Method for controlling the collision-free relocation of load in the three-dimensional space and the control system of the collision-free relocation of load in the three-dimensional space

摘要

a control bezkolizyjnym cargo movement in the three-dimensional space is characterized by the fact that to control the movements of cargo (6) applies at least one mobile robot (1) equipped with a sensor system location and at least one camera (3).information about the position of mobile robot (1) and at least two images with different points location, sent to the supervisory device (2), then using techniques for photogrammetry is the charge (6) and elements (9) in the three-dimensional space conflict and presents them informed nanoszu0105c on image with camera (3) on the screen of a computer display device (4),the operator then on the basis of displayable data controls the bezkolizyjnym movements of cargo (6). as the sensor system location apply accelerometers and gyros. advantageously, in addition to accelerometers and gyros is used the gps mounted on a robot, to assist in maintaining the correct position supervisory device mobile robot.advantageously, in addition, in order to eliminate positioning error (drift) positioning system gps apply static gps, placed in the operating space. a display device (4) is used to monitor or stereoscopic glasses.the operator controls the bezkolizyjnym movements of cargo (6), using the console (5) or with the help of hands and hand gestures, recorded by a camera (3).the control system bezkolizyjnym cargo movement in the three-dimensional space, characterised by the fact that at least one mobile robot (1) equipped with a sensor system location and at least one camera (3) is connected with the wireless device (2) supervising which is connected to a computer display screen equipment (4) and a machine (7), which moves the load (6).