CN112431463A - Control system and method for internal forklift parking robot with blocking arm - Google Patents

Control system and method for internal forklift parking robot with blocking arm Download PDF

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Publication number
CN112431463A
CN112431463A CN202011236570.2A CN202011236570A CN112431463A CN 112431463 A CN112431463 A CN 112431463A CN 202011236570 A CN202011236570 A CN 202011236570A CN 112431463 A CN112431463 A CN 112431463A
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China
Prior art keywords
arm
distance
vehicle
parking robot
module
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Application number
CN202011236570.2A
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Chinese (zh)
Inventor
贾宝华
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Jiangsu Xiaobaitu Intelligent Manufacturing Technology Co Ltd
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Jiangsu Xiaobaitu Intelligent Manufacturing Technology Co Ltd
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Priority to CN202011236570.2A priority Critical patent/CN112431463A/en
Publication of CN112431463A publication Critical patent/CN112431463A/en
Priority to CN202111281634.5A priority patent/CN113958177A/en
Withdrawn legal-status Critical Current

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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08—Garages for many vehicles
    • E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
    • E04H6/305—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only using car-gripping transfer means
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08—Garages for many vehicles
    • E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
    • E04H6/32—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only characterised by use of conveyor chains or rotatable rollers
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08—Garages for many vehicles
    • E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
    • E04H6/36—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only characterised by use of freely-movable dollies
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E04H6/422—Automatically operated car-parks

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

The invention belongs to the technical field of parking robots and discloses a control system and a control method of an inner forklift parking robot with a baffle arm. The control system comprises a traveling module, a fork arm moving module, a blocking arm moving module, a measuring module, a navigation module and a master controller; the traveling module is used for driving the parking robot to move according to a traveling control instruction sent by the master controller; the fork arm moving module is used for driving the fork arm to move; the blocking arm moving module is used for driving the blocking arm to move; the measuring module is used for detecting the wheel base of the vehicle; the navigation module is used for calculating a traveling route of the parking robot; the master controller comprises an input/output unit, a control command unit, a distance judging unit and a resistance judging unit. After contacting with the tire earlier through keeping off the arm, whether the resistance that receives through keeping off the arm removal judges the tire and is raised, direct effectual state of having reflected tire and corresponding yoke, avoids the yoke excessive movement to cause the condition that the tire drops once more.

Description

Control system and method for internal forklift parking robot with blocking arm
Technical Field
The invention belongs to the technical field of parking robots, and relates to an automatic device for moving vehicles to or from parking spaces in a parking lot, in particular to a control system and a control method of an internal forklift parking robot with a baffle arm.
Background
With the development of society, the economy is improved, the number of automobiles is increased sharply, household automobiles are indispensable vehicles for each family, the problem of difficult parking in each city is solved, the parking queue and the parking space finding time are long, and the traditional method for drivers to find the parking space by themselves cannot meet the parking requirements in each city at present. In order to reduce the time for finding a parking space, parking robots with different structures appear in the market.
Among them, a parking robot that lifts a vehicle by inserting the bottom of the vehicle from the side and sandwiching a tire has a wide application prospect. Generally, such a parking robot employs a four-claw structure including a U-shaped frame body with moving wheels and four holding arms slidable on a long side of the frame body. The parking robot with the structure has large occupied space and high weight, and the problem of vehicle sideslip is easy to occur because the structure is unstable because no supporting structure is arranged below the fork arms. In addition, a parking robot with a two-jaw structure is also available on the market, which comprises a frame body shaped like a Chinese character 'yi' and two fork arms with outward wheels and capable of sliding on the frame body. The parking robot with the structure changes the shape of the frame body, reduces the number of the fork arms, and increases the universal wheel supporting structure below the fork arms. However, when the vehicle is subjected to a large bump, the vehicle still has the potential of slipping. Meanwhile, when a vehicle with a large difference between the front and rear weights is transported, the situation that the tire on the side with a light weight directly passes over the fork arm and the tire on the side with a heavy weight is not pressed on the fork arm in the process of pressing the tire may occur, and the application range of the parking robot with the structure is limited.
Disclosure of Invention
In view of the technical problems in the prior art, an object of the present invention is to design an inner forklift parking robot with a barrier arm, and a control system and method thereof, in order to solve the technical problems that when the existing two-claw parking robot carries a vehicle with a large difference between front and rear weights, the vehicle cannot be pressed onto the barrier arm, and the vehicle is easy to slip.
The technical scheme of the invention is as follows:
the invention provides an inner forklift parking robot with a baffle arm, which comprises:
a frame 100, the frame 100 having a straight-line structure;
the active walking device 140 is mounted on the frame 100, and is used for driving the frame 100 to move;
the left fork arm 200 and the right fork arm 300 are symmetrically and identically structured, the left fork arm 200 and the right fork arm 300 are respectively arranged on the same side of the frame 100, and the distance between the left fork arm 200 and the right fork arm 300 is adjustable;
universal wheels 340, the universal wheels 340 being installed on the left yoke 200 and the right yoke 300 to meet the driving requirements of the parking robot and serving as a support structure;
the left and right blocking arms 500 and 600 are symmetrically and identically structured, and the left and right blocking arms 500 and 600 are movably installed on the frame 100, are respectively located at both sides of the left and right forks 200 and 300, and are respectively used in combination with the left and right forks 200 and 300, for limiting the forward and backward movement of the vehicle and confirming whether the wheels have been lifted during the process of clamping the vehicle by the left and right forks 200 and 300.
The left fork arm 200 and the right fork arm 300 can extend into the middle of a front wheel and a rear wheel at the bottom of the vehicle from the side of the vehicle, and can move away from each other along the vehicle frame 100 to respectively press the front wheel and the rear wheel, so that the wheels climb on the left fork arm 200 and the right fork arm 300, and the vehicle is separated from the ground; meanwhile, the left and right stopper arms 500 and 600 can be extended from the side of the vehicle to the front of the front wheel and the rear of the rear wheel at the bottom of the vehicle and moved to the front wheel and the rear wheel, respectively, and stopped when contacting the wheels. In order to avoid the situation that the lighter side of the vehicle directly crosses the left fork arm 200 or the right fork arm 300 when the tire is pressed due to the large difference between the front weight and the rear weight of the vehicle, the left catch arm 500 and the right catch arm 600 are added, when the tire on the lighter side of the vehicle is pressed by the left fork arm 200 or the right fork arm 300, the tire climbs the left fork arm 200 or the right fork arm 300, at the moment, the left catch arm 500 or the right catch arm 600 which originally contacts the tire can not contact the tire any more due to the rising position of the tire, at the moment, the left fork arm 200 or the right fork arm 300 does not need to be moved any more, and only the other fork arm needs to be moved to press the other tire to the other fork arm, so that the whole vehicle is separated from the ground, and the lighter side of the vehicle is prevented from directly crossing the left fork arm 200 or the right fork arm.
