CN114603549A - Control method and system for intelligent parking of driver - Google Patents
Control method and system for intelligent parking of driver Download PDFInfo
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- CN114603549A CN114603549A CN202011441564.0A CN202011441564A CN114603549A CN 114603549 A CN114603549 A CN 114603549A CN 202011441564 A CN202011441564 A CN 202011441564A CN 114603549 A CN114603549 A CN 114603549A
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000001514 detection method Methods 0.000 claims abstract description 38
- 238000012544 monitoring process Methods 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a control method for intelligent parking of a driver, which comprises the following steps: initializing a system, and setting driver parking parameters; when the robot runs, the detection sensor monitors the surrounding environment of the robot in real time and outputs signals to the driver; the driver judges whether the robot is dangerous according to the output signal of the detection sensor and controls the robot according to the judgment result. The invention also relates to a control system for intelligent parking of the driver. The intelligent parking system can realize intelligent parking of the driver, and not only ensures parking of the robot in normal operation, but also ensures intelligent parking of the robot under dangerous conditions.
Description
Technical Field
The invention relates to a control method and a system for intelligent parking of a driver.
Background
In the field of robot control, the safety of operation of a robot is very important. Especially, some heavy-load robots are concerned with life safety, and under some special conditions, it is very important that the robots can stop and run quickly in time.
However, there is no control method or system for intelligent parking of a driver, which enables a robot to park and run quickly in time, in the prior art.
Disclosure of Invention
In view of the above, it is desirable to provide a method and a system for controlling intelligent parking of a driver, which enable a robot to park and operate quickly in time.
The invention discloses a control method for intelligent parking of a driver, which comprises the following steps: a. initializing a system, and setting driver parking parameters; b. when the robot runs, the detection sensor monitors the surrounding environment of the robot in real time and outputs signals to the driver; c. the driver judges whether the robot is dangerous according to the output signal of the detection sensor and controls the robot according to the judgment result.
Further, the parking parameters include a target speed and a parking time.
Further, the step c comprises:
when the surrounding environment is not dangerous, the detection sensor outputs a safety signal to the driver, the driver judges that the surrounding environment is normal, and the robot is controlled according to the initially set parameters.
Further, the step c further comprises:
when the surrounding environment has dangerous hidden danger, the detection sensor outputs dangerous hidden danger signals to the driver, the driver calculates dangerous hidden danger distances, the target speed and the parking time of dangerous conditions are calculated according to the dangerous hidden danger distances, the current actual speed of the robot is dynamically detected by the driver, a parking speed instruction is calculated according to the following formula, and then a control instruction is calculated and obtained, so that the robot is controlled to park:
parking speed command ═ current actual speed-target speed/parking time
The speed command of the current period is the speed command of the last period, namely the parking speed command.
Further, the step c further comprises:
when the surrounding environment is in danger at once, the detection sensor monitors that the surrounding danger is in danger at once, the detection sensor outputs a danger generation signal to the driver at once, the driver starts emergency response, the parking time is set to zero, the robot is controlled to park at once, and meanwhile, the bus power supply is cut off to ensure the safety of the robot.
The invention provides a control system for intelligent parking of a driver, which comprises a setting module, a monitoring module and a control module, wherein: the setting module is used for setting driver parking parameters when the system is initialized; the monitoring module is used for detecting the surrounding environment of the robot in real time by the sensor when the robot runs and outputting a signal to the driver; the control module is used for enabling the driver to judge whether the robot is dangerous or not according to the output signal of the detection sensor and controlling the robot according to the judgment result.
Further, the parking parameters include a target speed and a parking time.
Further, the control module is specifically configured to:
when the surrounding environment is not dangerous, the detection sensor outputs a safety signal to the driver, the driver judges that the surrounding environment is normal, and the robot is controlled according to the initially set parameters.
Further, the control module is further specifically configured to:
when the surrounding environment has dangerous hidden danger, the detection sensor outputs dangerous hidden danger signals to the driver, the driver calculates dangerous hidden danger distances, the target speed and the parking time of dangerous conditions are calculated according to the dangerous hidden danger distances, the current actual speed of the robot is dynamically detected by the driver, a parking speed instruction is calculated according to the following formula, and then a control instruction is calculated and obtained, so that the robot is controlled to park:
parking speed command ═ current actual speed-target speed/parking time
The speed command of the current period is the speed command of the last period, namely the parking speed command.
Further, the control module is further specifically configured to:
when the surrounding environment is in danger at once, the detection sensor monitors that the surrounding danger is in danger at once, the detection sensor outputs a danger generation signal to the driver at once, the driver starts emergency response, the parking time is set to zero, the robot is controlled to park at once, and meanwhile, the bus power supply is cut off to ensure the safety of the robot.
The invention can lead the robot to stop and run in time and quickly, thereby ensuring that the robot stops when in normal running and also ensuring that the robot can stop quickly when meeting special conditions.
Drawings
Fig. 1 is a flowchart of a control method for intelligent parking of a driver according to the present invention.
Fig. 2 is a hardware architecture diagram of the control system for intelligent parking of the driver according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
And a detection sensor is arranged on the robot and used for monitoring the surrounding environment of the robot. The detection sensor outputs a signal to the driver, and the driver dynamically monitors the detection sensor output signal.
Fig. 1 is a flowchart illustrating the operation of the method for controlling intelligent parking of a driver according to a preferred embodiment of the present invention.
In step S1, the system initializes and sets the driver parking parameters. Specifically, the method comprises the following steps:
the parking parameters include a target speed and a parking time.
Different robots have different parking requirements, and target speed and parking time are adjusted according to different application scenes.
