CN115990881A - Dual-carrying positioning control method based on wireless positioning and traditional positioning technology - Google Patents
Dual-carrying positioning control method based on wireless positioning and traditional positioning technology Download PDFInfo
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Abstract
The invention discloses a dual-carrying positioning control method based on wireless positioning and traditional positioning technology, which relates to the technical field of heavy-load carrying robots, in particular to a dual-carrying positioning control method based on wireless positioning and traditional positioning technology. According to the dual-carrying positioning control method based on the wireless positioning and the traditional positioning technology, through the cooperation between the position coordinate system building unit and the positioning measurement system mounting unit, the accurate positioning and speed measurement control of the heavy-load carrying robot under the severe working environment are further improved, the interference problem of the environment on the control of the heavy-load carrying robot is solved, and the dual-combination mode of wireless and traditional positioning is adopted, so that the heavy-load carrying robot is applicable to severe weather such as strong wind, rain, snow, haze and the like, cannot be influenced by light intensity, and has strong adaptability to high temperature and high dust.
Description
Technical Field
The invention relates to the technical field of heavy-load transfer robots, in particular to a dual transfer positioning control method based on wireless positioning and traditional positioning technologies.
Background
Heavy load transfer robot, the working environment is abominable in most cases, outdoor: wind insolation or indoor: high temperature and high dust are frequent situations, and the current measurement modes of the positioning system are as follows: 1) Rotary encoder measurement, the advantage: the rotary encoder is installed at a rotation position of each actuator such as: wheels, gears and the like are convenient to install, high in protection level and high in environmental adaptability; 2) Optical measurement (infrared or visible light, etc.), the advantage: errors caused by skidding of mechanical wheels are avoided, and the installation is convenient; 3) Barcode positioning, and has the advantages: the bar codes are all attached, and the installation is relatively simple; 4) Gray bus, code scale or linear encoder, advantage: the environmental adaptability is strong, and the measurement is accurate; 5) Wireless positioning, through high accuracy location basic station, receive the location pulse data function of location label, the location information upload location algorithm server after handling, advantage: the installation is relatively simple.
However, when the positioning measurement mode of 1) the rotary encoder is adopted, the rotary encoder is easy to slip on the track during the braking and acceleration and deceleration processes, the phenomenon of slip can occur, the accumulated error is caused, the measurement deviation is caused, the positioning precision is reduced, and the connecting part of the encoder and the measuring object can be damaged due to on-site vibration; 2) The sensor in the optical measurement has low adaptability, when the working condition is bad, dust, fog and radian are measured inaccurately, the maintenance cost of the optical lens is high, once the lens is damaged, the measurement error is large, and the reliability is poor; 3) The bar code is not clean or needs maintenance in long time in bar code positioning, and has high requirement on environment; 4) Gray bus, coding ruler or linear encoder, it is inconvenient to install, need to lay the specialized orbit in large quantities, construction is difficult, the cost is very high; 5) The wireless positioning needs to arrange a positioning base station, and is stuck with a wireless tag, the measurement positioning precision is low, generally more than or equal to 20cm, and accurate positioning cannot be realized, so that the positioning control method which is applicable to the heavy-load carrying field and has the advantages of poor working environment, high reliability, convenience in installation and convenience in maintenance is urgently needed.
Disclosure of Invention
The invention provides a dual-carrying positioning control method based on wireless positioning and traditional positioning technology, which solves the problems set forth in the background technology.
In order to achieve the above purpose, the invention is realized by the following technical scheme: the dual-carrying positioning control method based on the wireless positioning and the traditional positioning technology comprises a position coordinate system building unit, a positioning measurement system installation unit and a heavy-load unmanned carrying system management platform unit, wherein the position coordinate system building unit comprises zero point selection and position coordinate value construction, the positioning measurement system installation unit is divided into primary rough positioning measurement system installation and secondary accurate positioning measurement system installation, and the heavy-load unmanned carrying system management platform unit consists of real-time acceptance of the wireless position coordinate value, calculation of the running speed of a heavy-load unmanned carrying robot and accurate control of the position of the heavy-load unmanned carrying robot.
