A control method for a combined track transport robot

Abstract

This invention discloses a control method for a combined track-based transport robot, relating to the field of transport robots. The method involves controlling two transport robots to move to the corresponding bearing position at the bottom of a target pallet, where dual lifting devices establish effective contact and enter a contact detection phase. Displacement, current, roll angle, and pitch angle changes are collected to generate contact response results. Based on the contact response results, a critical support switching state is determined, and differential gradual lifting correction control is executed to control the target pallet's lift off the ground. After the target pallet enters a stable range, the system switches to cooperative transport control, and re-judgment and retraction are performed in case of transport anomalies. This method improves contact recognition accuracy, lift-off stability, and transport reliability.

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