CN114527771A - Control method and system of crawling robot for moving container - Google Patents
Control method and system of crawling robot for moving container Download PDFInfo
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- CN114527771A CN114527771A CN202210435229.2A CN202210435229A CN114527771A CN 114527771 A CN114527771 A CN 114527771A CN 202210435229 A CN202210435229 A CN 202210435229A CN 114527771 A CN114527771 A CN 114527771A
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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Abstract
The invention relates to the field of intelligent control, and discloses a control method and a system of a crawling robot for moving containers.
Description
Technical Field
The invention relates to the field related to intelligent control, in particular to a control method and a system of a crawling robot for moving a container.
Background
In cargo transfer centers such as harbour, generally need to transport a large amount of containers, among the prior art, equipment such as large-scale tower crane and transfer robot or vehicle are adopted more in large-scale harbour and carry out the transportation of lifting by crane of container, the great container of reply load that can be convenient.
The transshipment scheme that prior art adopted, there is the balanced problem of container in hoisting and the transportation, especially in the transportation, the narrower container of width often highly higher in the top of transfer vehicle, if the focus deflection is more in loading, can lead to the condition emergence that the container excessively leaned in the same direction as bad inside goods or even overturn under the image of external factor in the transportation.
Disclosure of Invention
The present invention is directed to a method and system for controlling a crawling robot for moving a container, which solves the problems of the related art.
In order to achieve the purpose, the invention provides the following technical scheme:
a control system of a crawling robot for moving a container comprises:
the transfer instruction acquisition module is used for acquiring a transfer instruction, reading container information and a transfer destination in the transfer instruction, and generating a transfer path according to the transfer destination and a preset path planning program pair, wherein the transfer path is used for guiding the robot to go to the transfer destination;
the balance state detection module is used for detecting the balance state of the robot and respectively acquiring static balance data and dynamic balance data, wherein the static balance data are used for representing the distribution condition of the gravity center of the container relative to the robot, and the dynamic balance data are used for representing the balance state of the robot relative to a horizontal plane;
the balance real-time correction module is used for generating balance adjustment data according to the static balance data and the dynamic balance data and outputting the balance adjustment data, and the balance adjustment data is used for correcting the posture of the robot so that the robot and the container are always in a vertical state;
the transfer recognition avoidance module is used for detecting the transfer path at the front end of the robot traveling direction through the sensing acquisition unit, acquiring the roadblock information, generating an avoidance signal according to the roadblock information and outputting the avoidance signal, wherein the avoidance signal is used for controlling the motion state of the robot.
As a further scheme of the invention: the equilibrium state detection module includes:
the static balance detection unit is used for carrying out pressure detection on the container through a plurality of detection subunits which are distributed on the robot to obtain the static balance data;
and the dynamic balance detection unit is used for scanning the road surface at a preset distance through a plurality of sensing subunits arranged in the advancing direction of the robot and drawing a height change curve of the road surface to generate dynamic balance data, wherein the height change curve is used for representing the height change condition of the road surface in a plane perpendicular to the advancing direction of the robot.
As a further scheme of the invention: the balance adjustment data comprises static balance adjustment data and dynamic balance adjustment data;
the static balance adjustment data is used for controlling the robot to adjust the horizontal movement of the bearing surface for bearing the container within a structure allowable range, so that the gravity center plane of the container is uniformly distributed relative to the traveling bearing structure of the robot;
the dynamic balance adjustment data is used for controlling the traveling bearing structure of the robot to be vertically adjusted within a structure allowable range, so that the bearing surface of the robot is in a horizontal state.
As a further scheme of the invention: the transfer instruction acquisition module comprises:
the instruction acquisition unit is used for acquiring the transfer instruction, the transfer instruction comprises the container information and a transfer destination, and the container information comprises container weight information and category information of articles in the container;
the path generation unit is used for generating a transfer path according to the transfer destination and a preset path planning program pair, the path planning program is arranged at a cloud end and is connected with the multiple robots, and the path planning program is used for performing collision avoidance simulation on the multiple robots at the same time point through the current positions of the robots and the transfer destination so as to generate the transfer path.
