The invention belongs to the technical field of parking robots, and discloses a stop-arm-foldable internal forklift parking robot control system and a control method thereof. The control system comprises an advancing module, a fork arm moving module, a stop arm driving module, a measuring module, a navigation module and a master controller. The advancing module is used for driving a parking robotto move according to an advancing control instruction sent by the master controller. The fork arm moving module is used for driving fork arms to move. The stop arm driving module is used for driving stop arms to move and be unfolded and folded. The measuring module is used for detecting the axle distance of a vehicle. The navigation module is used for calculating an advancing route of the parkingrobot. The master controller comprises an input and output unit, a control instruction unit, a distance judgment unit and a resistance judgment unit. The stop arms are in contact with a tire firstly,whether the tire is lifted or not is judged through resistance borne by movement of the stop arms, the states of the tire and the corresponding fork arms are effectively reflected, and the situation that the tire falls off again due to excessive movement of the fork arms is avoided.
本发明属于泊车机器人技术领域,公开一种挡臂可折叠的内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、挡臂驱动模块、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;挡臂驱动模块,用于驱动挡臂移动、打开和折叠;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。通过挡臂与轮胎先接触,通过挡臂移动受到的阻力来判断轮胎是否被抬高,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。
Stop-arm-foldable internal forklift parking robot control system and method
一种挡臂可折叠的内叉车泊车机器人控制系统和方法
2021-01-29
Patent
Electronic Resource
Chinese
IPC: | B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / B60S SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR , Warten, Reinigen, Instandsetzen, Unterstützen, Anheben oder Rangieren von Fahrzeugen, soweit nicht anderweitig vorgesehen |
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