The left and right arm gears 500 and 600 are located on the same horizontal plane as the left and right yoke 200 and 300. In a further technical solution, the left arm 500 and the left yoke 200 may share a slide rail, and the right arm 600 and the right yoke 300 may share a slide rail, or the left arm 500 and the left yoke 200 are respectively connected to different moving structures, and the right arm 600 and the right yoke 300 are respectively connected to different moving structures. When the left shift arm 500 and the right shift arm 600 are located on the same horizontal plane as the left yoke 200 and the right yoke 300, the left-right position relationship among the left shift arm 500, the right shift arm 600, the left yoke 200, and the right yoke 300 is not changed, which is convenient for control. If the left gear arm 500 and the left fork arm 200 share a slide rail and the right gear arm 600 and the right fork arm 300 share a slide rail, the structure is simple, the weight of equipment is reduced, and the manufacturing process is optimized; if the left blocking arm 500 and the left yoke 200 are respectively connected with different moving structures, and the right blocking arm 600 and the right yoke 300 are respectively connected with different moving structures, the control can be respectively performed, and the machine is not easy to stop due to faults.
The length of the left and right shift arms 500 and 600 should be at least sufficient to ensure that one of the wheels is touched when the vehicle is picked up. In a further embodiment, the lengths of the left and right shift arms 500 and 600 are the same as the lengths of the left and right yoke 200 and 300, or the lengths of the left and right shift arms 500 and 600 are longer than the lengths of the left and right yoke 200 and 300, or the lengths of the left and right shift arms 500 and 600 are shorter than the lengths of the left and right yoke 200 and 300. The left arm 500 and the right arm 600 can only satisfy the length requirement, and the effect of limiting the movement of the vehicle and confirming whether the wheel is lifted can be guaranteed, otherwise, the vehicle can sideslip under the action of the arm and the extrusion force, and the condition that the vehicle can not be extruded onto the fork arm can be realized when the vehicle with large counterweight difference is carried. When the lengths of the left and right arm 500 and 600 can only limit the forward and backward movement of the tire on the side of the vehicle close to the frame 100 and confirm whether the wheel is lifted, the effect of limiting the forward and backward movement of the whole vehicle and ensuring that the front and rear wheels are lifted can be achieved, and the condition that the light side of the vehicle directly passes over the left fork arm 200 or the right fork arm 300 is avoided.
The cross-section of the left and right retaining arms 500 and 600 may be circular, oval, square, triangular, polygonal, or other irregular shapes. The cross-sectional shapes of left and right arms 500 and 600 do not affect the effect, but may affect the tire tread and even cause a tire puncture.
The left blocking arm 500 and the right blocking arm 600 are sleeved with elastic protective sleeves. The elastic protection sleeve can avoid damage to the tires of the vehicle when the vehicle is clamped and damage to the left retaining arm 500 and the right retaining arm 600 caused by collision.
The left and right blocking arms 500 and 600 are connected to a blocking arm moving device 510, and the movement of the left and right blocking arms 500 and 600 on the frame 100 is realized by the blocking arm moving device 510. The arm blocking moving device 510 comprises a moving motor 511, an L-shaped mounting plate 512, a third guide rail sliding block mechanism 513, a fourth guide rail sliding block mechanism 514 and a rack 515, wherein the L-shaped mounting plate 512 is connected with the left blocking arm 500 or the right blocking arm 600 and is also connected with the third guide rail sliding block mechanism 513 or the fourth guide rail sliding block mechanism 514, and the third guide rail sliding block mechanism 513 and the fourth guide rail sliding block mechanism 514 are fixed on the frame 100; the movable motor 511 is installed on the L-shaped mounting plate 512, a driving gear is installed on an output shaft of the movable motor 511, the driving gear is meshed with a rack 515 fixed on the frame 110, the movable motor 511 drives the driving gear to rotate, and the driving gear is meshed with the rack so as to drive the L-shaped mounting plate 512 to move on the frame 110.
The positions of the left fork arm 200 and the right fork arm 300 corresponding to the tires are provided with a hub limiting seat 330, and a tire bracket 331 is installed in the hub limiting seat 330.
The tire carriage 331 includes a rolling assembly 332, a fixing block 334, and a spring 335. The rolling assembly 332 includes a rolling sleeve 336, a roller axle 337, and a pedestal 338. The rolling shaft sleeves 336 are sleeved on the roller shafts 337, and the roller shafts 337 are arranged in two or more rows and mounted on the shaft bracket 338. The pedestal 338 includes a transverse support 3381, two first longitudinal supports 3382, and one or more second longitudinal supports 3383. The lateral support 3381 is located at the rear side of the rolling assembly 332. All of the first longitudinal supports 3382 and the second longitudinal supports 3383 are parallel to each other. The first longitudinal support 3382 is two sheet-like structures which are rotatably connected, namely a first rear support 3384 and a front support 3385, and the second longitudinal support 3383 is two sheet-like structures which are rotatably connected, namely a second rear support 3386 and a front support 3385. The first rear brackets 3384 are disposed at left and right sides of the rolling assembly 332, and the second rear brackets 3386 are disposed at a middle portion of the rolling assembly 332 and are fixedly connected to the transverse bracket 3381. The roller shaft 337 is mounted between the two longitudinal brackets. A first fixed block 3341 is fixedly mounted on the outer side of the first rear side 3384 end of the first longitudinal support 3382, a third fixed block 3343 is fixedly mounted on the outer side of the front side 3385 end of the first longitudinal support, and a second fixed block 3342 is fixedly mounted on the outer side of the front side 3385 close to the rotary connecting structure. One end of the plate-shaped spring 335 is fixed to the first fixing block 3341 and passes through the second fixing block 3342 and the third fixing block 3343.
The tire bracket 331 is fixedly connected to the hub stopper 330 through a first rear bracket 3384. Still further, the diameters of all or two or more rows of the rolling sleeves 336 distant from the lateral support 3381 are gradually reduced as the distance from the lateral support 3381 increases. Still further, the outermost row of rolling sleeves 336 is a triangular pad 339. Still further, the transverse support 3382 is a block structure, and one or more transverse fixing supports 333 are disposed at the bottom of the first rear support 3384 and the second rear support 3386.
The roller hub limiting seat 330 of the left yoke 200 is located on the left side, and the roller hub limiting seat 330 of the right yoke 300 is located on the right side, so that the left yoke 200 and the right yoke 300 move away when the vehicle is lifted off the ground. When the vehicle is lifted off the ground, the left fork arm 200 and the right fork arm 300 are inserted between two rows of wheels of the vehicle, and the left fork arm 200 and the right fork arm 300 move away from each other to lift both rows of tires off the ground.
The left yoke 200 and the right yoke 300 are connected with a yoke moving device 310, and the distance between the left yoke 200 and the right yoke 300 can be adjusted by the yoke moving device 310, the yoke moving device 310 comprises a moving motor 311, an L-shaped mounting plate 312, a first guide rail slider mechanism 313, a second guide rail slider mechanism 314 and a rack 315, the L-shaped mounting plate 312 is connected with the left yoke 200 or the right yoke 300 and is simultaneously connected with the first guide rail slider mechanism 313 and the second guide rail slider mechanism 314, and the first guide rail slider mechanism 313 and the second guide rail slider mechanism 314 are fixed on the frame 100; the movable motor 311 is installed on the L-shaped mounting plate 312, the output shaft of the movable motor 311 is installed with a driving gear, the driving gear is engaged with a rack fixed on the frame 110, the movable motor 311 drives the driving gear to rotate, and the driving gear is engaged with the rack so as to drive the L-shaped mounting plate 312 to move on the frame 110. In a further embodiment, the left arm 500 and the left yoke 200 share a rail and a rack, and the right arm 600 and the right yoke 300 share a rail and a rack.
