制方法、装置及机器人 |
PCT/CN2018/083277 WO2018192465A1 (zh) | 2017-04-17 | 2018-04-17 | 控制搬运机器人运行的方法、装置及机器人 |
US16/605,575 US11340614B2 (en) | 2017-04-17 | 2018-04-17 | Robot and method and apparatus of controlling movement of transport robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710247046.7A CN106970621B (zh) | 2017-04-17 | 2017-04-17 | 搬运机器人运行控制方法、装置及机器人 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106970621A true CN106970621A (zh) | 2017-07-21 |
CN106970621B CN106970621B (zh) | 2021-03-30 |
Family
ID=59333008
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710247046.7A Active CN106970621B (zh) | 2017-04-17 | 2017-04-17 | 搬运机器人运行控制方法、装置及机器人 |
Country Status (3)
Country | Link |
---|---|
US (1) | US11340614B2 (zh) |
CN (1) | CN106970621B (zh) |
WO (1) | WO2018192465A1 (zh) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108166824A (zh) * | 2017-12-18 | 2018-06-15 | 重庆复融科技有限公司 | 低成本实现车辆转运的载板以及转运方法 |
CN108594637A (zh) * | 2018-05-30 | 2018-09-28 | 大连理工大学 | 两轮自平衡车平面点对点自主运动控制方法 |
WO2018192465A1 (zh) * | 2017-04-17 | 2018-10-25 | 北京京东尚科信息技术有限公司 | 控制搬运机器人运行的方法、装置及机器人 |
CN109656130A (zh) * | 2017-10-10 | 2019-04-19 | 北京京东尚科信息技术有限公司 | 搬运机器人运行控制方法、装置、机器人以及存储介质 |
CN110231041A (zh) * | 2018-03-06 | 2019-09-13 | 北京京东尚科信息技术有限公司 | 一种车道切换的导航方法和装置 |
CN111562780A (zh) * | 2019-02-13 | 2020-08-21 | 北京京东尚科信息技术有限公司 | 一种搬运设备运行轨迹设置方法和装置 |
CN116300409A (zh) * | 2023-05-17 | 2023-06-23 | 季华实验室 | 一种轨迹跟踪控制方法、装置、电子设备及存储介质 |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113377104A (zh) * | 2021-06-02 | 2021-09-10 | 北京布科思科技有限公司 | 基于差速模型的机器人位置控制方法、装置 |
Citations (6)
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US4556940A (en) * | 1980-09-05 | 1985-12-03 | Mitsubishi Denki Kabushiki Kaisha | Robot vehicle |
US4847774A (en) * | 1986-09-12 | 1989-07-11 | Tsubakimoto Chain Co. | Method and apparatus for detecting traveling position and/or direction of an unmanned vehicle |
CN101885350A (zh) * | 2010-07-15 | 2010-11-17 | 南京航空航天大学 | 全方位自动导引车的路径自适应跟踪控制方法 |
CN105479460A (zh) * | 2016-01-11 | 2016-04-13 | 清华大学 | 一种非时间参考的差速驱动机器人路线跟踪控制方法 |
CN105974924A (zh) * | 2016-07-19 | 2016-09-28 | 合肥学院 | Agv小车自适应导航方法及系统 |
CN106020200A (zh) * | 2016-07-07 | 2016-10-12 | 江苏上骐集团有限公司 | 采用轮毂电机驱动的agv小车及路径规划方法 |
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US4727303A (en) * | 1986-05-22 | 1988-02-23 | Gmf Robotics Corporation | Positional control method and system utilizing same |
JPH08320227A (ja) | 1995-05-26 | 1996-12-03 | Komatsu Ltd | 移動体のコースずれ検出装置 |
JP3483855B2 (ja) | 2001-01-16 | 2004-01-06 | 川崎重工業株式会社 | 車両系の走行制御方法及び装置 |
CA2531305A1 (en) * | 2005-04-25 | 2006-10-25 | Lg Electronics Inc. | Self-moving robot capable of correcting movement errors and method for correcting movement errors of the same |
US8239083B2 (en) * | 2006-01-18 | 2012-08-07 | I-Guide Robotics, Inc. | Robotic vehicle controller |
JP4297123B2 (ja) * | 2006-03-14 | 2009-07-15 | トヨタ自動車株式会社 | 移動体の軌道追従制御システム及び軌道追従制御方法 |
CN105035228B (zh) * | 2010-02-26 | 2018-10-09 | 塞格威股份有限公司 | 车辆控制的装置和方法 |
TWM477598U (zh) | 2013-11-18 | 2014-05-01 | Weistech Technology Co Ltd | 具有路線校正功能之移動裝置 |
CN204844150U (zh) | 2015-07-17 | 2015-12-09 | 徐州工业职业技术学院 | 一种自动精确定位移动机器人 |
CN106970621B (zh) | 2017-04-17 | 2021-03-30 | 北京京东乾石科技有限公司 | 搬运机器人运行控制方法、装置及机器人 |