As a further scheme of the invention: the instruction fetch unit includes:
the scanning and acquiring subunit is used for scanning and identifying the information label arranged on the container through image identification equipment to acquire a transfer instruction;
the receiving and acquiring subunit is used for acquiring the transfer instruction through wireless receiving equipment, and the wireless receiving equipment is used for being connected with the mobile terminal in a matching mode and acquiring the transfer instruction through the mobile terminal.
As a further scheme of the invention: the category information of the items in the container comprises a conventional item category and a special item category, the path planning program comprises a conventional path planning subprogram and a special path planning subprogram, and the transit paths generated by the conventional path planning subprogram and the special path planning subprogram are not staggered.
The embodiment of the invention aims to provide a control method of a crawling robot for moving a container, which comprises the following steps:
acquiring a transfer instruction, reading container information and a transfer destination in the transfer instruction, and generating a transfer path according to the transfer destination and a preset path planning program pair, wherein the transfer path is used for guiding the robot to go to the transfer destination;
detecting a balance state of the robot, and respectively acquiring static balance data and dynamic balance data, wherein the static balance data are used for representing the distribution condition of the gravity center of the container relative to the robot, and the dynamic balance data are used for representing the balance state of the robot relative to a horizontal plane;
generating balance adjustment data according to the static balance data and the dynamic balance data and outputting the balance adjustment data, wherein the balance adjustment data is used for correcting the posture of the robot so that the robot and the container are always in a vertical state;
the transfer path at the front end of the robot in the traveling direction is detected through a sensing acquisition unit, roadblock information is acquired, an avoidance signal is generated according to the roadblock information and is output, and the avoidance signal is used for controlling the motion state of the robot.
As a further scheme of the invention: the step of detecting the balance state of the robot and respectively acquiring the static balance data and the dynamic balance data specifically comprises the following steps:
carrying out pressure detection on the container through a plurality of detection subunits distributed on the robot to obtain the static balance data;
the method comprises the steps of scanning a road surface at a preset distance through a plurality of sensing subunits arranged in the advancing direction of the robot, drawing a height change curve of the road surface, and generating dynamic balance data, wherein the height change curve is used for representing the height change condition of the road surface in a plane perpendicular to the advancing direction of the robot.
As a further scheme of the invention: the balance adjustment data comprises static balance adjustment data and dynamic balance adjustment data;
the static balance adjustment data is used for controlling the robot to adjust the horizontal movement of the bearing surface for bearing the container within a structure allowable range, so that the gravity center plane of the container is uniformly distributed relative to the traveling bearing structure of the robot;
the dynamic balance adjustment data is used for controlling the traveling bearing structure of the robot to be vertically adjusted within a structure allowable range, so that the bearing surface of the robot is in a horizontal state.
Compared with the prior art, the invention has the beneficial effects that: the arrangement of the module is avoided through the transfer instruction acquisition module and the transfer recognition, the robot transfer container in-process is realized, the obstacle on the path is avoided, meanwhile, the arrangement of the balanced state detection module and the balanced real-time correction module realizes the gravity center deflection correction of the container relative to the robot and the horizontal correction of the container relative to the ground in the robot transfer process, the stability of the container in the transfer process is effectively improved, the risk of rollover of the container under the external force is reduced, and the transfer safety is improved.
Drawings
Fig. 1 is a block diagram of the unit composition of a control system of a crawling robot for moving a container.
Fig. 2 is a block diagram showing a balance state detecting module in a control system of a crawling robot for moving a container.
Fig. 3 is a block diagram showing the components of a transfer instruction acquisition module in a control system of a crawling robot for moving containers.
Fig. 4 is a flow chart of a control method of the crawling robot for moving the container.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The following detailed description of specific embodiments of the present invention is provided in connection with specific embodiments.
