Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Precise control system and method for lateral clamping parking robot
The invention belongs to the technical field of parking robots, and discloses a precise control system and method for a lateral clamping parking robot. The control system comprises an advancing module, a fork arm moving module, a stop 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 a fork arm to move; the stop arm moving module is used for driving a stop arm to move; the measuring module is used for detecting the wheelbase of a 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. According to the precise control system and method for the lateral clamping parking robot, after the stop arms make contact with a tire firstly, the positions where the fork arms should stop are judged according to the positions of the stop arms, 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，公开一种侧向夹持泊车机器人的精确控制系统和精确控制方法。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，通过挡臂的位置来判断叉臂应当停止的位置，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。
Precise control system and method for lateral clamping parking robot
The invention belongs to the technical field of parking robots, and discloses a precise control system and method for a lateral clamping parking robot. The control system comprises an advancing module, a fork arm moving module, a stop 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 a fork arm to move; the stop arm moving module is used for driving a stop arm to move; the measuring module is used for detecting the wheelbase of a 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. According to the precise control system and method for the lateral clamping parking robot, after the stop arms make contact with a tire firstly, the positions where the fork arms should stop are judged according to the positions of the stop arms, 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，公开一种侧向夹持泊车机器人的精确控制系统和精确控制方法。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，通过挡臂的位置来判断叉臂应当停止的位置，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。
Precise control system and method for lateral clamping parking robot
一种侧向夹持泊车机器人的精确控制系统和精确控制方法
JIA BAOHUA (Autor:in)
25.01.2022
Patent
Elektronische Ressource
Chinesisch
IPC:
E04H
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