The universal wheel 340 comprises a wheel 341, a rotating body 344, a bevel gear set 345 and a motor 348; the bevel gear group 345 includes a horizontally disposed ring gear 3451 and a pinion gear 3452 driven by a motor 348; the wheel 341 is located in the central hole of the rotating body 344, the inner ring of the rotating body 344 and the inner side of the ring gear 3451 are respectively and fixedly connected to the hub 342 of the wheel 341, and the driving motor 348 drives the bevel gear set 345 to drive the wheel 341 to actively steer.
The wheel 341 of the universal wheel 340 is mounted on an axle 343, the axle 343 is fixedly mounted in the wheel hub 342 by a fixing member 349, the rotating body 344 is a cross roller bearing, the outer ring of the cross roller bearing is fixed on the left yoke 200 or the right yoke 300, the motor 348 drives a pinion gear 3452 by a speed reducer 7 and is mounted on a motor fixing frame 346, the motor fixing frame 346 is mounted on the left yoke 200 or the right yoke 300, the set of the bevel gears is a spiral bevel gear with arc teeth, and the central axis of the pinion gear 3452 forms an angle of 90 ° with the central axis of the ring gear 3451. When the universal wheel 340 is used, the outer ring of the rotating body 344 is fixedly mounted on the base of the device. When the motor 348 is not activated, the inner ring and the outer ring of the rotating body 344 are relatively stationary, and the universal wheel cannot rotate freely. When the motor 348 is turned on, the motor 348 drives the pinion gear 3452 to rotate, and the pinion gear 3452 drives the ring gear 3451 to rotate by the angle α, the ring gear 3451 drives the inner ring of the rotating body 344 and the hub 342 to rotate by the angle α, while the outer ring of the rotating body 344 is fixed on the base of the device and does not rotate. Wherein the range of the angle alpha is more than or equal to 0 degree and less than or equal to 360 degrees. In addition, the speed and the operation time of the motor 348 can be adjusted to control the magnitude of the alpha at will, so that the purpose of rotating the rolling direction of the wheel in any direction is achieved.
The frame 100 is provided with a photoelectric sensor 400 on the same side as the left yoke 200 and the right yoke 300 for detecting parameters such as the position of the vehicle and the wheel base of the vehicle.
The frame 100 is composed of a front plate 110, a rear plate 120 and a middle plate 130, wherein the middle plate 130 is fixedly connected with the front plate 110 and the rear plate 120 respectively.
The invention provides a control system of an inner forklift parking robot with a baffle arm.
The traveling module comprises an active traveling device and universal wheels and is used for driving the parking robot to move according to a traveling control instruction sent by the master controller;
the fork arm moving module comprises a fork arm moving device and is used for driving the fork arm to move;
the blocking arm moving module comprises a blocking arm moving device and is used for driving the blocking arm to move;
the measuring module comprises a photoelectric sensor and is used for detecting the wheel base of the vehicle;
the navigation module is used for calculating a traveling route of the parking robot;
the master controller comprises an input/output unit, a control command unit, a distance judging unit and a resistance judging unit; the input and output unit is used for acquiring a signal for determining parking or picking up a vehicle from a user; the control instruction unit is used for sending a control instruction so as to control the measuring module to measure the wheel base, control the fork arm moving module to drive the fork arm to move, control the baffle arm moving module to drive the baffle arm to move, control the navigation module to calculate the traveling route of the parking robot and control the traveling module to drive the parking robot to move; the distance judging unit is used for acquiring the distance between the two fork arms and the distance between the two blocking arms, judging whether the difference value between the axle distance of the vehicle and the distance between the two fork arms and whether the difference value between the distance between the two blocking arms and the axle distance of the vehicle is larger than or equal to a preset difference value, judging whether the middle point between the left blocking arm and the right blocking arm is superposed with the middle point between the left fork arm and the right fork arm, sending the judgment result to the control command unit, simultaneously acquiring the distance between the vehicle and the parking robot, and judging whether the distance between the vehicle and the parking robot is smaller than or equal to a first conveying distance or smaller than or equal to a second conveying distance; and the resistance judging unit is used for judging whether the resistance is applied to the movement of the left gear arm or the right gear arm and whether the resistance is applied to the movement of the left fork arm or the right fork arm, and sending the obtained result and the judged result to the control command unit.
The invention also provides a control method of the control system of the internal forklift parking robot with the stop arm, which comprises the following steps:
s1: after the input and output unit receives a signal that a user determines to store or take a car, the control instruction unit controls the advancing module to drive the parking robot to approach one side of the car;
the distance judging unit obtains the distance between the vehicle and the parking robot and judges whether the distance between the vehicle and the parking robot is smaller than or equal to a first carrying distance or not, if yes, the control instruction unit controls the advancing module to stop driving the parking robot, and if not, whether the distance between the vehicle and the parking robot is smaller than or equal to the first carrying distance or not is continuously judged;
the preset first carrying distance is a distance which ensures that the parking robot cannot collide with the vehicle and cannot be too far away from the vehicle;
s2: the control instruction unit controls the measuring module to measure the wheel base of the vehicle and sends the wheel base to the distance judging unit;
s3: the control instruction unit controls the blocking arm moving module and the fork arm moving module to simultaneously adjust the positions of the left blocking arm, the right blocking arm, the left fork arm and the right fork arm;
the distance judging unit obtains the distance between the two fork arms and the distance between the two blocking arms, judges whether the difference value between the axle distance of the vehicle and the distance between the two fork arms and whether the difference value between the distance between the two blocking arms and the axle distance of the vehicle is larger than or equal to a preset difference value or not, judges whether the midpoint between the left blocking arm and the right blocking arm is coincident with the midpoint between the left fork arm and the right fork arm or not, controls the command unit to control the fork arm moving module to stop driving the fork arms to move if all judgment results are yes, controls the blocking arm moving module to stop driving the blocking arms to move, and maintains the current situation if one or two judgment results are not;
the preset difference value is used for ensuring that the fork arm or the catch arm cannot collide with the tire of the vehicle when the parking robot drives to the vehicle;
s4: the control instruction unit controls the traveling module to drive the parking robot to drive the vehicle;
the distance judging unit obtains the distance between the vehicle and the frame of the parking robot, judges whether the distance between the vehicle and the parking robot is smaller than or equal to a preset second carrying distance or not, sends a judgment result to the control instruction unit, controls the advancing module to stop driving the parking robot if the judgment result is positive, and judges next time if the judgment result is negative;
the second carrying distance is used for ensuring that the parking robot can clamp and hold four tires on the left side and the right side of the vehicle and cannot collide with the vehicle;
s5: the control instruction unit controls the gear arm moving module to simultaneously and respectively move the left gear arm and the right gear arm to the middle of the parking robot;
the resistance judging unit judges whether the movement of the left gear arm or the right gear arm is subjected to resistance or not, and sends the result to the control instruction unit, if so, the control instruction unit controls the gear arm movement module to stop driving the left gear arm or the right gear arm, and if not, the next judgment is carried out;
s6: the control instruction unit controls the fork arm moving module to simultaneously move the left fork arm and the right fork arm to two ends of the parking robot respectively;
the resistance judging unit judges whether the movement of the left fork arm or the right fork arm is subjected to resistance or not and sends the result to the control command unit, if not, the next judgment is carried out, if so, the movement of the left gear arm or the right gear arm is judged whether to be subjected to resistance or not and the result is sent to the control command unit, if not, the control command unit controls the fork arm movement module to stop driving the left fork arm or the right fork arm, and if so, the movement of the left gear arm or the right gear arm is judged whether to be subjected to resistance or not again;
s7: the control instruction unit controls the navigation module to calculate the traveling route of the parking robot and sends the traveling route to the control instruction unit, and then the traveling module is controlled to drive the parking robot to a parking space where the vehicle is to be parked;
s8: the control instruction unit controls the fork arm moving module to simultaneously and respectively move the left fork arm and the right fork arm to the middle of the parking robot, and simultaneously controls the blocking arm moving module to simultaneously and respectively move the left blocking arm and the right blocking arm to the two ends of the parking robot;
the distance judging unit obtains the distance between the two fork arms and the distance between the two blocking arms, judges whether the difference value between the axle distance of the vehicle and the distance between the two fork arms and the difference value between the distance between the two blocking arms and the axle distance of the vehicle are larger than or equal to a preset difference value or not, and sends the judgment result to the control instruction unit, if yes, the control instruction unit controls the fork arm moving module to stop driving the left fork arm or the right fork arm, or controls the blocking arm moving module to stop driving the left blocking arm or the right blocking arm;
s9: the control instruction unit controls the traveling module to drive the parking robot away from the vehicle from the side.