As shown in fig. 1, a control system of a crawling robot for moving a container according to an embodiment of the present invention includes the following steps:
the transfer instruction obtaining module 100 is configured to obtain a transfer instruction, read container information and a transfer destination in the transfer instruction, and generate a transfer path according to the transfer destination and a preset path planning program pair, where the transfer path is used to guide the robot to go to the transfer destination.
A balance state detection module 300, configured to perform balance state detection on the robot, and obtain static balance data and dynamic balance data, respectively, where the static balance data is used to represent a distribution situation of the center of gravity of the container relative to the robot, and the dynamic balance data is used to represent a balance state of the robot relative to a horizontal plane.
And the balance real-time correction module 500 is used for generating balance adjustment data according to the static balance data and the dynamic balance data and outputting the balance adjustment data, and the balance adjustment data is used for correcting the posture of the robot so that the robot and the container are always in a vertical state.
The transfer recognition avoidance module 700 is used for detecting the transfer path at the front end of the robot traveling direction through the sensing acquisition unit, acquiring the roadblock information, generating an avoidance signal according to the roadblock information and outputting the avoidance signal, wherein the avoidance signal is used for controlling the motion state of the robot.
In this embodiment, the transfer instruction acquisition module 100, the balanced state detection module 300, and the balanced real-time correction module 500 are a set, and the transfer instruction acquisition module 100 and the transfer recognition avoidance module 700 are a set; the former is mainly used for adjusting and controlling the balance of the robot in the transfer process of the container by the robot so as to ensure the stability of the container in the transfer process, when in use, the balance state detection module 300 respectively acquires static balance data and dynamic balance data, wherein the static balance data corresponds to the state of the container placed on the robot and the gravity distribution of the container, namely when the weight distribution of the container is uneven or the position placed on the robot causes the gravity center of the container to deviate from the state (or deviate to one side) of the bearing surface of the robot, the balance real-time correction module 500 analyzes according to the data to control the motion of the top bearing surface of the container, so that the gravity center of the container is positioned in the optimal bearing surface of the robot, the dynamic balance data corresponds to the inclination change inside, and mainly corresponds to the symmetrical height difference (vertical to the moving direction) of the road surfaces at two sides of the robot, through detection and analysis, the heights of the bearing surfaces on the two sides of the robot can be controlled to be in a relatively close or consistent state, and the stability of the container in the transferring process can be effectively ensured; the latter is used for monitoring obstacles on a path in the transfer process of the robot through the transfer recognition and avoidance module 700, so that the robot is controlled to avoid the obstacles, and collision of people, animals, articles or vehicles in the transfer process is avoided; the effect of this application aims at guaranteeing the stability of container in the transportation, reduces the emergence probability of accident such as turning on one's side.
As shown in fig. 2, as another preferred embodiment of the present invention, the equilibrium state detection module 300 includes:
and the static balance detection unit 301 is configured to perform pressure detection on the container through a plurality of detection subunits distributed on the robot, so as to obtain the static balance data.
The dynamic balance detection unit 302 is configured to scan a road surface at a preset distance through a plurality of sensing subunits arranged in the robot traveling direction, and draw a height variation curve of the road surface to generate dynamic balance data, where the height variation curve is used to represent a height variation condition of the road surface in a plane perpendicular to the robot traveling direction.
In this embodiment, the static balance detecting unit 301 may include a plurality of pressure sensors, and is distributed on the top carrying surface of the robot, and the number of the static balance detecting units distributed per unit area may be used to image the resolution (i.e. the accuracy, but the object here is a large object such as a container, and therefore there is no high requirement), and a pressure distribution histogram may be drawn and generated according to the monitoring results of the plurality of pressure sensors, so as to generate the static balance data through the mathematical model analysis.
As another preferred embodiment of the present invention, the balance adjustment data includes static balance adjustment data and dynamic balance adjustment data;
the static balance adjustment data is used for controlling the robot to adjust the horizontal movement of the bearing surface for bearing the container within a structure allowable range, so that the gravity center plane of the container is uniformly distributed relative to the traveling bearing structure of the robot.
The dynamic balance adjustment data is used for controlling the traveling bearing structure of the robot to be vertically adjusted within a structure allowable range, so that the bearing surface of the robot is in a horizontal state.
