Title:
KINEMATIC MODELING STRATEGY AND PATH PLANNING METHOD FOR MATERIAL CONVEYING PLATFORM
Document Type and Number:
WIPO Patent Application WO/2023/087863
Kind Code:
A1
Abstract:
Provided is a kinematic modeling strategy and path planning method for a material conveying platform. The material conveying platform comprises hexagonal module bodies (1) provided with omnidirectional wheels (15), a workbench plate (2), connecting pieces (3), telescopic rod supports (4), a Wi-Fi module (5), and self-locking rollers (6). The kinematic modeling strategy and path planning method comprises the following steps: establishing, by means of a multi-kinematic modeling strategy, a kinematic model library for control; configuring a working environment in an operation interface of an upper computer; acquiring, by means of RFIDs (14), geographical location information of a material to be conveyed, and feeding back same to the upper computer; planning a global conveying path by means of an improved ant colony algorithm; planning a local conveying path by means of an improved artificial potential field method; and implementing dynamic switching between multiple kinematic models on the planned conveying path, and calculating corresponding rotating speeds and rotating directions of related omnidirectional wheels (15). The material conveying platform is convenient to assemble and disassemble, dynamic switching between different kinematic models enables the conveying to be more stable, the convergence speed of path planning can be increased, the probability of local optimum is reduced, and the conveying efficiency is high.
Inventors:
TANG WEI (CN)
SUN YU (CN)
TAN XIAO (CN)
GU JINFENG (CN)
LANG JIAWEI (CN)
SUN YU (CN)
TAN XIAO (CN)
GU JINFENG (CN)
LANG JIAWEI (CN)
Application Number:
PCT/CN2022/117679
Publication Date:
May 25, 2023
Filing Date:
September 08, 2022
Export Citation:
Assignee:
UNIV JIANGSU SCIENCE & TECH (CN)
International Classes:
B65G35/00; G05D1/02
Domestic Patent References:
| WO2016045615A1 | 2016-03-31 |
Foreign References:
| CN114313878A | 2022-04-12 | |||
| CN112591410A | 2021-04-02 | |||
| CN110928295A | 2020-03-27 | |||
| CN209306382U | 2019-08-27 | |||
| CN108827309A | 2018-11-16 |
Attorney, Agent or Firm:
NANJING SUGAO PATENT AND TRADEMARK FIRM (ORDINARY PARTNERSHIP) (CN)
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