In step S6, after the control command unit controls the yoke moving module to stop driving the left yoke or the right yoke, the shift arm moving module is controlled to move the left shift arm or the right shift arm to the middle of the parking robot; the resistance judging unit judges whether the movement of the left gear arm or the right gear arm is subjected to resistance or not, and sends the result to the control command unit, if not, the next judgment is carried out, and if so, the control command unit controls the gear arm moving module to stop driving the left gear arm or the right gear arm.
In step S9, the method further includes: the distance judging unit obtains the distance between the vehicle and the parking robot and judges whether the distance between the vehicle and the parking robot is larger than or equal to the first conveying distance, if so, the control command unit controls the advancing module to stop driving the parking robot, and if not, the next judgment is carried out.
In the control method of the parking robot, the left fork arm and the right fork arm move away from each other to squeeze a tire, after the wheel base of the vehicle is obtained, the left fork arm and the right fork arm respectively move towards the middle of the parking robot, and the left gear arm and the right gear arm respectively move towards the two ends of the parking robot; when the tire is extruded, the left fork arm and the right fork arm respectively move towards two ends of the parking robot, and the left gear arm and the right gear arm respectively move towards the middle of the parking robot; when a vehicle is placed, the left fork arm and the right fork arm respectively move towards the middle of the parking robot, and the left gear arm and the right gear arm respectively move towards the two ends of the parking robot.
Taking the left blocking arm and the left fork arm as an example, when the left blocking arm moves towards the middle of the parking robot, when the left blocking arm receives resistance for the first time, the left blocking arm is shown to touch the wheel, and the left blocking arm can stop moving continuously. When the wheel is subjected to extrusion force of the left fork arm and climbs the left fork arm, the position of the wheel rises because of leaving the ground, so that the wheel can not be touched due to the fact that the wheel originally touches the left blocking arm of the wheel, and the wheel can not be touched any more and can not be subjected to resistance when moving towards the middle of the parking robot. Therefore, when the left arm is detected to move to the middle of the parking robot, resistance is not applied, which indicates that the wheel is lifted by the left fork arm, and the left fork arm does not need to be moved, otherwise the wheel may cross the left fork arm and fall onto the ground again. And the left baffle arm is moved towards the middle of the parking robot again until the left baffle arm receives resistance for the second time, which shows that the left baffle arm touches the wheels again, so that the front and back movement caused by bumping can be prevented when the vehicle is transported.
The invention has the following beneficial effects:
1. the invention introduces the barrier arm structure, can limit the front and back movement of the vehicle and confirm whether the wheel is lifted when the parking robot lifts the vehicle, so as to avoid that the lighter end directly passes over the fork arm because the front and back counterweight difference of the vehicle is larger, and the vehicle lifting fails;
2. the control system and the control method comprehensively consider various collisions and errors which may occur in the parking process, have high feasibility, and particularly judge whether the tire is lifted or not through the resistance received by the movement of the blocking arm after the blocking arm is firstly contacted with the tire (namely, the movement is subjected to the resistance), directly and effectively reflect the states of the tire and the corresponding fork arm, and avoid the situation that the tire falls off again due to the excessive movement of the fork arm;
3. the fork arm of the parking robot utilizes the height difference between the hub limiting seat and the tire bracket arranged in the hub limiting seat to block the lateral sliding of the tire on the fork arm, so as to realize the purpose of preventing the vehicle from falling;
4. the tire bracket can deflect to the ground after contacting with the tire, so that the force required by the tire to climb onto the tire bracket is reduced, and a heavier vehicle or a vehicle with larger difference of front and rear counterweights can be easily lifted;
5. the tire bracket designed by the invention is a self-adaptive structure, and a driving device is not required to be additionally designed, so that the energy is saved, and the cost is reduced;
6. the triangular cushion block with the sharp angle is used for replacing the outermost edge rolling shaft sleeve, and the rolling shaft sleeve can be plugged into a gap between a tire and the ground, so that the tire can easily climb up a tire bracket under the assistance of a gentle slope formed by the sharp angle surface;
7. the diameters of all or a plurality of rows of the rolling shaft sleeves far away from the transverse support are gradually reduced along with the increase of the distance between the rolling shaft sleeves and the transverse support, so that the gradient on which the tire needs to climb when the tire is lifted is more gradual, and the energy required for lifting the vehicle off the ground is further reduced.