Optionally, the zero point selection is based on the working range of the whole heavy-load unmanned carrying robot, and a unique zero point (0, 0) is selected.
Optionally, the construction of the position coordinate values is to build a position coordinate system in the whole working range, and any point in the working range has only one position coordinate value (X, Y) taking a zero point (0, 0) as a starting point.
Optionally, the one-time rough positioning measurement system comprises a wireless transmitting device and wireless receiving base stations, each wireless transmitting device corresponds to the displaced identity electronic tag, and each wireless receiving base station corresponds to the unique base station code.
Optionally, the secondary accurate positioning measurement system comprises a ranging sensor 1, a ranging sensor 2 and a ranging sensor signal collection module.
The dual-carrying positioning control method based on the wireless positioning and the traditional positioning technology comprises the following operation steps:
s1: and selecting a unique zero point (0, 0) in the whole heavy-load unmanned carrying robot working range, establishing a position coordinate system in the whole working range, and ensuring that any point in the working range has a unique position coordinate value (X, Y) taking the zero point (0, 0) as a starting point, wherein X is horizontal east-west direction position data, and Y is horizontal north-south direction position data.
S2: installing a rough positioning measurement system on the heavy-duty unmanned carrying robot for performing rough positioning measurement when the heavy-duty unmanned carrying robot is far from the target position (generally more than 2 meters)
2.1, installing a wireless transmitting device on a heavy-duty unmanned carrying robot;
2.2, the wireless transmitting devices can transmit position coordinate value signals in real time, and each wireless transmitting device is provided with a unique identity electronic tag;
2.3, installing wireless receiving base stations around the whole working range of the heavy-duty unmanned carrying robot, wherein each wireless receiving base station has unique base station codes;
2.4, accessing the wireless position coordinate value (X, Y) signals transmitted in real time by a wireless transmitting device on the heavy-duty unmanned carrying robot and the occurrence time t of the corresponding position coordinate value to a management platform of the heavy-duty unmanned carrying system through a wireless receiving base station, wherein the precision of the current wireless positioning is more than or equal to 10 cm, and the accurate positioning control cannot be realized.
S3: the secondary accurate positioning measurement system is arranged on the heavy-load unmanned carrying robot and is used for performing secondary accurate positioning measurement when the heavy-load unmanned carrying robot approaches to a target position (generally less than or equal to 2 meters) quickly
3.1, a ranging sensor with small measuring range, high precision and quick response is arranged on a heavy-duty unmanned carrying robot;
3.2, the ranging sensor 1 measures data DeltaX of the horizontal east-west direction distance target position;
3.3, the ranging sensor 2 measures data delta Y of the target position in the horizontal north-south direction;
3.4, adding a ranging sensor signal acquisition module;
and 3.5, accessing the ranging coordinate values (delta X, delta Y) and the occurrence time delta t of the corresponding position coordinate values into a management platform of the heavy-load unmanned carrying system.
S4, in the working process of the heavy-duty unmanned carrying robot, when the heavy-duty unmanned carrying robot is far away from a target position (generally more than 2 meters), the position feedback information of positioning control mainly comprises one rough positioning measurement, namely: in a position coordinate system in the whole working range, the heavy-load unmanned carrying system management platform receives wireless position coordinate values (X, Y) in real time and is used as real-time position change data of the heavy-load unmanned carrying robot, and the running speed and the acceleration of the heavy-load unmanned carrying robot in moving are calculated according to the change of the wireless position coordinate values (X, Y) and the occurrence time t of the corresponding position coordinate values, so that the speed control and the position control of the heavy-load unmanned carrying robot are realized.
S5, in the moving process of the heavy-load unmanned carrying robot, when the heavy-load unmanned carrying robot is close to a target position (generally less than or equal to 2 meters), the position feedback information of the positioning control is mainly based on secondary accurate positioning measurement, namely: in the whole working range, the heavy-load unmanned carrying system management platform receives the ranging sensor values (delta X, delta Y) and the corresponding occurrence time delta t of the position coordinate values in real time, and the ranging sensor values and the occurrence time delta t are used as real-time position change data of the heavy-load unmanned carrying robot, and the running speed and the running acceleration of the heavy-load unmanned carrying robot in the moving process are calculated, so that the speed control and the accurate position control of the heavy-load unmanned carrying robot are realized;
5.1, the calculation process of the speed and the acceleration of one rough positioning measurement is as follows:
let the time interval of the wireless signal reception be τ, and assume that at time t, the coordinates of the heavy load transfer robot are (x t ，y t ) At time t+τ, the coordinates of the heavy load transfer robot are (x t+τ ，y t+τ )
The speeds of the heavy-load carrying robot in the X direction and the Y direction at the moment t can be obtained by the method:
the speed of the heavy-load carrying robot at the time t+tau can be obtained by the same method:
therefore, the acceleration of the heavy-load carrying robot at the moment t is as follows:
and 5.2, calculating the secondary accurate positioning measurement speed and acceleration as follows:
let the time interval of reception by the distance measuring sensor be τ, and assume that at time t, the coordinates of the heavy load transfer robot are (Δx t ，Δy t ) At time t+τ, the coordinates of the heavy load transfer robot are (Δx t+τ ，Δy t+τ )
The speeds of the heavy-load carrying robot in the X direction and the Y direction at the moment t can be obtained by the method:
the speed of the heavy-load carrying robot at the time t+tau can be obtained by the same method:
therefore, the acceleration of the heavy-load carrying robot at the moment t is as follows:
the invention has the following beneficial effects:
1. according to the dual-carrying positioning control method based on the wireless positioning and the traditional positioning technology, through the cooperation between the position coordinate system building unit and the positioning measurement system mounting unit, the accurate positioning and speed measurement control of the heavy-load carrying robot under the severe working environment are further improved, the interference problem of the environment on the control of the heavy-load carrying robot is solved, and the dual-combination mode of wireless and traditional positioning is adopted, so that the heavy-load carrying robot is applicable to severe weather such as strong wind, rain, snow, haze and the like, cannot be influenced by light intensity, and has strong adaptability to high temperature and high dust.
2. According to the dual-carrying positioning control method based on the wireless positioning and the traditional positioning technology, through the cooperation among the primary rough positioning measurement system installation, the secondary accurate positioning measurement system installation, the wireless transmitting device and the ranging sensor, the primary rough positioning measurement is used when the distance from the target position is far, the primary rough positioning measurement is not needed to be positioned too accurately, and the secondary accurate positioning measurement is used when the distance from the target position is close, so that the dual-positioning control of the heavy-load carrying robot with high measuring precision, high reliability, strong adaptability, especially severe high-temperature and high-dust industrial production environment and strong real-time practicability in the carrying process is realized.
Drawings
FIG. 1 is a flow chart of a primary coarse measurement and a secondary fine measurement;
FIG. 2 is a flow chart of the determination of a primary coarse positioning measurement and a secondary fine positioning measurement according to the present invention;
FIG. 3 is a flow chart of a positioning control process in the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, 2 and 3, the present invention provides the following technical solutions: the double-carrying positioning control method based on the wireless positioning and the traditional positioning technology comprises a position coordinate system building unit, a positioning measurement system installation unit and a heavy-load unmanned positioning system management platform unit, wherein the position coordinate system building unit, the positioning measurement system installation unit and the heavy-load unmanned positioning system management platform unit are mutually matched, so that the environment adaptability is strong, the adaptability to severe weather such as strong wind, rain, snow and haze is strong, the influence of strong light and strong adaptability to high temperature and high dust is avoided, the position coordinate system building unit comprises zero point selection and position coordinate value construction, the positioning measurement system installation unit is divided into a primary rough positioning measurement system installation and a secondary precise positioning measurement system installation, and the position feedback information of positioning control is mainly primary rough positioning measurement when the position is far away from a target position (generally more than 2 meters); when the target position is quickly approached (generally less than or equal to 2 meters), the position feedback information of the positioning control is mainly secondary accurate positioning measurement; the heavy-load unmanned carrying system management platform unit is composed of real-time acceptance of wireless position coordinate values, calculation of the running speed of the heavy-load unmanned carrying robot and accurate control of the position of the heavy-load unmanned carrying robot.
The zero point selection is based on the working range of the whole heavy-load unmanned carrying robot, and a unique zero point (0, 0) is selected.
The position coordinate value construction is to establish a position coordinate system in the whole working range, and any point in the working range has only one position coordinate value (X, Y) taking a zero point (0, 0) as a starting point.
The primary rough positioning measurement system comprises wireless transmitting devices and wireless receiving base stations, wherein each wireless transmitting device corresponds to a displaced identity electronic tag, and each wireless receiving base station corresponds to a unique base station code.
The secondary accurate positioning measurement system comprises a ranging sensor 1, a ranging sensor 2 and a ranging sensor signal collection module.
The dual-carrying positioning control method based on the wireless positioning and the traditional positioning technology comprises the following operation steps:
s1: selecting a unique zero point (0, 0) in the whole heavy-load unmanned carrying robot working range, establishing a position coordinate system in the whole working range, and ensuring that any point in the working range has a unique position coordinate value (X, Y) taking the zero point (0, 0) as a starting point, wherein X is horizontal east-west direction position data and Y is horizontal north-south direction position data;
s2: installing a rough positioning measurement system on the heavy-duty unmanned carrying robot for performing rough positioning measurement when the heavy-duty unmanned carrying robot is far from the target position (generally more than 2 meters)
2.1, installing a wireless transmitting device on a heavy-duty unmanned carrying robot;
2.2, the wireless transmitting devices can transmit position coordinate value signals in real time, and each wireless transmitting device is provided with a unique identity electronic tag;
2.3, installing wireless receiving base stations around the whole working range of the heavy-duty unmanned carrying robot, wherein each wireless receiving base station has unique base station codes;
2.4, accessing a wireless position coordinate value (X, Y) signal transmitted in real time by a wireless transmitting device on the heavy-duty unmanned carrying robot and the occurrence time t of the corresponding position coordinate value to a heavy-duty unmanned carrying system management platform through a wireless receiving base station, wherein the current wireless positioning precision is more than or equal to 10 cm, and the accurate positioning control cannot be realized;
s3: the secondary accurate positioning measurement system is arranged on the heavy-load unmanned carrying robot and is used for performing secondary accurate positioning measurement when the heavy-load unmanned carrying robot approaches to a target position (generally less than or equal to 2 meters) quickly
3.1, a ranging sensor with small measuring range, high precision and quick response is arranged on a heavy-duty unmanned carrying robot;
3.2, the ranging sensor 1 measures data DeltaX of the horizontal east-west direction distance target position;
3.3, the ranging sensor 2 measures data delta Y of the target position in the horizontal north-south direction;
3.4, adding a ranging sensor signal acquisition module;
3.5, accessing the ranging coordinate values (delta X, delta Y) and the occurrence time delta t of the corresponding position coordinate values into a management platform of the heavy-load unmanned carrying system;
s4, in the working process of the heavy-duty unmanned carrying robot, when the heavy-duty unmanned carrying robot is far away from a target position (generally more than 2 meters), the position feedback information of positioning control mainly comprises one rough positioning measurement, namely: in a position coordinate system in the whole working range, a heavy-load unmanned carrying system management platform receives wireless position coordinate values (X, Y) in real time and is used as real-time position change data of a heavy-load unmanned carrying robot, and according to the change of the wireless position coordinate values (X, Y) and the occurrence time t of the corresponding position coordinate values, the running speed and the acceleration of the heavy-load unmanned carrying robot in moving are calculated, so that the speed control and the position control of the heavy-load unmanned carrying robot are realized;
s5, in the moving process of the heavy-load unmanned carrying robot, when the heavy-load unmanned carrying robot is close to a target position (generally less than or equal to 2 meters), the position feedback information of the positioning control is mainly based on secondary accurate positioning measurement, namely: in the whole working range, the heavy-load unmanned carrying system management platform receives the ranging sensor values (delta X, delta Y) and the corresponding occurrence time delta t of the position coordinate values in real time, and the ranging sensor values and the occurrence time delta t are used as real-time position change data of the heavy-load unmanned carrying robot, and the running speed and the running acceleration of the heavy-load unmanned carrying robot in the moving process are calculated, so that the speed control and the accurate position control of the heavy-load unmanned carrying robot are realized;
