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Control system and method of outer forklift parking robot with blocking teeth
The invention belongs to the technical field of parking robots, and discloses a control system of an outer forklift parking robot with blocking teeth and a control method of the control system. The control system comprises an advancing module, a fork arm moving module, a blocking tooth moving module, a measuring module, a navigation module and a main controller, wherein the advancing module is used for driving the parking robot to move according to an advancing control instruction sent by the main controller, the fork arm moving module is used for driving fork arms to move, the blocking toothmoving module is used for driving the blocking teeth to move, the measuring module is used for detecting the wheelbase of a vehicle, the navigation module is used for calculating an advancing route ofthe 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 blocking teeth make contact with a tire, whether the tire is lifted or not is judged through resistance borne by movement of the blocking teeth, the state of the tire and the state of the corresponding fork arm are directly and effectively reflected, and the situation that the tire falls off again due to excessive movement of the fork arm is avoided.
本发明属于泊车机器人技术领域，公开一种带有挡齿的外叉车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、挡齿移动模块、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；挡齿移动模块，用于驱动挡齿移动；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。通过挡齿与轮胎先接触后，通过挡齿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 of outer forklift parking robot with blocking teeth
The invention belongs to the technical field of parking robots, and discloses a control system of an outer forklift parking robot with blocking teeth and a control method of the control system. The control system comprises an advancing module, a fork arm moving module, a blocking tooth moving module, a measuring module, a navigation module and a main controller, wherein the advancing module is used for driving the parking robot to move according to an advancing control instruction sent by the main controller, the fork arm moving module is used for driving fork arms to move, the blocking toothmoving module is used for driving the blocking teeth to move, the measuring module is used for detecting the wheelbase of a vehicle, the navigation module is used for calculating an advancing route ofthe 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 blocking teeth make contact with a tire, whether the tire is lifted or not is judged through resistance borne by movement of the blocking teeth, the state of the tire and the state of the corresponding fork arm are directly and effectively reflected, and the situation that the tire falls off again due to excessive movement of the fork arm is avoided.
本发明属于泊车机器人技术领域，公开一种带有挡齿的外叉车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、挡齿移动模块、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；挡齿移动模块，用于驱动挡齿移动；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。通过挡齿与轮胎先接触后，通过挡齿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 of outer forklift parking robot with blocking teeth
一种带有挡齿的外叉车泊车机器人控制系统和方法
JIA BAOHUA (author) / MI YONG (author)
2021-03-02
Patent
Electronic Resource
Chinese
IPC:
E04H
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Outer forklift parking robot control system with blocking teeth and method
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Outer forklift parking robot with blocking teeth and parking implementation method thereof
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