Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Control system and method for lateral clamping parking robot with blocking arm
The invention belongs to the technical field of parking robots, and discloses a control system and method for a lateral clamping parking robot with a blocking arm. The control system comprises an advancing module, a fork arm moving module, a blocking arm moving module, a measuring module, a navigation module and a master controller. The advancing module is used for driving the parking robot to move according to the advancing control instruction sent by the master controller; the fork arm moving module is used for driving the fork arm to move; the blocking arm moving module is used for driving the blocking arm to move; the measuring module is used for detecting the wheelbase of the vehicle; the navigation module is used for calculating the advancing route of the parking robot; and the master controller comprises an input and output unit, a control instruction unit, a distance judgment unit and a resistance judgment unit. After the blocking arm makes contact with a tire firstly, whether the tire is lifted or not is judged through resistance borne by movement of the blocking arm, the states of the tire and the corresponding fork arms are directly and effectively reflected, and the situation that the tire falls off again due to excessive movement of the fork arms is avoided.
本发明属于泊车机器人技术领域，公开一种带挡臂的侧向夹持泊车机器人的控制系统及其控制方法。所述控制系统包括行进模块、叉臂移动模块、挡臂移动模块、测量模块、导航模块和总控制器；所述行进模块，用于根据总控制器发出的行进控制指令驱动泊车机器人移动；叉臂移动模块，用于驱动叉臂移动；挡臂移动模块，用于驱动挡臂移动；测量模块，用于检测车辆的轴距；导航模块，用于计算泊车机器人的行进路线；总控制器，包括输入输出单元、控制指令单元、距离判定单元和阻力判定单元。通过挡臂与轮胎先接触后，通过挡臂移动受到的阻力来判断轮胎是否被抬高，直接有效的反映了轮胎与对应的叉臂的状态，避免叉臂过度移动造成轮胎再次脱落的情况。
Control system and method for lateral clamping parking robot with blocking arm
The invention belongs to the technical field of parking robots, and discloses a control system and method for a lateral clamping parking robot with a blocking arm. The control system comprises an advancing module, a fork arm moving module, a blocking arm moving module, a measuring module, a navigation module and a master controller. The advancing module is used for driving the parking robot to move according to the advancing control instruction sent by the master controller; the fork arm moving module is used for driving the fork arm to move; the blocking arm moving module is used for driving the blocking arm to move; the measuring module is used for detecting the wheelbase of the vehicle; the navigation module is used for calculating the advancing route of the parking robot; and the master controller comprises an input and output unit, a control instruction unit, a distance judgment unit and a resistance judgment unit. After the blocking arm makes contact with a tire firstly, whether the tire is lifted or not is judged through resistance borne by movement of the blocking arm, the states of the tire and the corresponding fork arms are directly and effectively reflected, and the situation that the tire falls off again due to excessive movement of the fork arms is avoided.
本发明属于泊车机器人技术领域，公开一种带挡臂的侧向夹持泊车机器人的控制系统及其控制方法。所述控制系统包括行进模块、叉臂移动模块、挡臂移动模块、测量模块、导航模块和总控制器；所述行进模块，用于根据总控制器发出的行进控制指令驱动泊车机器人移动；叉臂移动模块，用于驱动叉臂移动；挡臂移动模块，用于驱动挡臂移动；测量模块，用于检测车辆的轴距；导航模块，用于计算泊车机器人的行进路线；总控制器，包括输入输出单元、控制指令单元、距离判定单元和阻力判定单元。通过挡臂与轮胎先接触后，通过挡臂移动受到的阻力来判断轮胎是否被抬高，直接有效的反映了轮胎与对应的叉臂的状态，避免叉臂过度移动造成轮胎再次脱落的情况。
Control system and method for lateral clamping parking robot with blocking arm
一种带挡臂的侧向夹持泊车机器人的控制系统和方法
JIA BAOHUA (Autor:in)
21.01.2022
Patent
Elektronische Ressource
Chinesisch
IPC:
E04H
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