Modular design of cargo movement routes on sorting device with omnidirectional wheels
The sorting device with omnidirectional wheels realizes the transportation of goods along different routes at different speeds by independently and selectively controlling the speed of each omnidirectional wheel evenly distributed on the sorting platform.This paper presents a modular design method for the movement routes of goods on the sorting device with omnidirectional wheels,so as to realize the flexible transportation of goods along any designated route on the sorting platform.Any track movement of goods on the sorting plat-form is decomposed into two different combinations of straight-line segment and arc segment.The modular design of track movement is carried out for the straight-line segment and arc segment respectively,and the ini-tialization parameters such as the position and speed of the starting point and end point of each segment are in-put.The module automatically completes the generation of cargo moving centroid track,the calculation of cargo moving sweeping surface,the judgment of omnidirectional wheel within the boundary of sweeping sur-face and the calculation of omnidirectional wheel speed within the boundary.Through the different combina-tion of linear track moving section and circular track moving section,the cargo sorting and stacking track is built.The test shows that the modular design method proposed in this paper greatly reduces the difficulty of cargo conveying control design of sorting device with omnidirectional wheels.
sorting device with omnidirectional wheelsmovement route controlmodular designsor-tingstacking
万方数据
维普
