CN107132843B - 无人搬运车的控制方法和装置 - Google Patents
无人搬运车的控制方法和装置 Download PDFInfo
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- CN107132843B CN107132843B CN201710357849.8A CN201710357849A CN107132843B CN 107132843 B CN107132843 B CN 107132843B CN 201710357849 A CN201710357849 A CN 201710357849A CN 107132843 B CN107132843 B CN 107132843B
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- 238000000034 method Methods 0.000 title claims abstract description 42
- 238000006880 cross-coupling reaction Methods 0.000 claims abstract description 79
- 230000004044 response Effects 0.000 claims description 12
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- 238000004458 analytical method Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 8
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- 238000004891 communication Methods 0.000 description 6
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
Abstract
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Priority Applications (1)
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CN201710357849.8A CN107132843B (zh) | 2017-05-19 | 2017-05-19 | 无人搬运车的控制方法和装置 |
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CN201710357849.8A CN107132843B (zh) | 2017-05-19 | 2017-05-19 | 无人搬运车的控制方法和装置 |
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CN107132843A CN107132843A (zh) | 2017-09-05 |
CN107132843B true CN107132843B (zh) | 2020-07-31 |
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Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
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CN109976336A (zh) * | 2019-03-08 | 2019-07-05 | 上海精星物流设备工程有限公司 | 一种基于四次曲线的无人叉车运动轨迹生成方法 |
CN110333734A (zh) * | 2019-05-24 | 2019-10-15 | 深圳市道通智能航空技术有限公司 | 一种无人机及其控制方法、存储介质 |
CN110823227B (zh) * | 2019-11-12 | 2021-07-20 | 深圳创维数字技术有限公司 | 路径导航方法、设备及计算机可读存储介质 |
CN113504052A (zh) * | 2021-06-01 | 2021-10-15 | 襄阳达安汽车检测中心有限公司 | 一种摆桩系统、方法、设备及计算机可读存储介质 |
CN114198595A (zh) * | 2021-11-08 | 2022-03-18 | 武汉工程大学 | 管道机器人的控制系统、方法、装置、电子设备及介质 |
Citations (10)
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EP1361027A1 (en) * | 2000-11-17 | 2003-11-12 | Honda Giken Kogyo Kabushiki Kaisha | Gait pattern generating device for legged mobile robot |
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CN103823929A (zh) * | 2014-02-18 | 2014-05-28 | 北京理工大学 | 一种基于驾驶员模型的车辆转向系统性能测试方法 |
CN105415372A (zh) * | 2015-12-09 | 2016-03-23 | 常州汉迪机器人科技有限公司 | 一种安全空间约束下的多关节机器人轨迹规划方法 |
WO2016057181A1 (en) * | 2014-10-10 | 2016-04-14 | Irobot Corporation | Mobile robot area cleaning |
CN106338993A (zh) * | 2016-10-11 | 2017-01-18 | 北京京东尚科信息技术有限公司 | 无人配送车以及无人配送车控制方法和装置 |
CN106444766A (zh) * | 2016-10-21 | 2017-02-22 | 北京京东尚科信息技术有限公司 | Agv 运输车及其控制方法 |
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KR20170053351A (ko) * | 2015-11-06 | 2017-05-16 | 삼성전자주식회사 | 청소 로봇 및 그 제어 방법 |
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2017
- 2017-05-19 CN CN201710357849.8A patent/CN107132843B/zh active Active
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EP1361027A1 (en) * | 2000-11-17 | 2003-11-12 | Honda Giken Kogyo Kabushiki Kaisha | Gait pattern generating device for legged mobile robot |
KR20090066726A (ko) * | 2007-12-20 | 2009-06-24 | 이인옥 | 액티브 비컨 센서 시스템에서 위치 추정 방법 |
CN102087747A (zh) * | 2011-01-05 | 2011-06-08 | 西南交通大学 | 基于单纯形法的对象跟踪方法 |
CN102430841A (zh) * | 2011-08-26 | 2012-05-02 | 昆山工研院工业机器人研究所有限公司 | 基于离线规划的弧焊机器人激光视觉焊缝跟踪控制方法 |
CN102788704A (zh) * | 2012-06-29 | 2012-11-21 | 北京理工大学 | 基于驾驶员模型的汽车操纵稳定性检测系统及检测方法 |
CN103823929A (zh) * | 2014-02-18 | 2014-05-28 | 北京理工大学 | 一种基于驾驶员模型的车辆转向系统性能测试方法 |
WO2016057181A1 (en) * | 2014-10-10 | 2016-04-14 | Irobot Corporation | Mobile robot area cleaning |
CN105415372A (zh) * | 2015-12-09 | 2016-03-23 | 常州汉迪机器人科技有限公司 | 一种安全空间约束下的多关节机器人轨迹规划方法 |
CN106338993A (zh) * | 2016-10-11 | 2017-01-18 | 北京京东尚科信息技术有限公司 | 无人配送车以及无人配送车控制方法和装置 |
CN106444766A (zh) * | 2016-10-21 | 2017-02-22 | 北京京东尚科信息技术有限公司 | Agv 运输车及其控制方法 |
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Predictive path following with arrival time awareness for waterborne AGVs;Huarong Zheng,etc;《Transportation Research Part》;20161230;第1198-1205页 * |
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