CN113661114B - 用于控制移动底盘组件、特别是设置有履带底盘的移动传送桥系统的移动的方法和装置 - Google Patents
用于控制移动底盘组件、特别是设置有履带底盘的移动传送桥系统的移动的方法和装置 Download PDFInfo
- Publication number
- CN113661114B CN113661114B CN202080027535.1A CN202080027535A CN113661114B CN 113661114 B CN113661114 B CN 113661114B CN 202080027535 A CN202080027535 A CN 202080027535A CN 113661114 B CN113661114 B CN 113661114B
- Authority
- CN
- China
- Prior art keywords
- chassis
- movement
- systems
- individual
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/20—Endless-track steering having pivoted bogie carrying track
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
- B65G41/007—Means for moving conveyor frames and control arrangements therefor
- B65G41/008—Means for moving conveyor frames and control arrangements therefor frames mounted on wheels or caterpillar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/1509—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels with different steering modes, e.g. crab-steering, or steering specially adapted for reversing of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/28—Piling or unpiling loose materials in bulk, e.g. coal, manure, timber, not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Control Of Conveyors (AREA)
Abstract
Description
Claims (20)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102019204844.7A DE102019204844A1 (de) | 2019-04-04 | 2019-04-04 | Verfahren und Vorrichtung zur Regelung der Bewegung einer mobilen Fahrwerks-Anordnung, insbesondere eines mit Raupenfahrwerken ausgestatteten mobilen Förderbrückensystems, über multiple individuell geschwindigkeitsregelbare Antriebseinheiten |
DE102019204844.7 | 2019-04-04 | ||
PCT/EP2020/057750 WO2020200837A1 (de) | 2019-04-04 | 2020-03-20 | Verfahren und vorrichtung zur regelung der bewegung einer mobilen fahrwerks-anordnung, insbesondere eines mit raupenfahrwerken ausgestatteten mobilen förderbrückensystems, über multiple individuell geschwindigkeitsregelbare antriebseinheiten |
Publications (2)
Publication Number | Publication Date |
---|---|
CN113661114A CN113661114A (zh) | 2021-11-16 |
CN113661114B true CN113661114B (zh) | 2023-05-09 |
Family
ID=70224318
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202080027535.1A Active CN113661114B (zh) | 2019-04-04 | 2020-03-20 | 用于控制移动底盘组件、特别是设置有履带底盘的移动传送桥系统的移动的方法和装置 |
Country Status (5)
Country | Link |
---|---|
CN (1) | CN113661114B (zh) |
BR (1) | BR112021019752A2 (zh) |
CA (1) | CA3133406C (zh) |
DE (1) | DE102019204844A1 (zh) |
WO (1) | WO2020200837A1 (zh) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102021111347B4 (de) | 2021-05-03 | 2023-12-21 | Takraf Gmbh | Zentral-Unterbau für Fahrwerke und Oberbau |
CN114089668B (zh) * | 2021-11-22 | 2023-11-07 | 大连理工大学 | 一种集成式移动机器人分布式控制方法 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE202014000755U1 (de) * | 2014-01-30 | 2015-05-04 | Hit Hafen- Und Industrietechnik Gmbh | Schwerlastniederflurfahrzeug, und System mit einem oder mehreren dieser Fahrzeuge |
WO2019053212A1 (de) * | 2017-09-15 | 2019-03-21 | Thyssenkrupp Industrial Solutions Ag | Mobiles förderbrückensystem mit entkoppeltem absetzsystem |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE928864C (de) * | 1942-02-20 | 1955-06-13 | Karl Gey | Fahrzeug mit Raupenfahrgestellen in Drehschemelanordnung |
DE2153492C2 (de) * | 1971-10-27 | 1973-06-14 | Fried Krupp Gmbh | Transportvorrichtung für kein eigenes Fahrwerk aufweisende schwere Tagebaugeräte |
DE3615118A1 (de) * | 1986-05-03 | 1987-10-08 | Krupp Gmbh | Raupenfahrwerk |
US5908458A (en) * | 1997-02-06 | 1999-06-01 | Carnegie Mellon Technical Transfer | Automated system and method for control of movement using parameterized scripts |
DE10145873B4 (de) * | 2001-09-18 | 2007-03-08 | Takraf Gmbh | Vorrichtung zum Erkennen der Lageabweichung von zwei zu einer mobilen Förderbrücke gehörenden Sektionen zueinander |
WO2003059720A1 (en) * | 2002-01-15 | 2003-07-24 | Terratronics Pty Ltd | Vehicle with integrated control of steering and wheel speed |
DE102010007997B4 (de) * | 2010-02-15 | 2013-11-21 | Takraf Gmbh | Verfahren und Vorrichtung zur gemeinsamen Steuerung einer aus mindestens drei Segmenten bestehenden verfahrbaren Förderbrücke |