Drawings
Fig. 1 is a perspective view of a parking robot according to embodiment 1 of the present invention;
fig. 2 is a perspective view of a fork arm of the parking robot according to the embodiment of the present invention;
fig. 3 is a perspective view of a tire bracket of a fork arm of a parking robot according to an embodiment of the present invention;
fig. 4 is a bottom view of another tire carrier of a parking robot yoke according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a universal wheel structure of a parking robot yoke according to an embodiment of the present invention;
fig. 6 is a sectional view of the universal wheel of the parking robot yoke according to the embodiment of the present invention;
fig. 7 is a schematic structural diagram of a parking robot control system according to an embodiment of the present invention;
fig. 8 is a perspective view of a parking robot according to embodiment 2 of the present invention;
wherein 100 is a frame, 110 is a front plate, 120 is a rear plate, 130 is a middle plate, 140 is an active traveling device, 200 is a left yoke, 300 is a right yoke, 310 is a yoke moving device, 311 is a moving motor, 312 is an L-shaped mounting plate, 313 is a first rail slider mechanism, 314 is a second rail slider mechanism, 315 is a rack, 330 is a hub stopper, 331 is a tire carrier, 332 is a rolling member, 333 is a fixing bracket, 334 is a fixing block, 3341 is a first fixing block, 3342 is a second fixing block, 3343 is a third fixing block, 335 is a spring, 336 is a rolling bushing, 337 is a roller shaft, 338 is a bracket, 3381 is a lateral bracket, 3382 is a first longitudinal bracket, 3383 is a second longitudinal bracket, 3384 is a first rear bracket, 3385 is a front bracket, 3386 is a second rear bracket, 339 is a pad, 340 is a universal wheel, 342 is a wheel hub, 343 is a wheel axle, 344 is a rotating body, 345 is a bevel gear set, 3451 is a ring gear, 3452 is a pinion, 346 is a motor fixing frame, 347 is a speed reducer, 348 is a motor, 349 is a fixing piece, 400 is a photoelectric sensor, 500 is a left gear arm, 510 is a fork arm moving device, 511 is a moving motor, 512 is an L-shaped mounting plate, 513 is a third guide rail slider mechanism, 514 is a fourth guide rail slider mechanism, 515 is a rack, and 600 is a right gear arm.
Detailed Description
In order to more clearly illustrate the technical solutions of the present invention, the following description is given with reference to specific embodiments and accompanying drawings, and it is obvious that the embodiments in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other embodiments can be obtained according to these embodiments without any inventive work.
Example 1
The present embodiment relates to a parking robot with a barrier arm, as shown in fig. 1, the robot including:
the bicycle frame 100, the bicycle frame 100 is a straight-line structure, and the length of the bicycle frame is fixed;
the active walking device 140 is mounted on the frame 100, and is used for driving the frame 100 to move;
the left fork arm 200 and the right fork arm 300 are symmetrically and identically structured, the left fork arm 200 and the right fork arm 300 are respectively arranged on the same side of the frame 100, and the distance between the left fork arm 200 and the right fork arm 300 is adjustable;
universal wheels 340, the universal wheels 340 being installed on the left yoke 200 and the right yoke 300 to meet the driving requirements of the parking robot and serving as a support structure;
the left and right blocking arms 500 and 600 are symmetrically and identically structured, and the left and right blocking arms 500 and 600 are movably installed on the frame 100, are respectively located at both sides of the left and right forks 200 and 300, and are respectively used in combination with the left and right forks 200 and 300, for limiting the forward and backward movement of the vehicle and confirming whether the wheels have been lifted during the process of clamping the vehicle by the left and right forks 200 and 300.
The left blocking arm 500 and the right blocking arm 600 are located on the same horizontal plane as the left fork arm 200 and the right fork arm 300, the left blocking arm 500 and the left fork arm 200 share a slide rail, and the right blocking arm 600 and the right fork arm 300 share a slide rail. The lengths of the left and right shift arms 500 and 600 are shorter than the lengths of the left and right yoke 200 and 300. The cross sections of the left and right blocking arms 500 and 600 are rectangular. In other embodiments, the cross-section of the left and right retaining arms 500 and 600 may be circular, oval, square, triangular, polygonal, or other irregular shapes. The left blocking arm 500 and the right blocking arm 600 are sleeved with elastic protective sleeves.
The left and right blocking arms 500 and 600 are connected to a blocking arm moving device 510, and the movement of the left and right blocking arms 500 and 600 on the frame 100 is realized by the blocking arm moving device 510. The arm blocking moving device 510 comprises a moving motor 511, an L-shaped mounting plate 512, a third guide rail sliding block mechanism 513, a fourth guide rail sliding block mechanism 514 and a rack 515, wherein the L-shaped mounting plate 512 is connected with the left blocking arm 500 or the right blocking arm 600 and is also connected with the third guide rail sliding block mechanism 513 or the fourth guide rail sliding block mechanism 514, and the third guide rail sliding block mechanism 513 and the fourth guide rail sliding block mechanism 514 are fixed on the frame 100; the movable motor 511 is installed on the L-shaped mounting plate 512, a driving gear is installed on an output shaft of the movable motor 511, the driving gear is meshed with a rack 515 fixed on the frame 110, the movable motor 511 drives the driving gear to rotate, and the driving gear is meshed with the rack so as to drive the L-shaped mounting plate 512 to move on the frame 110.
The left yoke 200 and the right yoke 300 are connected with a yoke moving device 310, and the distance between the left yoke 200 and the right yoke 300 can be adjusted by the yoke moving device 310, the yoke moving device 310 comprises a moving motor 311, an L-shaped mounting plate 312, a first guide rail slider mechanism 313, a second guide rail slider mechanism 314 and a rack 315, the L-shaped mounting plate 312 is connected with the left yoke 200 or the right yoke 300 and is simultaneously connected with the first guide rail slider mechanism 313 and the second guide rail slider mechanism 314, and the first guide rail slider mechanism 313 and the second guide rail slider mechanism 314 are fixed on the frame 100; the movable motor 311 is installed on the L-shaped mounting plate 312, the output shaft of the movable motor 311 is installed with a driving gear, the driving gear is engaged with a rack fixed on the frame 110, the movable motor 311 drives the driving gear to rotate, and the driving gear is engaged with the rack so as to drive the L-shaped mounting plate 312 to move on the frame 110. In a further embodiment, the left arm 500 and the left yoke 200 share a rail and a rack, and the right arm 600 and the right yoke 300 share a rail and a rack.
The first rail slider mechanism 313 of the left yoke 200 and the third rail slider mechanism 513 of the left stopper arm 500 share a rail, the second rail slider mechanism 314 of the left yoke 200 and the fourth rail slider mechanism 514 of the left stopper arm 500 share a rail, and the left yoke 200 and the left stopper arm 500 share a rack 315/515. Similarly, the first rail slider mechanism 313 of the right yoke 200 shares a rail with the third rail slider mechanism 513 of the right arm 500, the second rail slider mechanism 314 of the right yoke 200 shares a rail with the fourth rail slider mechanism 514 of the right arm 500, and the right yoke 200 and the right arm 500 share one rack 315/515. In other embodiments, the yoke and the catch arm may not share a slide or rack.
As shown in fig. 5 and 6, the universal wheel 340 includes a wheel 341, a rotating body 344, a bevel gear set 345, and a motor 348; the bevel gear group 345 includes a horizontally disposed ring gear 3451 and a pinion gear 3452 driven by a motor 348; the wheel 341 is located in the central hole of the rotating body 344, the inner ring of the rotating body 344 and the inner side of the ring gear 3451 are respectively and fixedly connected to the hub 342 of the wheel 341, and the driving motor 348 drives the bevel gear set 345 to drive the wheel 341 to actively steer.
