Transfer robot rotation control method and device
A technology for handling robots and control methods, which is applied in the field of computers, can solve problems such as difficulty in ensuring that pallets and car bodies reach the target position, reduce robot work efficiency, etc., achieve matching of response characteristics, improve positioning accuracy and work efficiency, and increase bandwidth Effect
Active Publication Date: 2019-10-25
BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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Problems solved by technology
In the process of realizing the present invention, the inventors found that there are at least the following problems in the prior art: because the angles that the pallet and the car body need to turn during synchronous rotation are different, it is difficult to ensure that the pallet and the car body arrive at the same time only by speed control. target position, reducing the robot's work efficiency
Method used
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[0036] Exemplary embodiments of the present invention are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present invention to facilitate understanding, and they should be regarded as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
[0037] figure 1 is a schematic diagram of main steps of a method for controlling the rotation of a handling robot according to an embodiment of the present invention. As an embodiment of the present invention, such as figure 1 As shown, the main steps of the method for controlling the rotation of the handling robot in the embodiment of the present invention may include: ...
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The invention discloses a transfer robot rotation control method and device, and relates to the technical field of computers. One specific implementation manner of the method includes the steps that the synthesis angular displacement of a transfer robot is determined according to a task for controlling rotation of the transfer robot, and a synthesis speed instruction and a synthesis position instruction are generated according to the synthesis angular displacement; a first speed instruction and a second speed instruction are generated according to the synthesis speed instruction, and a first position instruction and a second position instruction are generated according to the synthesis position instruction; and vehicle body rotation is controlled through the first speed instruction and thefirst position instruction, and tray rotation is controlled through the second speed instruction and the second position instruction. By means of the implementation manner, the synthesis angular displacement of the transfer robot can be determined, then the speed instructions and the position instructions are generated, a vehicle body and a tray are then controlled to complete the synchronous rotation action at the same moment through the speed instructions and the position instructions, the positioning accuracy of the transfer robot is ensured, and the work efficiency of the robot is improved.
Description
technical field [0001] The invention relates to the field of computer technology, in particular to a method and device for controlling the rotation of a transport robot. Background technique [0002] The development of today's logistics technology has fully moved towards informatization and unmanned, and more and more handling robots are placed in warehouses for the handling of goods. The handling robot can include a car body and a rotatable pallet, and the rotatable pallet is used to lift the shelf for handling. When the robot turns on the spot, the car body and the pallet can only be rotated synchronously in opposite directions to keep the shelf still. [0003] The existing technology adopts the traditional speed control mode to control the synchronous rotation of the vehicle body and the pallet, that is, the pallet and the vehicle body each carry out speed planning according to their own required rotation angles to achieve the purpose of synchronous rotation. In the proc...
Claims
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Login to View More IPC IPC(8): B25J9/16H02P5/46
CPCB25J9/1661H02P5/46
Inventor 霍峰
Owner BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD