Travel control method of garbage carrying robot and medium

• Main Author: CUI JUNJIAN
• Format: Patent
• Language: Chinese; English
• Published: 14.04.2023
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; CONVEYING; GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE; HANDLING THIN OR FILAMENTARY MATERIAL; PACKING; PERFORMING OPERATIONS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; STORING; TRANSPORTING; VEHICLES IN GENERAL

According to the running control method of the garbage carrying robot, the garbage carrying robot is provided with a driving device capable of being adjusted in a telescopic mode, and the running control method comprises the following steps that the loading state of a garbage can is detected, and it is determined that a garbage can cover is closed; the two-dimensional gravity center N of the garbage can is calculated according to the weight, and the comprehensive gravity center (N2) is calculated according to the gravity center (N1) of the robot; adjusting the relative position (eyQ) of the drive device according to the comprehensive center of gravity (N2); according to the current driving position (eyQ), setting an initial speed V1 and an acceleration and deceleration a1, and formally starting to execute a walking task; in the driving process, the jump value integral of the pressure sensor is monitored in real time, and if the jump value integral of the pressure sensor exceeds a specified threshold value, th