DE102011014666B4 (de) * | 2010-03-26 | 2022-03-31 | Guntert & Zimmerman Const. Div. Inc. | Gleitschalungsfertiger und Verfahren zum Neueinrichten eines Gleitschalungsfertigers |
DE202012102062U1 (de) * | 2012-06-05 | 2013-09-12 | Nikolaus Berzen Ratzel | Crawler und System zum Transport von Lasten |
JP6153882B2 (ja) * | 2014-03-27 | 2017-06-28 | 日立建機株式会社 | 車両走行システム及び運行管理サーバ |
WO2016111386A1 (ja) * | 2016-03-31 | 2016-07-14 | 株式会社小松製作所 | 作業車両の制御システム |
AU2018261100B2 (en) * | 2017-05-02 | 2022-07-07 | Gomaco Corporation | Freesteering system for mobile machines |
DE102017216389B4 (de) * | 2017-09-15 | 2023-06-22 | Thyssenkrupp Ag | Mobiles Förderbrückensystem mit entkoppeltem Absetzsystem |
-
2019
- 2019-04-04 DE DE102019204844.7A patent/DE102019204844A1/de active Pending
-
2020
- 2020-03-20 WO PCT/EP2020/057750 patent/WO2020200837A1/de active Application Filing
- 2020-03-20 BR BR112021019752A patent/BR112021019752A2/pt unknown
- 2020-03-20 CN CN202080027535.1A patent/CN113661114B/zh active Active
- 2020-03-20 CA CA3133406A patent/CA3133406C/en active Active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE202014000755U1 (de) * | 2014-01-30 | 2015-05-04 | Hit Hafen- Und Industrietechnik Gmbh | Schwerlastniederflurfahrzeug, und System mit einem oder mehreren dieser Fahrzeuge |
WO2019053212A1 (de) * | 2017-09-15 | 2019-03-21 | Thyssenkrupp Industrial Solutions Ag | Mobiles förderbrückensystem mit entkoppeltem absetzsystem |
Also Published As
Publication number | Publication date |
---|---|
DE102019204844A1 (de) | 2020-10-08 |
CA3133406C (en) | 2023-11-07 |
WO2020200837A1 (de) | 2020-10-08 |
CA3133406A1 (en) | 2020-10-08 |
BR112021019752A2 (pt) | 2021-12-07 |
CN113661114A (zh) | 2021-11-16 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN113661114B (zh) | 用于控制移动底盘组件、特别是设置有履带底盘的移动传送桥系统的移动的方法和装置 | |
US8011459B2 (en) | Inverted wheel type moving body and method of controlling same | |
US7798264B2 (en) | Reconfigurable balancing robot and method for dynamically transitioning between statically stable mode and dynamically balanced mode | |
US9850108B2 (en) | Movement system configured for moving a payload | |
US8170781B2 (en) | Inverted wheel type moving body and method of controlling the same | |
US20100057319A1 (en) | Inverted two-wheel guided vehicle and control method therefor | |
CN111070201B (zh) | 四足机器人在负载突变下基于zmp理论的反应式鲁棒控制方法 | |
US8326454B2 (en) | Power assist apparatus, and its control method | |
Ngo et al. | Skew control of a quay container crane | |
JP2010225139A (ja) | 移動機器 | |
CN114803952B (zh) | 具有高地形适应性的可协作搬运机器人及协作搬运方法 | |
US20200306998A1 (en) | Multi-Body Controller | |
Recker et al. | Handling of large and heavy objects using a single mobile manipulator in combination with a roller board | |
WO2013121022A1 (en) | System for reducing roll and pitch in a moving vehicle | |
Alipour et al. | Effect of terrain traction, suspension stiffness and grasp posture on the tip-over stability of wheeled robots with multiple arms | |
KR101232584B1 (ko) | 이동 로봇의 제어 장치 및 그 방법 | |
Minor et al. | Simplified motion control of a two-axle compliant framed wheeled mobile robot | |
US11577939B2 (en) | Controller for a lifting device, and method for operating same | |
Borenstein et al. | The OmniMate mobile robot-design, implementation, and experimental results | |
CN110936876A (zh) | 一种机场用快速装卸平台 | |
US20210402605A1 (en) | Work Mode and Travel Mode for Mobile Robots | |
JP4999080B2 (ja) | 搬送方法およびこの方法を実施する搬送手段の制御システム | |
Morales et al. | Center of gravity estimation and control for a field mobile robot with a heavy manipulator | |
JP7084790B2 (ja) | 搬送装置及びバランス制御方法 | |
Chung et al. | Robust control of a mobile manipulator-dynamic modeling approach |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20230809 Address after: Denmark Copenhagen valby Patentee after: FLSMIDTH A/S Address before: essen Patentee before: THYSSENKRUPP INDUSTRIAL SOLUTIONS AG Effective date of registration: 20230809 Address after: essen Patentee after: THYSSENKRUPP INDUSTRIAL SOLUTIONS AG Address before: essen Patentee before: THYSSENKRUPP INDUSTRIAL SOLUTIONS AG Patentee before: THYSSENKRUPP AG |
|
TR01 | Transfer of patent right |