5.1, the calculation process of the speed and the acceleration of one rough positioning measurement is as follows:
let the time interval of the wireless signal reception be τ, and assume that at time t, the coordinates of the heavy load transfer robot are (x t ，y t ) At time t+τ, the coordinates of the heavy load transfer robot are (x t+τ ，y t+τ )
The speeds of the heavy-load carrying robot in the X direction and the Y direction at the moment t can be obtained by the method:
the speed of the heavy-load carrying robot at the time t+tau can be obtained by the same method:
therefore, the acceleration of the heavy-load carrying robot at the moment t is as follows:
and 5.2, calculating the secondary accurate positioning measurement speed and acceleration as follows:
let the time interval of reception by the distance measuring sensor be τ, and assume that at time t, the coordinates of the heavy load transfer robot are (Δx t ，Δy t ) At time t+τ, the coordinates of the heavy load transfer robot are (Δx t+τ ，Δy t+τ )
The speeds of the heavy-load carrying robot in the X direction and the Y direction at the moment t can be obtained by the method:
the speed of the heavy-load carrying robot at the time t+tau can be obtained by the same method:
therefore, the acceleration of the heavy-load carrying robot at the moment t is as follows:
in the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are based on directions or positional relationships shown in the drawings, are merely for convenience of description and simplification of description, and do not indicate or imply that the apparatus or element to be referred to must have a specific direction, be constructed and operated in the specific direction, and thus should not be construed as limiting the present invention; the terms "first," "second," "third," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, and furthermore, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "coupled," and the like are to be construed broadly, and may be fixedly coupled, detachably coupled, or integrally coupled, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The double carrying and positioning control method based on the wireless positioning and the traditional positioning technology is characterized in that: the dual-carrying positioning control method comprises a position coordinate system building unit, a positioning measurement system installation unit and a heavy-load unmanned carrying system management platform unit, wherein the position coordinate system building unit comprises zero point selection and position coordinate value construction, the positioning measurement system installation unit is divided into primary rough positioning measurement system installation and secondary accurate positioning measurement system installation, and the heavy-load unmanned carrying system management platform unit consists of real-time acceptance of wireless position coordinate values, calculation of the running speed of a heavy-load unmanned carrying robot and accurate control of the position of the heavy-load unmanned carrying robot.
2. The dual carrier positioning control method based on wireless positioning and conventional positioning technology as claimed in claim 1, wherein: the zero point selection is based on the working range of the whole heavy-load unmanned carrying robot, and a unique zero point (0, 0) is selected.
3. The dual carrier positioning control method based on wireless positioning and conventional positioning technology as claimed in claim 1, wherein: the position coordinate value construction is to establish a position coordinate system in the whole working range, and any point in the working range has only one position coordinate value (X, Y) taking a zero point (0, 0) as a starting point.
4. The dual carrier positioning control method based on wireless positioning and conventional positioning technology as claimed in claim 1, wherein: the primary rough positioning measurement system comprises wireless transmitting devices and wireless receiving base stations, wherein each wireless transmitting device corresponds to a displaced identity electronic tag, and each wireless receiving base station corresponds to a unique base station code.
5. The dual carrier positioning control method based on wireless positioning and conventional positioning technology as claimed in claim 1, wherein: the secondary accurate positioning measurement system comprises a ranging sensor 1, a ranging sensor 2 and a ranging sensor signal collection module.
6. A dual carrier positioning control method based on wireless positioning and conventional positioning technology as claimed in any one of claims 1-5, comprising the following steps:
s1: and selecting a unique zero point (0, 0) in the whole heavy-load unmanned carrying robot working range, establishing a position coordinate system in the whole working range, and ensuring that any point in the working range has a unique position coordinate value (X, Y) taking the zero point (0, 0) as a starting point, wherein X is horizontal east-west direction position data, and Y is horizontal north-south direction position data.
