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A platform for research: civil engineering, architecture and urbanism
Control system and method for novel double-tooth type parking robot with free stop arms
The invention belongs to the technical field of parking robots, and discloses a control system and method for a novel double-tooth type parking robot with free stop arms. The control system comprisesan advancing module, a stop arm moving module, a measuring module, a navigation module, and a main controller. The advancing module is used for driving the parking robot to move according to an advancing control instruction sent by the main controller and adjusting the positions of a left fork arm and a right fork arm; the stop arm moving module is used for driving the stop arms to move; the measuring module is used for detecting the wheel base and the tire diameter of a vehicle and calculating the stopping distance; the navigation module is used for calculating an advancing route of the parking robot; and the main controller comprises an input and output unit, a control instruction unit, a distance judgment unit and a resistance judgment unit. After the stop arms make contact with tires,the stop positions of the fork arms are judged according to the positions of the stop arms, so that the states of the tires and the corresponding fork arms are directly and effectively reflected, andthe situation that the tires fall 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，公开一种自由挡臂新型双齿式泊车机器人的控制系统和方法。所述控制系统包括行进模块、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，调整左叉臂和右叉臂的位置；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、轮胎直径和计算停止距离；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。
Control system and method for novel double-tooth type parking robot with free stop arms
The invention belongs to the technical field of parking robots, and discloses a control system and method for a novel double-tooth type parking robot with free stop arms. The control system comprisesan advancing module, a stop arm moving module, a measuring module, a navigation module, and a main controller. The advancing module is used for driving the parking robot to move according to an advancing control instruction sent by the main controller and adjusting the positions of a left fork arm and a right fork arm; the stop arm moving module is used for driving the stop arms to move; the measuring module is used for detecting the wheel base and the tire diameter of a vehicle and calculating the stopping distance; the navigation module is used for calculating an advancing route of the parking robot; and the main controller comprises an input and output unit, a control instruction unit, a distance judgment unit and a resistance judgment unit. After the stop arms make contact with tires,the stop positions of the fork arms are judged according to the positions of the stop arms, so that the states of the tires and the corresponding fork arms are directly and effectively reflected, andthe situation that the tires fall 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，公开一种自由挡臂新型双齿式泊车机器人的控制系统和方法。所述控制系统包括行进模块、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，调整左叉臂和右叉臂的位置；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、轮胎直径和计算停止距离；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。
Control system and method for novel double-tooth type parking robot with free stop arms
一种自由挡臂新型双齿式泊车机器人控制系统和方法
JIA BAOHUA (author)
2021-02-02
Patent
Electronic Resource
Chinese
IPC:
E04H
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Novel double-tooth type parking robot with free stop arms and parking implementation method thereof
| European Patent Office | 2021
| European Patent Office | 2021
| European Patent Office | 2021
| European Patent Office | 2021
| European Patent Office | 2021