-
2017
- 2017-04-17 CN CN201710247046.7A patent/CN106970621B/zh active Active
-
2018
- 2018-04-17 WO PCT/CN2018/083277 patent/WO2018192465A1/zh active Application Filing
- 2018-04-17 US US16/605,575 patent/US11340614B2/en active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4556940A (en) * | 1980-09-05 | 1985-12-03 | Mitsubishi Denki Kabushiki Kaisha | Robot vehicle |
US4847774A (en) * | 1986-09-12 | 1989-07-11 | Tsubakimoto Chain Co. | Method and apparatus for detecting traveling position and/or direction of an unmanned vehicle |
CN101885350A (zh) * | 2010-07-15 | 2010-11-17 | 南京航空航天大学 | 全方位自动导引车的路径自适应跟踪控制方法 |
CN105479460A (zh) * | 2016-01-11 | 2016-04-13 | 清华大学 | 一种非时间参考的差速驱动机器人路线跟踪控制方法 |
CN106020200A (zh) * | 2016-07-07 | 2016-10-12 | 江苏上骐集团有限公司 | 采用轮毂电机驱动的agv小车及路径规划方法 |
CN105974924A (zh) * | 2016-07-19 | 2016-09-28 | 合肥学院 | Agv小车自适应导航方法及系统 |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2018192465A1 (zh) * | 2017-04-17 | 2018-10-25 | 北京京东尚科信息技术有限公司 | 控制搬运机器人运行的方法、装置及机器人 |
US11340614B2 (en) | 2017-04-17 | 2022-05-24 | Beijing Jingdong Qianshi Technology Co., Ltd. | Robot and method and apparatus of controlling movement of transport robot |
CN109656130A (zh) * | 2017-10-10 | 2019-04-19 | 北京京东尚科信息技术有限公司 | 搬运机器人运行控制方法、装置、机器人以及存储介质 |
CN109656130B (zh) * | 2017-10-10 | 2022-06-07 | 北京京东乾石科技有限公司 | 搬运机器人运行控制方法、装置、机器人以及存储介质 |
CN108166824A (zh) * | 2017-12-18 | 2018-06-15 | 重庆复融科技有限公司 | 低成本实现车辆转运的载板以及转运方法 |
CN110231041A (zh) * | 2018-03-06 | 2019-09-13 | 北京京东尚科信息技术有限公司 | 一种车道切换的导航方法和装置 |
CN110231041B (zh) * | 2018-03-06 | 2021-05-25 | 北京京东尚科信息技术有限公司 | 一种车道切换的导航方法和装置 |
CN108594637A (zh) * | 2018-05-30 | 2018-09-28 | 大连理工大学 | 两轮自平衡车平面点对点自主运动控制方法 |
CN111562780A (zh) * | 2019-02-13 | 2020-08-21 | 北京京东尚科信息技术有限公司 | 一种搬运设备运行轨迹设置方法和装置 |
CN116300409A (zh) * | 2023-05-17 | 2023-06-23 | 季华实验室 | 一种轨迹跟踪控制方法、装置、电子设备及存储介质 |
CN116300409B (zh) * | 2023-05-17 | 2023-08-15 | 季华实验室 | 一种轨迹跟踪控制方法、装置、电子设备及存储介质 |
Also Published As
Publication number | Publication date |
---|---|
US11340614B2 (en) | 2022-05-24 |
CN106970621B (zh) | 2021-03-30 |
WO2018192465A1 (zh) | 2018-10-25 |
US20200073395A1 (en) | 2020-03-05 |
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Effective date of registration: 20190726 Address after: 300 457 days First Floor, Phase 2, No. 10 Fourth Avenue, Jinshi Economic and Technological Development Zone Applicant after: Tianjin Jingdong Shentuo Robot Technology Co., Ltd. Address before: East Building 11, 100195 Beijing city Haidian District xingshikou Road No. 65 west Shan creative garden district 1-4 four layer of 1-4 layer Applicant before: Beijing Jingdong Shangke Information Technology Co., Ltd. Applicant before: Beijing Jingdong Century Commerce Co., Ltd. |
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Effective date of registration: 20200521 Address after: Room A1905, 19th floor, No. 2 Building, 18 Kechuang 11th Street, Beijing Daxing District, Beijing Applicant after: Beijing Jingdong Qianshi Technology Co.,Ltd. Address before: 300 457 days First Floor, Phase 2, No. 10 Fourth Avenue, Jinshi Economic and Technological Development Zone Applicant before: Tianjin Jingdong Shentuo Robot Technology Co.,Ltd. |
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