The wheel 341 of the universal wheel 340 is mounted on an axle 343, the axle 343 is fixedly mounted in the wheel hub 342 by a fixing member 349, the rotating body 344 is a cross roller bearing, the outer ring of the cross roller bearing is fixed on the left yoke 200 or the right yoke 300, the motor 348 drives a pinion gear 3452 by a speed reducer 7 and is mounted on a motor fixing frame 346, the motor fixing frame 346 is mounted on the left yoke 200 or the right yoke 300, the set of the bevel gears is a spiral bevel gear with arc teeth, and the central axis of the pinion gear 3452 forms an angle of 90 ° with the central axis of the ring gear 3451.
When the universal wheel 340 is used, the outer ring of the rotating body 344 is fixedly mounted on the base of the device. When the motor 348 is not activated, the inner ring and the outer ring of the rotating body 344 are relatively stationary, and the universal wheel cannot rotate freely. When the motor 348 is turned on, the motor 348 drives the pinion gear 3452 to rotate, and the pinion gear 3452 drives the ring gear 3451 to rotate by the angle α, the ring gear 3451 drives the inner ring of the rotating body 344 and the hub 342 to rotate by the angle α, while the outer ring of the rotating body 344 is fixed on the base of the device and does not rotate. Wherein the range of the angle alpha is more than or equal to 0 degree and less than or equal to 360 degrees. In addition, the speed and the operation time of the motor 348 can be adjusted to control the magnitude of the alpha at will, so that the purpose of rotating the rolling direction of the wheel in any direction is achieved.
As shown in fig. 2, 3 and 4, the left yoke 200 and the right yoke 300 are provided with a hub stopper 330 at positions corresponding to the tire, and a tire bracket 331 is installed in the hub stopper 330.
The tire carriage 331 includes a rolling assembly 332, a fixing block 334, and a spring 335. The rolling assembly 332 includes a rolling sleeve 336, a roller axle 337, and a pedestal 338. The rolling shaft sleeves 336 are sleeved on the roller shafts 337, and the roller shafts 337 are arranged in two or more rows and mounted on the shaft bracket 338. The pedestal 338 includes a transverse support 3381, two first longitudinal supports 3382, and one or more second longitudinal supports 3383. The lateral support 3381 is located at the rear side of the rolling assembly 332. All of the first longitudinal supports 3382 and the second longitudinal supports 3383 are parallel to each other. The first longitudinal support 3382 is two sheet-like structures which are rotatably connected, namely a first rear support 3384 and a front support 3385, and the second longitudinal support 3383 is two sheet-like structures which are rotatably connected, namely a second rear support 3386 and a front support 3385. The first rear brackets 3384 are disposed at left and right sides of the rolling assembly 332, and the second rear brackets 3386 are disposed at a middle portion of the rolling assembly 332 and are fixedly connected to the transverse bracket 3381. The roller shaft 337 is mounted between the two longitudinal brackets. A first fixed block 3341 is fixedly mounted on the outer side of the first rear side 3384 end of the first longitudinal support 3382, a third fixed block 3343 is fixedly mounted on the outer side of the front side 3385 end of the first longitudinal support, and a second fixed block 3342 is fixedly mounted on the outer side of the front side 3385 close to the rotary connecting structure. One end of the plate-shaped spring 335 is fixed to the first fixing block 3341 and passes through the second fixing block 3342 and the third fixing block 3343.
The tire bracket 331 is fixedly connected to the hub stopper 330 through a first rear bracket 3384. Still further, the diameters of all or two or more rows of the rolling sleeves 336 distant from the lateral support 3381 are gradually reduced as the distance from the lateral support 3381 increases. Still further, the outermost row of rolling sleeves 336 is a triangular pad 339. Still further, the transverse support 3382 is a block structure, and one or more transverse fixing supports 333 are disposed at the bottom of the first rear support 3384 and the second rear support 3386.
The roller hub limiting seat 330 of the left yoke 200 is located on the left side, and the roller hub limiting seat 330 of the right yoke 300 is located on the right side, so that the left yoke 200 and the right yoke 300 move away when the vehicle is lifted off the ground. When the vehicle is lifted off the ground, the left fork arm 200 and the right fork arm 300 are inserted between two rows of wheels of the vehicle, and the left fork arm 200 and the right fork arm 300 move away from each other to lift both rows of tires off the ground.
The frame 100 is provided with a photoelectric sensor 400 on the same side as the left yoke 200 and the right yoke 300 for detecting parameters such as the position of the vehicle and the wheel base of the vehicle.
The frame 100 is composed of a front plate 110, a rear plate 120 and a middle plate 130, wherein the middle plate 130 is fixedly connected with the front plate 110 and the rear plate 120 respectively.
Example 2
In an embodiment, the present invention relates to a parking robot with a barrier arm, as shown in fig. 8. This parking robot has a similar structure to that of embodiment 1, except that the lengths of the left and right shift arms 500 and 600 are different.
Wherein, the lengths of the left and right blocking arms 500 and 600 are similar to the lengths of the left and right yoke 200 and 300.
Example 3
The present embodiment relates to a control system and a control method thereof suitable for use in embodiments 1 or 2.
As shown in fig. 7, the control system of the parking robot with the barrier arm includes a traveling module, a yoke moving module, a barrier arm moving module, a measuring module, a navigation module, and a general controller.
The traveling module comprises an active traveling device 140 and universal wheels 340 and is used for driving the parking robot to move according to a traveling control instruction sent by the master controller;
the fork arm moving module comprises a fork arm moving device 310 and is used for driving the fork arm to move;
a barrier arm moving module including a barrier arm moving device 510 for driving the barrier arm to move;
a measuring module including a photoelectric sensor 400 for detecting a wheel base of the vehicle;
the navigation module is used for calculating a traveling route of the parking robot;
the master controller comprises an input/output unit, a control command unit, a distance judging unit and a resistance judging unit; the input and output unit is used for acquiring a signal for determining parking or picking up a vehicle from a user; the control instruction unit is used for sending a control instruction so as to control the measuring module to measure the wheel base, control the fork arm moving module to drive the fork arm to move, control the baffle arm moving module to drive the baffle arm to move, control the navigation module to calculate the traveling route of the parking robot and control the traveling module to drive the parking robot to move; the distance judging unit is used for acquiring the distance between the two fork arms and the distance between the two blocking arms, judging whether the difference value between the axle distance of the vehicle and the distance between the two fork arms and whether the difference value between the distance between the two blocking arms and the axle distance of the vehicle is larger than or equal to a preset difference value, judging whether the middle point between the left blocking arm and the right blocking arm is superposed with the middle point between the left fork arm and the right fork arm, sending the judgment result to the control command unit, simultaneously acquiring the distance between the vehicle and the parking robot, and judging whether the distance between the vehicle and the parking robot is smaller than or equal to a first conveying distance or smaller than or equal to a second conveying distance; and the resistance judging unit is used for judging whether the resistance is applied to the movement of the left gear arm or the right gear arm and whether the resistance is applied to the movement of the left fork arm or the right fork arm, and sending the obtained result and the judged result to the control command unit.
