A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Parking robot control system and method of steering wheel driving fork arm with blocking arm
The invention belongs to the technical field of parking robots, and discloses a parking robot control system and method of a steering wheel driving fork arm with a blocking arm. The parking robot control system of the steering wheel driving fork arm with the blocking arm comprises an advancing module, a blocking arm moving module, a measuring module, a navigation module and a master controller, wherein the advancing module is used for driving a parking robot to move and adjusting the positions of a left fork arm and a right fork arm; the blocking arm moving module is used for driving the blocking arm to move; the measuring module is used for detecting the wheelbase and the tire diameter of a vehicle and calculating the stopping distance; the navigation module is used for calculating the advancing route of the parking robot; 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 parking robot control system of the steering wheel driving fork arm with the blocking arm, a fork arm moving device is omitted, and the structure is simplified; the blocking arm structure can limit the front-back movement of the robot when the robot lifts the vehicle and confirm the stop position of the fork arm, so that the situation that vehicle lifting fails due to the fact that the front-back balance weight difference of the vehicle is large and a light end directly crosses the fork arm is avoided.
本发明属于泊车机器人技术领域，公开一种带挡臂的舵轮驱动叉臂的泊车机器人控制系统及方法。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，用于驱动泊车机器人移动和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。本发明省去了叉臂移动装置，简化了结构。所述挡臂结构能够在机器人抬起车辆时限制其前后移动并确认叉臂停止的位置，以免因为车辆前后配重差较大，导致较轻的一端直接越过叉臂，造成抬起车辆失败。
Parking robot control system and method of steering wheel driving fork arm with blocking arm
The invention belongs to the technical field of parking robots, and discloses a parking robot control system and method of a steering wheel driving fork arm with a blocking arm. The parking robot control system of the steering wheel driving fork arm with the blocking arm comprises an advancing module, a blocking arm moving module, a measuring module, a navigation module and a master controller, wherein the advancing module is used for driving a parking robot to move and adjusting the positions of a left fork arm and a right fork arm; the blocking arm moving module is used for driving the blocking arm to move; the measuring module is used for detecting the wheelbase and the tire diameter of a vehicle and calculating the stopping distance; the navigation module is used for calculating the advancing route of the parking robot; 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 parking robot control system of the steering wheel driving fork arm with the blocking arm, a fork arm moving device is omitted, and the structure is simplified; the blocking arm structure can limit the front-back movement of the robot when the robot lifts the vehicle and confirm the stop position of the fork arm, so that the situation that vehicle lifting fails due to the fact that the front-back balance weight difference of the vehicle is large and a light end directly crosses the fork arm is avoided.
本发明属于泊车机器人技术领域，公开一种带挡臂的舵轮驱动叉臂的泊车机器人控制系统及方法。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，用于驱动泊车机器人移动和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。本发明省去了叉臂移动装置，简化了结构。所述挡臂结构能够在机器人抬起车辆时限制其前后移动并确认叉臂停止的位置，以免因为车辆前后配重差较大，导致较轻的一端直接越过叉臂，造成抬起车辆失败。
Parking robot control system and method of steering wheel driving fork arm with blocking arm
一种带挡臂的舵轮驱动叉臂的泊车机器人控制系统及方法
JIA BAOHUA (author)
2022-01-25
Patent
Electronic Resource
Chinese
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