S2: installing a rough positioning measurement system on the heavy-duty unmanned carrying robot for performing rough positioning measurement when the heavy-duty unmanned carrying robot is far from the target position (generally more than 2 meters)
2.1, installing a wireless transmitting device on a heavy-duty unmanned carrying robot;
2.2, the wireless transmitting devices can transmit position coordinate value signals in real time, and each wireless transmitting device is provided with a unique identity electronic tag;
2.3, installing wireless receiving base stations around the whole working range of the heavy-duty unmanned carrying robot, wherein each wireless receiving base station has unique base station codes;
2.4, accessing the wireless position coordinate value (X, Y) signals transmitted in real time by a wireless transmitting device on the heavy-duty unmanned carrying robot and the occurrence time t of the corresponding position coordinate value to a management platform of the heavy-duty unmanned carrying system through a wireless receiving base station, wherein the precision of the current wireless positioning is more than or equal to 10 cm, and the accurate positioning control cannot be realized.
S3: the secondary accurate positioning measurement system is arranged on the heavy-load unmanned carrying robot and is used for performing secondary accurate positioning measurement when the heavy-load unmanned carrying robot approaches to a target position (generally less than or equal to 2 meters) quickly
3.1, a ranging sensor with small measuring range, high precision and quick response is arranged on a heavy-duty unmanned carrying robot;
3.2, the ranging sensor 1 measures data DeltaX of the horizontal east-west direction distance target position;
3.3, the ranging sensor 2 measures data delta Y of the target position in the horizontal north-south direction;
3.4, adding a ranging sensor signal acquisition module;
and 3.5, accessing the ranging coordinate values (delta X, delta Y) and the occurrence time delta t of the corresponding position coordinate values into a management platform of the heavy-load unmanned carrying system.
S4, in the working process of the heavy-duty unmanned carrying robot, when the heavy-duty unmanned carrying robot is far away from a target position (generally more than 2 meters), the position feedback information of positioning control mainly comprises one rough positioning measurement, namely: in a position coordinate system in the whole working range, the heavy-load unmanned carrying system management platform receives wireless position coordinate values (X, Y) in real time and is used as real-time position change data of the heavy-load unmanned carrying robot, and the running speed and the acceleration of the heavy-load unmanned carrying robot in moving are calculated according to the change of the wireless position coordinate values (X, Y) and the occurrence time t of the corresponding position coordinate values, so that the speed control and the position control of the heavy-load unmanned carrying robot are realized.
S5, in the moving process of the heavy-load unmanned carrying robot, when the heavy-load unmanned carrying robot is close to a target position (generally less than or equal to 2 meters), the position feedback information of the positioning control is mainly based on secondary accurate positioning measurement, namely: in the whole working range, the heavy-load unmanned carrying system management platform receives the ranging sensor values (delta X, delta Y) and the corresponding occurrence time delta t of the position coordinate values in real time, and the ranging sensor values and the occurrence time delta t are used as real-time position change data of the heavy-load unmanned carrying robot, and the running speed and the running acceleration of the heavy-load unmanned carrying robot in the moving process are calculated, so that the speed control and the accurate position control of the heavy-load unmanned carrying robot are realized;
5.1, the calculation process of the speed and the acceleration of one rough positioning measurement is as follows:
radio signalThe time interval of the number reception is τ, and the coordinates of the heavy load transfer robot at time t are (x t ，y t ) At time t+τ, the coordinates of the heavy load transfer robot are (x t+τ ，y t+τ )
The speeds of the heavy-load carrying robot in the X direction and the Y direction at the moment t can be obtained by the method:
the speed of the heavy-load carrying robot at the time t+tau can be obtained by the same method:
therefore, the acceleration of the heavy-load carrying robot at the moment t is as follows:
and 5.2, calculating the secondary accurate positioning measurement speed and acceleration as follows:
let the time interval of reception by the distance measuring sensor be τ, and assume that at time t, the coordinates of the heavy load transfer robot are (Δx t ，Δy t ) At time t+τ, the coordinates of the heavy load transfer robot are (Δx t+τ ，Δy t+τ )
The speeds of the heavy-load carrying robot in the X direction and the Y direction at the moment t can be obtained by the method:
the speed of the heavy-load carrying robot at the time t+tau can be obtained by the same method:
therefore, the acceleration of the heavy-load carrying robot at the moment t is as follows:
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