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Parking robot control system and control method based on center coincidence
The invention belongs to the technical field of parking robots, and discloses a parking robot control system and control method based on center coincidence. The parking robot control system based on the center coincidence comprises an advancing module, a fork arm moving 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 according to an advancing control instruction sent by the master controller; the fork arm moving module is used for driving a fork arm to move; the blocking arm moving module is used for driving a blocking 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; the master controller comprises an input and output unit, a control instruction unit, a distance judgment unit and a resistance judgment unit. The blocking arm structure can help the fork arm of the parking robot to center when the vehicle is lifted, so that the fork arm can be controlled to stop moving in time, and 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，公开一种基于中心重合的泊车机器人控制系统和控制方法。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。所述挡臂结构能够帮助泊车机器人的叉臂抬起车辆时进行对中，以便控制及时停止移动叉臂，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 control method based on center coincidence
The invention belongs to the technical field of parking robots, and discloses a parking robot control system and control method based on center coincidence. The parking robot control system based on the center coincidence comprises an advancing module, a fork arm moving 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 according to an advancing control instruction sent by the master controller; the fork arm moving module is used for driving a fork arm to move; the blocking arm moving module is used for driving a blocking 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; the master controller comprises an input and output unit, a control instruction unit, a distance judgment unit and a resistance judgment unit. The blocking arm structure can help the fork arm of the parking robot to center when the vehicle is lifted, so that the fork arm can be controlled to stop moving in time, and 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，公开一种基于中心重合的泊车机器人控制系统和控制方法。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。所述挡臂结构能够帮助泊车机器人的叉臂抬起车辆时进行对中，以便控制及时停止移动叉臂，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 control method based on center coincidence
一种基于中心重合的泊车机器人控制系统和控制方法
JIA BAOHUA (author)
2022-01-25
Patent
Electronic Resource
Chinese
IPC:
E04H
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