The invention discloses an iterative goods taking operation method for a forklift type mobile robot, and belongs to the technical field of robot motion driving and control. The implementation method comprises the following steps: estimating transverse and angular deviations of target goods under the robot by using a point cloud in the middle in front of the robot obtained by multi-line laser radars mounted on two sides in front of the forklift type mobile robot, and controlling the robot to perform deviation correction goods taking operation; whether the robot can pick up goods normally or not is judged through the point cloud, obtained by the multi-line laser radar, of the front edge of the robot, when the robot cannot pick up goods normally, the robot is controlled to conduct backward deviation correction motion, the enough goods pick-up deviation correction distance is reserved, deviation correction and goods pick-up are conducted again, deviation is eliminated in a repeated retreating and goods pick-up mode, and the goods pick-up efficiency is improved. Goods taking operation of the forklift type mobile robot can be achieved under the condition that the transverse deviation and the angular deviation are arbitrary. The forklift type mobile robot is composed of a forklift, a cargo positioning and orienting module based on the laser radar, a robot positioning module, a main control computer and an executing mechanism.

    本发明公开的一种叉车式移动机器人迭代取货作业方法,属于机器人运动驱动与控制技术领域。本发明实现方法为:利用安装在叉车式移动机器人前方两侧的多线激光雷达获取的机器人前方中间点云估计目标货物在机器人下的横向和角度偏差,控制机器人进行纠偏取货作业,并利用多线激光雷达获取的机器人前方临边点云判断机器人能否正常取货,当无法正常取货时,控制机器人向后纠偏运动,并留下足够的取货纠偏距离,进行再次纠偏取货,通过反复后退和取货的方式消除偏差,能够在横向和角度偏差任意的情况下实现叉车式移动机器人的取货作业。叉车式移动机器人由叉车、基于激光雷达的货物定位定向模块、机器人定位模块、主控制计算机和执行机构组成。


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    Titel :

    Iterative goods taking operation method for forklift type mobile robot


    Weitere Titelangaben:

    一种叉车式移动机器人迭代取货作业方法


    Beteiligte:
    WANG SHOUKUN (Autor:in) / LIU ZHI (Autor:in) / XU YONGKANG (Autor:in) / ZHANG LIN (Autor:in) / AN YICHEN (Autor:in) / WANG JUNZHENG (Autor:in)

    Erscheinungsdatum :

    30.08.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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