The embodiment also includes a control method of the control system of the internal forklift parking robot with the barrier arm, and the method includes:
s1: after the input and output unit receives a signal that a user determines to store or take a car, the control instruction unit controls the advancing module to drive the parking robot to approach one side of the car;
the distance judging unit obtains the distance between the vehicle and the parking robot and judges whether the distance between the vehicle and the parking robot is smaller than or equal to a first carrying distance or not, if yes, the control instruction unit controls the advancing module to stop driving the parking robot, and if not, whether the distance between the vehicle and the parking robot is smaller than or equal to the first carrying distance or not is continuously judged;
the preset first carrying distance is a distance which ensures that the parking robot cannot collide with the vehicle and cannot be too far away from the vehicle;
s2: the control instruction unit controls the measuring module to measure the wheel base of the vehicle and sends the wheel base to the distance judging unit;
s3: the control instruction unit controls the blocking arm moving module and the fork arm moving module to simultaneously adjust the positions of the left blocking arm, the right blocking arm, the left fork arm and the right fork arm;
the distance judging unit obtains the distance between the two fork arms and the distance between the two blocking arms, judges whether the difference value between the axle distance of the vehicle and the distance between the two fork arms and whether the difference value between the distance between the two blocking arms and the axle distance of the vehicle is larger than or equal to a preset difference value or not, judges whether the midpoint between the left blocking arm and the right blocking arm is coincident with the midpoint between the left fork arm and the right fork arm or not, controls the command unit to control the fork arm moving module to stop driving the fork arms to move if all judgment results are yes, controls the blocking arm moving module to stop driving the blocking arms to move, and maintains the current situation if one or two judgment results are not;
the preset difference value is used for ensuring that the fork arm or the catch arm cannot collide with the tire of the vehicle when the parking robot drives to the vehicle;
s4: the control instruction unit controls the traveling module to drive the parking robot to drive the vehicle;
the distance judging unit obtains the distance between the vehicle and the frame of the parking robot, judges whether the distance between the vehicle and the parking robot is smaller than or equal to a preset second carrying distance or not, sends a judgment result to the control instruction unit, controls the advancing module to stop driving the parking robot if the judgment result is positive, and judges next time if the judgment result is negative;
the second carrying distance is used for ensuring that the parking robot can clamp and hold four tires on the left side and the right side of the vehicle and cannot collide with the vehicle;
s5: the control instruction unit controls the gear arm moving module to simultaneously and respectively move the left gear arm and the right gear arm to the middle of the parking robot;
the resistance judging unit judges whether the movement of the left gear arm or the right gear arm is subjected to resistance or not, and sends the result to the control instruction unit, if so, the control instruction unit controls the gear arm movement module to stop driving the left gear arm or the right gear arm, and if not, the next judgment is carried out;
s6: the control instruction unit controls the fork arm moving module to simultaneously move the left fork arm and the right fork arm to two ends of the parking robot respectively;
the resistance judging unit judges whether the movement of the left fork arm or the right fork arm is subjected to resistance or not and sends the result to the control command unit, if not, the next judgment is carried out, if so, the movement of the left gear arm or the right gear arm is judged whether to be subjected to resistance or not and the result is sent to the control command unit, if so, the movement of the left gear arm or the right gear arm is judged again whether to be subjected to resistance, if not, the control command unit controls the fork arm moving module to stop driving the left fork arm or the right fork arm and controls the gear arm moving module to move the left gear arm or the right gear arm to the middle of the parking robot;
the resistance judging unit judges whether the movement of the left gear arm or the right gear arm is subjected to resistance or not, and sends the result to the control instruction unit, if not, the next judgment is carried out, and if so, the control instruction unit controls the gear arm movement module to stop driving the left gear arm or the right gear arm;
s7: the control instruction unit controls the navigation module to calculate the traveling route of the parking robot and sends the traveling route to the control instruction unit, and then the traveling module is controlled to drive the parking robot to a parking space where the vehicle is to be parked;
s8: the control instruction unit controls the fork arm moving module to simultaneously and respectively move the left fork arm and the right fork arm to the middle of the parking robot, and simultaneously controls the blocking arm moving module to simultaneously and respectively move the left blocking arm and the right blocking arm to the two ends of the parking robot;
the distance judging unit obtains the distance between the two fork arms and the distance between the two blocking arms, judges whether the difference value between the axle distance of the vehicle and the distance between the two fork arms and the difference value between the distance between the two blocking arms and the axle distance of the vehicle are larger than or equal to a preset difference value or not, and sends the judgment result to the control instruction unit, if yes, the control instruction unit controls the fork arm moving module to stop driving the left fork arm or the right fork arm, or controls the blocking arm moving module to stop driving the left blocking arm or the right blocking arm;
s9: the control instruction unit controls the traveling module to drive the parking robot to drive away from the vehicle from the side;
the distance judging unit obtains the distance between the vehicle and the parking robot and judges whether the distance between the vehicle and the parking robot is larger than or equal to the first conveying distance, if so, the control command unit controls the advancing module to stop driving the parking robot, and if not, the next judgment is carried out.
In the control method of the parking robot, the left fork arm and the right fork arm move away from each other to squeeze a tire, after the wheel base of the vehicle is obtained, the left fork arm and the right fork arm respectively move towards the middle of the parking robot, and the left gear arm and the right gear arm respectively move towards the two ends of the parking robot; when the tire is extruded, the left fork arm and the right fork arm respectively move towards two ends of the parking robot, and the left gear arm and the right gear arm respectively move towards the middle of the parking robot; when a vehicle is placed, the left fork arm and the right fork arm respectively move towards the middle of the parking robot, and the left gear arm and the right gear arm respectively move towards the two ends of the parking robot.
Taking the left blocking arm and the left fork arm as an example, when the left blocking arm moves towards the middle of the parking robot, when the left blocking arm receives resistance for the first time, the left blocking arm is shown to touch the wheel, and the left blocking arm can stop moving continuously. When the wheel is subjected to extrusion force of the left fork arm and climbs the left fork arm, the position of the wheel rises because of leaving the ground, so that the wheel can not be touched due to the fact that the wheel originally touches the left blocking arm of the wheel, and the wheel can not be touched any more and can not be subjected to resistance when moving towards the middle of the parking robot. Therefore, when the left arm is detected to move to the middle of the parking robot, resistance is not applied, which indicates that the wheel is lifted by the left fork arm, and the left fork arm does not need to be moved, otherwise the wheel may cross the left fork arm and fall onto the ground again. And the left baffle arm is moved towards the middle of the parking robot again until the left baffle arm receives resistance for the second time, which shows that the left baffle arm touches the wheels again, so that the front and back movement caused by bumping can be prevented when the vehicle is transported.

