Mobile carrying robot system and control method thereof

Abstract

The invention relates to the technical field of material carrying equipment, and particularly relates to a mobile carrying robot system and a control method thereof. The mobile carrying robot system comprises a robot mobile platform, a main control computer system, a manipulator device, a two-dimensional code visual positioning system and a laser slam system. A traditional mechanical arm type robot is limited in working range, and a mobile carrying robot effectively expands the X axis and the Y axis of a fixed mechanical arm to enlarge the working range, so that the enterprise investment costis saved. In addition, an existing mobile traction trolley is low in positioning precision, and the repeated positioning precision is mostly only 10 mm. The invention provides a layered combined navigation control method. A positioning mode of laser slam and close-range two-dimensional code visual composite navigation is adopted, the repeated positioning precision can reach 2mm, the control difficulty cannot be increased due to the existence of multiple navigation modes, and the mobile platform can be used as a movable base of the mechanical arm.

Description

technical field [0001] The invention relates to the technical field of material handling equipment, in particular to a mobile handling robot system and a control method thereof. Background technique [0002] The information disclosed in the Background of the Invention is only intended to increase the understanding of the general background of the invention, and is not necessarily to be taken as an acknowledgment or any form of suggestion that the information constitutes the prior art that is already known to those skilled in the art. [0003] In the process of industrial equipment production, the handling of materials and products is an important link. The quality of its operation is directly related to the speed and efficiency of production, which ultimately affects market prices and economic benefits. [0004] According to the statistics of production logistics in our country, every ton of finished products produced by machinery factories requires 252 tons of loading and u...

AI Technical Summary

Problems solved by technology

[0007] (1) The working range of the fixed manipulator is limited when carrying out transportation, and the length of the arm often limits the working distance. If the handling operation is required in a large range, it often requires multiple manipulators to work together, which increases the production cost of the factory

[0008] (2) The traditional mobile platform works in a single navigation mode, which has low precision. If multiple navigations coexist, it will increase the difficulty of the control algorithm, and the simultaneous processing of multiple navigation information will have higher requirements on the CPU;

[0009] (3) Simply fusing the AGV and the robot arm will cause the world coordinates of the robot arm to change (repeated positioning accuracy is low, and the position of each stop will have deviations), resulting in work errors or even failures

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