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A platform for research: civil engineering, architecture and urbanism
Four-claw type vehicle carrying robot forklift method with radar as center
The invention belongs to the technical field of vehicle carrying robots, and discloses a radar-centered forklift method for a four-claw vehicle carrying robot. According to the method, a laser radar scanner is arranged in the center of a cross beam, steering wheels and universal wheels are kept to move towards the two ends of the cross beam of the vehicle carrying robot by the same distance when the cross beam is stretched, it is ensured that the laser radar scanner is always located in the center of the cross beam, and the position relation of the vehicle carrying robot and a vehicle in the cross beam direction is positioned; by adjusting the plane where the laser radar scanner and the central vertical line of the wheelbase are located to be perpendicular to the side face of the vehicle and the cross beam of the vehicle carrying robot, the position relation of the vehicle carrying robot in the longitudinal beam direction is ensured, and finally it is ensured that the vehicle carrying robot forklift cannot collide with wheels.
本发明属于车辆搬运机器人技术领域，公开一种以雷达为中心的四爪式车辆搬运机器人叉车方法。所述方法通过将激光雷达扫描器设置在横梁的中心，并在伸长横梁时保持舵轮和万向轮向车辆搬运机器人横梁两端移动相同的距离，确保激光雷达扫描器始终在横梁的中心，来定位车辆搬运机器人与车辆在横梁方向上的位置关系；通过调整激光雷达扫描器与轴距中心垂线的所在的平面同时垂直于车辆侧面和车辆搬运机器人的横梁，确保车辆搬运机器人在纵梁方向上的位置关系，最终确保车辆搬运机器人叉车是不会撞到车轮。
Four-claw type vehicle carrying robot forklift method with radar as center
The invention belongs to the technical field of vehicle carrying robots, and discloses a radar-centered forklift method for a four-claw vehicle carrying robot. According to the method, a laser radar scanner is arranged in the center of a cross beam, steering wheels and universal wheels are kept to move towards the two ends of the cross beam of the vehicle carrying robot by the same distance when the cross beam is stretched, it is ensured that the laser radar scanner is always located in the center of the cross beam, and the position relation of the vehicle carrying robot and a vehicle in the cross beam direction is positioned; by adjusting the plane where the laser radar scanner and the central vertical line of the wheelbase are located to be perpendicular to the side face of the vehicle and the cross beam of the vehicle carrying robot, the position relation of the vehicle carrying robot in the longitudinal beam direction is ensured, and finally it is ensured that the vehicle carrying robot forklift cannot collide with wheels.
本发明属于车辆搬运机器人技术领域，公开一种以雷达为中心的四爪式车辆搬运机器人叉车方法。所述方法通过将激光雷达扫描器设置在横梁的中心，并在伸长横梁时保持舵轮和万向轮向车辆搬运机器人横梁两端移动相同的距离，确保激光雷达扫描器始终在横梁的中心，来定位车辆搬运机器人与车辆在横梁方向上的位置关系；通过调整激光雷达扫描器与轴距中心垂线的所在的平面同时垂直于车辆侧面和车辆搬运机器人的横梁，确保车辆搬运机器人在纵梁方向上的位置关系，最终确保车辆搬运机器人叉车是不会撞到车轮。
Four-claw type vehicle carrying robot forklift method with radar as center
一种以雷达为中心的四爪式车辆搬运机器人叉车方法
JIA BAOHUA (author)
2022-11-01
Patent
Electronic Resource
Chinese
IPC:
E04H
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