Claims (4)

1. A control system of an inner forklift parking robot with a blocking arm is characterized by comprising a traveling module, a fork arm moving module, a blocking arm moving module, a measuring module, a navigation module and a master controller;
the traveling module comprises an active traveling device and universal wheels and is used for driving the parking robot to move according to a traveling control instruction sent by the master controller;
the fork arm moving module comprises a fork arm moving device and is used for driving the fork arm to move;
the blocking arm moving module comprises a blocking arm moving device and is used for driving the blocking arm to move;
the measuring module comprises a photoelectric sensor and is used for detecting the wheel base of the vehicle;
the navigation module is used for calculating a traveling route of the parking robot;
the master controller comprises an input/output unit, a control command unit, a distance judging unit and a resistance judging unit; the input and output unit is used for acquiring a signal for determining parking or picking up a vehicle from a user; the control instruction unit is used for sending a control instruction so as to control the measuring module to measure the wheel base, control the fork arm moving module to drive the fork arm to move, control the baffle arm moving module to drive the baffle arm to move, control the navigation module to calculate the traveling route of the parking robot and control the traveling module to drive the parking robot to move; the distance judging unit is used for acquiring the distance between the two fork arms and the distance between the two blocking arms, judging whether the difference value between the axle distance of the vehicle and the distance between the two fork arms and whether the difference value between the distance between the two blocking arms and the axle distance of the vehicle is larger than or equal to a preset difference value, judging whether the middle point between the left blocking arm and the right blocking arm is superposed with the middle point between the left fork arm and the right fork arm, sending the judgment result to the control command unit, simultaneously acquiring the distance between the vehicle and the parking robot, and judging whether the distance between the vehicle and the parking robot is smaller than or equal to a first conveying distance or smaller than or equal to a second conveying distance; and the resistance judging unit is used for judging whether the resistance is applied to the movement of the left gear arm or the right gear arm and whether the resistance is applied to the movement of the left fork arm or the right fork arm, and sending the obtained result and the judged result to the control command unit.
2. A control method of an inner forklift parking robot control system with a barrier arm according to claim 1, characterized by comprising:
s1: after the input and output unit receives a signal that a user determines to store or take a car, the control instruction unit controls the advancing module to drive the parking robot to approach one side of the car;
the distance judging unit obtains the distance between the vehicle and the parking robot and judges whether the distance between the vehicle and the parking robot is smaller than or equal to a first carrying distance or not, if yes, the control instruction unit controls the advancing module to stop driving the parking robot, and if not, whether the distance between the vehicle and the parking robot is smaller than or equal to the first carrying distance or not is continuously judged;
the preset first carrying distance is a distance which ensures that the parking robot cannot collide with the vehicle and cannot be too far away from the vehicle;
s2: the control instruction unit controls the measuring module to measure the wheel base of the vehicle and sends the wheel base to the distance judging unit;
s3: the control instruction unit controls the blocking arm moving module and the fork arm moving module to simultaneously adjust the positions of the left blocking arm, the right blocking arm, the left fork arm and the right fork arm;
the distance judging unit obtains the distance between the two fork arms and the distance between the two blocking arms, judges whether the difference value between the axle distance of the vehicle and the distance between the two fork arms and whether the difference value between the distance between the two blocking arms and the axle distance of the vehicle is larger than or equal to a preset difference value or not, judges whether the midpoint between the left blocking arm and the right blocking arm is coincident with the midpoint between the left fork arm and the right fork arm or not, controls the command unit to control the fork arm moving module to stop driving the fork arms to move if all judgment results are yes, controls the blocking arm moving module to stop driving the blocking arms to move, and maintains the current situation if one or two judgment results are not;
the preset difference value is used for ensuring that the fork arm or the catch arm cannot collide with the tire of the vehicle when the parking robot drives to the vehicle;
s4: the control instruction unit controls the traveling module to drive the parking robot to drive the vehicle;
the distance judging unit obtains the distance between the vehicle and the frame of the parking robot, judges whether the distance between the vehicle and the parking robot is smaller than or equal to a preset second carrying distance or not, sends a judgment result to the control instruction unit, controls the advancing module to stop driving the parking robot if the judgment result is positive, and judges next time if the judgment result is negative;
the second carrying distance is used for ensuring that the parking robot can clamp and hold four tires on the left side and the right side of the vehicle and cannot collide with the vehicle;
s5: the control instruction unit controls the gear arm moving module to simultaneously and respectively move the left gear arm and the right gear arm to the middle of the parking robot;
the resistance judging unit judges whether the movement of the left gear arm or the right gear arm is subjected to resistance or not, and sends the result to the control instruction unit, if so, the control instruction unit controls the gear arm movement module to stop driving the left gear arm or the right gear arm, and if not, the next judgment is carried out;
s6: the control instruction unit controls the fork arm moving module to simultaneously move the left fork arm and the right fork arm to two ends of the parking robot respectively;
the resistance judging unit judges whether the movement of the left fork arm or the right fork arm is subjected to resistance or not and sends the result to the control command unit, if not, the next judgment is carried out, if so, the movement of the left gear arm or the right gear arm is judged whether to be subjected to resistance or not and the result is sent to the control command unit, if not, the control command unit controls the fork arm movement module to stop driving the left fork arm or the right fork arm, and if so, the movement of the left gear arm or the right gear arm is judged whether to be subjected to resistance or not again;
s7: the control instruction unit controls the navigation module to calculate the traveling route of the parking robot and sends the traveling route to the control instruction unit, and then the traveling module is controlled to drive the parking robot to a parking space where the vehicle is to be parked;
s8: the control instruction unit controls the fork arm moving module to simultaneously and respectively move the left fork arm and the right fork arm to the middle of the parking robot, and simultaneously controls the blocking arm moving module to simultaneously and respectively move the left blocking arm and the right blocking arm to the two ends of the parking robot;
the distance judging unit obtains the distance between the two fork arms and the distance between the two blocking arms, judges whether the difference value between the axle distance of the vehicle and the distance between the two fork arms and the difference value between the distance between the two blocking arms and the axle distance of the vehicle are larger than or equal to a preset difference value or not, and sends the judgment result to the control instruction unit, if yes, the control instruction unit controls the fork arm moving module to stop driving the left fork arm or the right fork arm, or controls the blocking arm moving module to stop driving the left blocking arm or the right blocking arm;
s9: the control instruction unit controls the traveling module to drive the parking robot away from the vehicle from the side.
3. The control method according to claim 2, wherein in step S6, after the control command unit controls the yoke moving module to stop driving the left yoke or the right yoke, the barrier arm moving module is controlled to move the left barrier arm or the right barrier arm toward the middle of the parking robot; the resistance judging unit judges whether the movement of the left gear arm or the right gear arm is subjected to resistance or not, and sends the result to the control command unit, if not, the next judgment is carried out, and if so, the control command unit controls the gear arm moving module to stop driving the left gear arm or the right gear arm.
4. The control method according to claim 2, characterized by further comprising, in step S9: the distance judging unit obtains the distance between the vehicle and the parking robot and judges whether the distance between the vehicle and the parking robot is larger than or equal to the first conveying distance, if so, the control command unit controls the advancing module to stop driving the parking robot, and if not, the next judgment is carried out.
CN202011236570.2A 2020-11-09 2020-11-09 Control system and method for internal forklift parking robot with blocking arm Withdrawn CN112431463A (en)

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CN202011236570.2A CN112431463A (en) 2020-11-09 2020-11-09 Control system and method for internal forklift parking robot with blocking arm
CN202111281634.5A CN113958177A (en) 2020-11-09 2021-11-01 Control system and method for lateral clamping parking robot with blocking arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011236570.2A CN112431463A (en) 2020-11-09 2020-11-09 Control system and method for internal forklift parking robot with blocking arm

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Publication Number Publication Date
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Application publication date: 20210302