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A platform for research: civil engineering, architecture and urbanism
Method for controlling parking robot to park and parking robot
The embodiment of the invention discloses a method for controlling parking of a parking robot and the parking robot. According to the embodiment of the invention, a first laser sensor facing a specified parking area scans four tires of a vehicle parked in the specified parking area to obtain a first point cloud, and wheel identification is dynamically carried out based on the first point cloud so as to determine reference pose information (at least including a reference position) required by a parking robot to execute parking; then the parking robot drives to a reference position according to the reference pose information, more accurate target pose information is calculated through laser sensors such as 2D laser radars arranged on the two sides of a clamping arm of the parking robot, so that accurate alignment of the clamping arm and wheels is completed, follow-up clamping operation on the vehicle is facilitated, and the working efficiency of the parking robot is improved. The situation that when an existing parking robot carries the vehicle, the parking robot cannot carry the vehicle normally due to inaccurate vehicle pose information is avoided, and therefore the parking execution efficiency of the parking robot is improved.
本申请实施例公开了一种控制泊车机器人泊车的方法及泊车机器人。本申请实施例先通过朝向指定停车区域的第一激光传感器扫描指定停车区域内停放的车辆的四个轮胎获得第一点云，基于第一点云动态进行车轮识别，以确定泊车机器人执行泊车所需的参考位姿信息(至少包括参考位置)，之后泊车机器人依据参考位姿信息行驶至参考位置，再通过泊车机器人的夹臂的两侧部署的激光传感器比如2D激光雷达计算更精确的目标位姿信息，以实现夹臂和车轮完成精确对准，方便后续对车辆的夹持操作，避免现有因泊车机器人搬运车辆时出现因车辆位姿信息不准确而导致泊车机器人无法正常搬运车辆，从而提高泊车机器人执行泊车的效率。
Method for controlling parking robot to park and parking robot
The embodiment of the invention discloses a method for controlling parking of a parking robot and the parking robot. According to the embodiment of the invention, a first laser sensor facing a specified parking area scans four tires of a vehicle parked in the specified parking area to obtain a first point cloud, and wheel identification is dynamically carried out based on the first point cloud so as to determine reference pose information (at least including a reference position) required by a parking robot to execute parking; then the parking robot drives to a reference position according to the reference pose information, more accurate target pose information is calculated through laser sensors such as 2D laser radars arranged on the two sides of a clamping arm of the parking robot, so that accurate alignment of the clamping arm and wheels is completed, follow-up clamping operation on the vehicle is facilitated, and the working efficiency of the parking robot is improved. The situation that when an existing parking robot carries the vehicle, the parking robot cannot carry the vehicle normally due to inaccurate vehicle pose information is avoided, and therefore the parking execution efficiency of the parking robot is improved.
本申请实施例公开了一种控制泊车机器人泊车的方法及泊车机器人。本申请实施例先通过朝向指定停车区域的第一激光传感器扫描指定停车区域内停放的车辆的四个轮胎获得第一点云，基于第一点云动态进行车轮识别，以确定泊车机器人执行泊车所需的参考位姿信息(至少包括参考位置)，之后泊车机器人依据参考位姿信息行驶至参考位置，再通过泊车机器人的夹臂的两侧部署的激光传感器比如2D激光雷达计算更精确的目标位姿信息，以实现夹臂和车轮完成精确对准，方便后续对车辆的夹持操作，避免现有因泊车机器人搬运车辆时出现因车辆位姿信息不准确而导致泊车机器人无法正常搬运车辆，从而提高泊车机器人执行泊车的效率。
Method for controlling parking robot to park and parking robot
一种控制泊车机器人泊车的方法及泊车机器人
YIN RUTING (author)
2023-02-03
Patent
Electronic Resource
Chinese
IPC:
E04H
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Parking method, parking management system and parking robot
| European Patent Office | 2023