In this embodiment, the static balance adjustment data and the dynamic balance adjustment data are further described, where the adjustment is implemented by matching with the structure of the robot, for example, the static balance adjustment data requires the horizontal adjustment capability of the bearing surface of the robot, and the dynamic balance adjustment data requires the vertical adjustment capability of the robot corresponding to each set of traveling wheels.
As shown in fig. 3, as another preferred embodiment of the present invention, the diversion instruction obtaining module 100 includes:
the instruction obtaining unit 101 is configured to obtain the transfer instruction, where the transfer instruction includes the container information and a transfer destination, and the container information includes container weight information and category information of items in the container.
A path generating unit 102, configured to generate a transfer path according to the transfer destination and a preset path planning program pair, where the path planning program is set in a cloud and connected to the multiple robots, and the path planning program is configured to perform collision avoidance simulation on the multiple robots at the same time point through the current positions of the robots and the transfer destination, so as to generate the transfer path.
Further, the instruction obtaining unit 101 includes:
and the scanning and acquiring subunit is used for scanning and identifying the information label arranged on the container through image identification equipment to acquire a transfer instruction.
The receiving and acquiring subunit is used for acquiring the transfer instruction through wireless receiving equipment, and the wireless receiving equipment is used for being connected with the mobile terminal in a matching way and acquiring the transfer instruction through the mobile terminal.
In this embodiment, the transportation instruction obtaining module 100 is further described here, where the instruction obtaining unit 101 includes multiple transportation instruction obtaining ways, including image information scanning obtaining, user wireless input, and the like, and for a container with an information tag attached thereto, the scanning obtaining subunit may directly obtain a transportation instruction through scanning; the path generation unit is connected with the cloud server, and in the process of simulating the path, the motion paths of other robots need to be avoided within a certain time range, so that the robot is prevented from being blocked in the transfer process.
As another preferred embodiment of the present invention, the category information of the items in the container includes a general item category and a special item category, and the path planning program includes a general path planning subroutine and a special path planning subroutine, and the transit paths generated by the general path planning subroutine and the special path planning subroutine are not interleaved.
In this embodiment, the regular article category and the special article category are used for distinguishing the safety of the goods in the container, such as some chemical articles, etc., which may cause a great deal of pollution and even serious safety accidents due to leakage in the transportation process, so that the transportation needs to be performed through a special passage, thereby avoiding the contact with places of a great number of people, and reducing the loss which may be caused by accidental leakage in principle of other transported containers.
As shown in fig. 4, the present invention also provides a method for controlling a crawling robot for moving a container, comprising:
s200, acquiring a transfer instruction, reading container information and a transfer destination in the transfer instruction, and generating a transfer path according to the transfer destination and a preset path planning program pair, wherein the transfer path is used for guiding the robot to go to the transfer destination.
S400, detecting the balance state of the robot, and respectively acquiring static balance data and dynamic balance data, wherein the static balance data are used for representing the distribution condition of the gravity center of the container relative to the robot, and the dynamic balance data are used for representing the balance state of the robot relative to a horizontal plane.
S600, balance adjustment data are generated according to the static balance data and the dynamic balance data and output, and the balance adjustment data are used for correcting the posture of the robot, so that the robot and the container are always in a vertical state.
S800, detecting the transfer path at the front end of the robot in the traveling direction through a sensing acquisition unit, acquiring roadblock information, generating an avoidance signal according to the roadblock information, and outputting the avoidance signal, wherein the avoidance signal is used for controlling the motion state of the robot.
As another preferred embodiment of the present invention, the step of detecting a balance state of the robot and respectively acquiring static balance data and dynamic balance data specifically includes:
and carrying out pressure detection on the container through a plurality of detection subunits distributed on the robot to acquire the static balance data.
The method comprises the steps of scanning a road surface at a preset distance through a plurality of sensing subunits arranged in the advancing direction of the robot, drawing a height change curve of the road surface, and generating dynamic balance data, wherein the height change curve is used for representing the height change condition of the road surface in a plane perpendicular to the advancing direction of the robot.
