Patent ID: 11919155
Assignee: TRACTONOMY ROBOTICS BV
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 16:
17. The method of claim 15,, wherein the robot body further comprises a rotating system configured to rotate the cart coupling system relative to the robot body about a rotation axis;, wherein the method further comprises the steps of:
(A) tracking a position of a first reference point PGE positioned along a first axis running through at least two grips of the coupling structure;
(B) tracking a position of a second reference point PGH positioned along a second axis running through the at least two gripper hands of the cart coupling system;
(C) tracking a position of a third reference point PR positioned on the rotation axis of the rotating system of the cart coupling system;
(D) tracking a rotating angle α, which is defined as the angle between the cart coupling system and the robot body when rotating with the rotating system; and,
(E) determining, from changes in the position of at least one tracked reference point and/or the rotating angle α, a docking correction factor for adjusting a movement of the robot body or the rotation of the cart coupling system, or a combination thereof;, wherein the steps of (A)-(E) are performed prior to steps (i)-(ii).