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A platform for research: civil engineering, architecture and urbanism
Parking robot walking motion method
The invention discloses a parking robot walking motion method. The parking robot walking motion method includes the following steps: A, parking instructing is conducted, specifically, parking information is detected through external equipment and sent to a controller; B, pre-defined path programming is conducted, specifically, a path is controlled according to a parking path planning control motorin the above step; C, pre-defined walking is conducted, specifically, a walking device is controlled to walk in a preset direction according to a programming design route; D, real-time scanning is conducted, specifically, an advancing direction and a side area are scanned at regular intervals through an ultrasonic distance sensor; E, an obstacle is bypassed, specifically, the obstacle is scannedaccording to a camera, and the dimension of the obstacle is uploaded to a processor; and F, a parking spot is reached, specifically, the direction is aligned after the walking device is controlled tobypass the obstacle, and the walking device returns to an original set route to continue to walk until reaching the parking spot. According to the method, a steering device can be restored to a normalattitude through a deviation degree control motor, thus a parking action can be quickly converted, and the parking efficiency is improved.
本发明公开了一种停车机器人行走运动方法，包括以下步骤：A停车指令：通过外部设备检测到停车信息发送给控制器；B预定路径编程：根据上述步骤中对停车路径的规划控制电机进行路径的控制；C预定行走：根据根据编程设计的线路控制行走装置沿预设方向行走；D实时扫描：通过超声波距离传感器对行进方向以及侧边区域进行定期扫描；E绕行障碍物：根据摄像头对障碍物进行扫描，通过将障碍物的尺寸上传处理器；F到达停车地点：控制行走装置绕过障碍物后将方向回正，并且回到原定设定的线路继续行走至到达停车地点。该方法可根据偏离度控制电机把转向装置恢复到正常姿态，可以实现的对停车动作的快速转换，提升停车效率。
Parking robot walking motion method
The invention discloses a parking robot walking motion method. The parking robot walking motion method includes the following steps: A, parking instructing is conducted, specifically, parking information is detected through external equipment and sent to a controller; B, pre-defined path programming is conducted, specifically, a path is controlled according to a parking path planning control motorin the above step; C, pre-defined walking is conducted, specifically, a walking device is controlled to walk in a preset direction according to a programming design route; D, real-time scanning is conducted, specifically, an advancing direction and a side area are scanned at regular intervals through an ultrasonic distance sensor; E, an obstacle is bypassed, specifically, the obstacle is scannedaccording to a camera, and the dimension of the obstacle is uploaded to a processor; and F, a parking spot is reached, specifically, the direction is aligned after the walking device is controlled tobypass the obstacle, and the walking device returns to an original set route to continue to walk until reaching the parking spot. According to the method, a steering device can be restored to a normalattitude through a deviation degree control motor, thus a parking action can be quickly converted, and the parking efficiency is improved.
本发明公开了一种停车机器人行走运动方法，包括以下步骤：A停车指令：通过外部设备检测到停车信息发送给控制器；B预定路径编程：根据上述步骤中对停车路径的规划控制电机进行路径的控制；C预定行走：根据根据编程设计的线路控制行走装置沿预设方向行走；D实时扫描：通过超声波距离传感器对行进方向以及侧边区域进行定期扫描；E绕行障碍物：根据摄像头对障碍物进行扫描，通过将障碍物的尺寸上传处理器；F到达停车地点：控制行走装置绕过障碍物后将方向回正，并且回到原定设定的线路继续行走至到达停车地点。该方法可根据偏离度控制电机把转向装置恢复到正常姿态，可以实现的对停车动作的快速转换，提升停车效率。
Parking robot walking motion method
一种停车机器人行走运动方法
WANG CHUAN (author) / LI YU (author) / JIANG JUN (author) / ZHANG MENG (author)
2020-05-08
Patent
Electronic Resource
Chinese
Parking method, parking management system and parking robot
| European Patent Office | 2023