As another preferred embodiment of the present invention, the balance adjustment data includes static balance adjustment data and dynamic balance adjustment data;
the static balance adjustment data is used for controlling the robot to adjust the horizontal movement of the bearing surface for bearing the container within a structure allowable range, so that the gravity center plane of the container is uniformly distributed relative to the traveling bearing structure of the robot.
The dynamic balance adjustment data is used for controlling the traveling bearing structure of the robot to be vertically adjusted within a structure allowable range, so that the bearing surface of the robot is in a horizontal state.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (9)
1. A control system of a crawling robot for moving a container, comprising:
the transfer instruction acquisition module is used for acquiring a transfer instruction, reading container information and a transfer destination in the transfer instruction, and generating a transfer path according to the transfer destination and a preset path planning program pair, wherein the transfer path is used for guiding the robot to go to the transfer destination;
the balance state detection module is used for detecting the balance state of the robot and respectively acquiring static balance data and dynamic balance data, wherein the static balance data are used for representing the distribution condition of the gravity center of the container relative to the robot, and the dynamic balance data are used for representing the balance state of the robot relative to a horizontal plane;
the balance real-time correction module is used for generating balance adjustment data according to the static balance data and the dynamic balance data and outputting the balance adjustment data, and the balance adjustment data is used for correcting the posture of the robot so that the robot and the container are always in a vertical state;
the transfer recognition avoidance module is used for detecting the transfer path at the front end of the robot traveling direction through the sensing acquisition unit, acquiring the roadblock information, generating an avoidance signal according to the roadblock information and outputting the avoidance signal, wherein the avoidance signal is used for controlling the motion state of the robot.
2. The control system of the crawling robot for moving the container according to claim 1, wherein the balance state detection module comprises:
the static balance detection unit is used for carrying out pressure detection on the container through a plurality of detection subunits which are distributed on the robot to obtain the static balance data;
and the dynamic balance detection unit is used for scanning the road surface at a preset distance through a plurality of sensing subunits arranged in the advancing direction of the robot and drawing a height change curve of the road surface to generate dynamic balance data, wherein the height change curve is used for representing the height change condition of the road surface in a plane perpendicular to the advancing direction of the robot.
3. The control system of the crawling robot for moving containers of claim 2, wherein the balance adjustment data comprises static balance adjustment data and dynamic balance adjustment data;
the static balance adjustment data is used for controlling the robot to adjust the horizontal movement of the bearing surface for bearing the container within a structure allowable range, so that the gravity center plane of the container is uniformly distributed relative to the traveling bearing structure of the robot;
the dynamic balance adjustment data is used for controlling the traveling bearing structure of the robot to be vertically adjusted within a structure allowable range, so that the bearing surface of the robot is in a horizontal state.
4. The control system of the crawling robot for moving the container according to claim 1, wherein the transfer instruction obtaining module comprises:
the instruction acquisition unit is used for acquiring the transfer instruction, the transfer instruction comprises the container information and a transfer destination, and the container information comprises container weight information and category information of articles in the container;
the path generation unit is used for generating a transfer path according to the transfer destination and a preset path planning program pair, the path planning program is arranged at a cloud end and is connected with the multiple robots, and the path planning program is used for performing collision avoidance simulation on the multiple robots at the same time point through the current positions of the robots and the transfer destination so as to generate the transfer path.
5. The control system of the crawling robot for moving the container according to claim 4, wherein said instruction obtaining unit comprises:
the scanning and acquiring subunit is used for scanning and identifying the information label arranged on the container through image identification equipment to acquire a transfer instruction;
the receiving and acquiring subunit is used for acquiring the transfer instruction through wireless receiving equipment, and the wireless receiving equipment is used for being connected with the mobile terminal in a matching mode and acquiring the transfer instruction through the mobile terminal.
6. The system as claimed in claim 5, wherein the category information of the items in the container includes a general item category and a special item category, the path planning program includes a general path planning sub-program and a special path planning sub-program, and the transit paths generated by the general path planning sub-program and the special path planning sub-program are not interleaved.
