CN114690774A - 用于控制机器人的运动的方法和系统及计算机可读介质 - Google Patents

用于控制机器人的运动的方法和系统及计算机可读介质 Download PDF

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Publication number
CN114690774A
CN114690774A CN202210322755.8A CN202210322755A CN114690774A CN 114690774 A CN114690774 A CN 114690774A CN 202210322755 A CN202210322755 A CN 202210322755A CN 114690774 A CN114690774 A CN 114690774A
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China
Prior art keywords
robot
wheels
pair
drive sequence
current
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CN202210322755.8A
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English (en)
Chinese (zh)
Inventor
英瓦尔·霍纳兰德
伊瓦·菲耶尔德海姆
约尔延·久韦·黑格博
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Autostore Technology AS
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Autostore Technology AS
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Application filed by Autostore Technology AS filed Critical Autostore Technology AS
Publication of CN114690774A publication Critical patent/CN114690774A/zh
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    • 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
    • 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
    • G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
    • G05D1/0229—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area in combination with fixed guiding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • 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
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • 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
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0464—Storage devices mechanical with access from above
    • 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
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
    • G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
    • 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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/243—Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
    • G05D1/2437—Extracting relative motion information
    • 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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/244—Arrangements for determining position or orientation using passive navigation aids external to the vehicle, e.g. markers, reflectors or magnetic means

Landscapes

  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
CN202210322755.8A 2016-11-02 2017-10-24 用于控制机器人的运动的方法和系统及计算机可读介质 Pending CN114690774A (zh)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
NO20161733A NO342037B1 (en) 2016-11-02 2016-11-02 Controlling movements of a robot running on tracks
NO20161733 2016-11-02
CN201780067541.8A CN109891350B (zh) 2016-11-02 2017-10-24 控制在轨道上运行的机器人的运动的方法
PCT/EP2017/077171 WO2018082971A1 (en) 2016-11-02 2017-10-24 Controlling movements of a robot running on tracks

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CN201780067541.8A Division CN109891350B (zh) 2016-11-02 2017-10-24 控制在轨道上运行的机器人的运动的方法

Publications (1)

Publication Number Publication Date
CN114690774A true CN114690774A (zh) 2022-07-01

Family

ID=60182569

Family Applications (2)

Application Number Title Priority Date Filing Date
CN202210322755.8A Pending CN114690774A (zh) 2016-11-02 2017-10-24 用于控制机器人的运动的方法和系统及计算机可读介质
CN201780067541.8A Active CN109891350B (zh) 2016-11-02 2017-10-24 控制在轨道上运行的机器人的运动的方法

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CN201780067541.8A Active CN109891350B (zh) 2016-11-02 2017-10-24 控制在轨道上运行的机器人的运动的方法

Country Status (12)

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US (3) US11225377B2 (enExample)
EP (1) EP3535633B1 (enExample)
JP (3) JP6991208B2 (enExample)
CN (2) CN114690774A (enExample)
CA (1) CA3039839A1 (enExample)
DE (1) DE202017007689U1 (enExample)
DK (1) DK3535633T3 (enExample)
ES (1) ES2812337T3 (enExample)
NO (1) NO342037B1 (enExample)
PL (1) PL3535633T3 (enExample)
TW (1) TW201818171A (enExample)
WO (1) WO2018082971A1 (enExample)

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GB202008292D0 (en) * 2020-06-02 2020-07-15 Ocado Innovation Ltd Load-handling device
EP4011792A1 (de) * 2020-12-14 2022-06-15 Uhlmann Pac-Systeme GmbH & Co. KG Verpackungsanlage
GB2604225B (en) 2020-12-24 2023-05-31 Ocado Innovation Ltd Motion control of a robotic load handling device
AU2022330377B2 (en) * 2021-08-20 2025-06-26 Ocado Innovation Limited Determining a kinematic state of a load handling device in a storage system
NO347372B1 (en) 2022-03-23 2023-10-02 Autostore Tech As A remotely operated vehicle for an automated storage and retrieval system
GR1010541B (el) * 2023-02-28 2023-09-13 Θωμας Δημητριου Στογιαννης Συστημα εκπληρωσης παραγγελιων σε αυτοματοποιημενη αποθηκη με ρομποτ

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Also Published As

Publication number Publication date
CN109891350A (zh) 2019-06-14
US20250162803A1 (en) 2025-05-22
ES2812337T3 (es) 2021-03-16
NO20161733A1 (en) 2018-03-19
JP2025038235A (ja) 2025-03-18
US20190256286A1 (en) 2019-08-22
US20220097968A1 (en) 2022-03-31
PL3535633T3 (pl) 2020-11-16
JP2019533857A (ja) 2019-11-21
DE202017007689U1 (de) 2024-07-02
DK3535633T3 (da) 2020-08-24
CA3039839A1 (en) 2018-05-11
US11225377B2 (en) 2022-01-18
JP2022022332A (ja) 2022-02-03
CN109891350B (zh) 2022-05-10
JP7614078B2 (ja) 2025-01-15
US12227355B2 (en) 2025-02-18
TW201818171A (zh) 2018-05-16
NO342037B1 (en) 2018-03-19
WO2018082971A1 (en) 2018-05-11
JP6991208B2 (ja) 2022-01-12
EP3535633A1 (en) 2019-09-11
EP3535633B1 (en) 2020-08-05

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