双货架的搬运方法、搬运装置以及搬运机器人控制系统

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By setting up a formation arrangement between the handling robots, the collision problem caused by the misalignment between the center of motion and the geometric center in dual-rack collaborative handling was solved, achieving stable and safe dual-rack handling.

CN117799993BActive Publication Date: 2026-07-17HANGZHOU HIKROBOT TECH CO LTD

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Patent Information

Authority / Receiving Office: CN · China
Patent Type: Patents(China)
Current Assignee / Owner: HANGZHOU HIKROBOT TECH CO LTD
Filing Date: 2023-12-29
Publication Date: 2026-07-17

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Abstract

本申请公开一种双货架的搬运方法、搬运装置以及搬运机器人控制系统，该搬运方法用于驱动一对搬运机器人分别对目标物体长度方向两端所设置的一对货架的协同搬运；其中，该搬运方法首先获取目标物体的搬运任务，搬运任务至少应包括两个货架的起点位置坐标和终点位置坐标；然后，可以根据一对起点位置坐标或者一对终点位置坐标计算得到一对搬运机器人之间需要保持的协同距离；再根据该协同距离与搬运机器人车头距和车尾距的比较情况设置一对搬运机器人的编队排列；这样，基于协同距离以及搬运机器人车头距和车尾距设置一对搬运机器人的编队排列，可以使一对搬运机器人在双车绑定时的合车空间充分适应目标物体的长度尺寸，以实现双货架的稳定搬运。

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