7. A control method of a crawling robot for moving a container is characterized by comprising the following steps:
acquiring a transfer instruction, reading container information and a transfer destination in the transfer instruction, and generating a transfer path according to the transfer destination and a preset path planning program pair, wherein the transfer path is used for guiding the robot to go to the transfer destination;
detecting a balance state of the robot, and respectively acquiring static balance data and dynamic balance data, wherein the static balance data is used for representing the distribution condition of the gravity center of the container relative to the robot, and the dynamic balance data is used for representing the balance state of the robot relative to a horizontal plane;
generating balance adjustment data according to the static balance data and the dynamic balance data and outputting the balance adjustment data, wherein the balance adjustment data is used for correcting the posture of the robot so that the robot and the container are always in a vertical state;
the transfer path at the front end of the robot in the traveling direction is detected through a sensing acquisition unit, roadblock information is acquired, an avoidance signal is generated according to the roadblock information and is output, and the avoidance signal is used for controlling the motion state of the robot.
8. The method for controlling the crawling robot for moving the container according to claim 7, wherein the step of detecting the balance state of the robot and respectively acquiring the static balance data and the dynamic balance data specifically comprises:
carrying out pressure detection on the container through a plurality of detection subunits distributed on the robot to obtain the static balance data;
the method comprises the steps of scanning a road surface at a preset distance through a plurality of sensing subunits arranged in the advancing direction of the robot, drawing a height change curve of the road surface, and generating dynamic balance data, wherein the height change curve is used for representing the height change condition of the road surface in a plane perpendicular to the advancing direction of the robot.
9. The method for controlling a crawling robot for moving containers according to claim 8, wherein said balance adjustment data comprises static balance adjustment data and dynamic balance adjustment data;
the static balance adjustment data is used for controlling the robot to adjust the horizontal movement of the bearing surface for bearing the container within a structure allowable range, so that the gravity center plane of the container is uniformly distributed relative to the traveling bearing structure of the robot;
the dynamic balance adjustment data is used for controlling the traveling bearing structure of the robot to be vertically adjusted within a structure allowable range, so that the bearing surface of the robot is in a horizontal state.
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| CN109143997A (en) * | 2018-08-13 | 2019-01-04 | 中铁武汉勘察设计研究院有限公司 | Molten iron through transport railway port station container yard automatic control system and method |
| CN109606246A (en) * | 2019-01-30 | 2019-04-12 | 中国矿业大学 | One kind being used for semifluid transport container dynamic balancing fluid pressure underpan and control method |
| CN209700504U (en) * | 2019-01-30 | 2019-11-29 | 徐州宏桥新能源集团有限公司 | One kind being used for semifluid transport container dynamic balancing fluid pressure underpan |
| CN110255209A (en) * | 2019-07-05 | 2019-09-20 | 上海振华重工(集团)股份有限公司 | Transport vehicle and container transshipment system |
| CN110793719A (en) * | 2019-12-06 | 2020-02-14 | 福州聚英智能科技有限公司 | Latent AGV gravity center detection device and method for identifying and preventing dumping risks |
| CN211061900U (en) * | 2019-12-28 | 2020-07-21 | 天津大学 | Autonomous navigation logistics robot control system |
| CN111612234A (en) * | 2020-05-13 | 2020-09-01 | 中船重工信息科技有限公司 | Visual system for horizontal transportation of container terminal |
| CN112816049A (en) * | 2020-12-28 | 2021-05-18 | 北京迈格威科技有限公司 | Unbalance loading detection method and device and carrying equipment |
| CN113147774A (en) * | 2021-04-26 | 2021-07-23 | 季华实验室 | Method and device for judging gravity center balance of AGV (automatic guided vehicle), electronic equipment and storage medium |
| CN113687653A (en) * | 2021-08-05 | 2021-11-23 | 中国船舶重工集团公司第七一六研究所 | Logistics unmanned vehicle remote control system and method based on 5G |
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