And step S2, when the robot runs, the detection sensor monitors the surrounding environment of the robot in real time and outputs a signal to the driver.
In step S3, the driver determines whether there is a danger based on the output signal of the detection sensor, and controls the robot based on the determination result. Specifically, the method comprises the following steps:
when the surrounding environment is not dangerous, the detection sensor outputs a safety signal to the driver, the driver judges that the surrounding environment is normal, and the robot is controlled according to the initially set parameters.
When the surrounding environment has the danger, the detection sensor outputs a danger signal to the driver, the driver calculates the distance of the danger, and the target speed and the parking time of the danger are calculated according to the distance of the danger. The driver dynamically detects the current actual speed of the robot, the parking speed instruction is obtained through calculation according to the following formula, and then the control instruction is obtained through calculation, and the robot is controlled to park:
parking speed command ═ (current actual speed-target speed)/parking time
The speed command of the current period is the speed command of the last period-the parking speed command
When the surrounding environment is in danger at once, the detection sensor monitors that the surrounding danger is in danger at once, the detection sensor outputs a danger generation signal to the driver at once, the driver starts emergency response, the parking time is set to zero, the robot is controlled to park at once, and meanwhile, the bus power supply is cut off to ensure the safety of the robot.
Referring to fig. 2, a hardware architecture diagram of the control system 10 for intelligent parking of a driver according to the present invention is shown. The system comprises: the device comprises a setting module 101, a monitoring module 102 and a control module 103.
The setting module 101 is configured to set a driver parking parameter when the system is initialized. Specifically, the method comprises the following steps:
the parking parameters include a target speed and a parking time.
Different robots have different parking requirements, and target speed and parking time are adjusted according to different application scenes.
The monitoring module 102 is configured to detect a sensor to monitor a surrounding environment of the robot in real time when the robot runs, and output a signal to the driver.
The control module 103 is configured to enable the driver to determine whether there is a danger according to an output signal of the detection sensor, and to control the robot according to a determination result. Specifically, the method comprises the following steps:
when the surrounding environment is not dangerous, the detection sensor outputs a safety signal to the driver, the driver judges that the surrounding environment is normal, and the robot is controlled according to the initially set parameters.
When the surrounding environment has the danger, the detection sensor outputs a danger signal to the driver, the driver calculates the distance of the danger, and the target speed and the parking time of the danger are calculated according to the distance of the danger. The driver dynamically detects the current actual speed of the robot, the parking speed instruction is obtained through calculation according to the following formula, and then the control instruction is obtained through calculation, and the robot is controlled to park:
parking speed command ═ (current actual speed-target speed)/parking time
The speed command of the current period is the speed command of the last period-parking speed command
When the surrounding environment is in danger at once, the detection sensor monitors that the surrounding danger is in danger at once, the detection sensor outputs a danger generation signal to the driver at once, the driver starts emergency response, the parking time is set to zero, the robot is controlled to park at once, and meanwhile, the bus power supply is cut off to ensure the safety of the robot.
The intelligent parking system can realize intelligent parking of the driver, and not only ensures parking of the robot in normal operation, but also ensures intelligent parking of the robot under dangerous conditions.
Although the present invention has been described with reference to the presently preferred embodiments, it will be understood by those skilled in the art that the foregoing description is illustrative only and is not intended to limit the scope of the invention, as claimed.
Claims (10)
1. A control method for intelligent parking of a driver is characterized by comprising the following steps:
a. initializing a system, and setting driver parking parameters;
b. when the robot runs, the detection sensor monitors the surrounding environment of the robot in real time and outputs signals to the driver;
c. the driver judges whether the robot is dangerous according to the output signal of the detection sensor and controls the robot according to the judgment result.
2. The method of claim 1, wherein the parking parameters include a target speed and a parking time.
3. The method of claim 2, wherein said step c comprises:
when the surrounding environment is not dangerous, the detection sensor outputs a safety signal to the driver, the driver judges that the surrounding environment is normal, and the robot is controlled according to the initially set parameters.
4. The method of claim 3, wherein said step c further comprises:
when the surrounding environment has dangerous hidden danger, the detection sensor outputs dangerous hidden danger signals to the driver, the driver calculates dangerous hidden danger distances, the target speed and the parking time of dangerous conditions are calculated according to the dangerous hidden danger distances, the current actual speed of the robot is dynamically detected by the driver, a parking speed instruction is calculated according to the following formula, and then a control instruction is calculated and obtained, so that the robot is controlled to park:
parking speed command ═ (current actual speed-target speed)/parking time
The speed command of the current period is the speed command of the last period, namely the parking speed command.
5. The method of claim 4, wherein: the step c further comprises the following steps:
when the surrounding environment is in danger at once, the detection sensor monitors that the surrounding danger is in danger at once, the detection sensor outputs a danger generation signal to the driver at once, the driver starts emergency response, the parking time is set to zero, the robot is controlled to park at once, and meanwhile, the bus power supply is cut off to ensure the safety of the robot.
6. The utility model provides a control system that driver intelligence was parkked, its characterized in that, this system is including setting up module, monitoring module, control module, wherein:
the setting module is used for setting driver parking parameters when the system is initialized;
the monitoring module is used for detecting the surrounding environment of the robot in real time by the sensor when the robot runs and outputting a signal to the driver;
the control module is used for enabling the driver to judge whether the robot is dangerous or not according to the output signal of the detection sensor and controlling the robot according to the judgment result.
7. The system of claim 6, wherein the parking parameters include a target speed and a parking time.
8. The system of claim 7, wherein the control module is specifically configured to:
when the surrounding environment is not dangerous, the detection sensor outputs a safety signal to the driver, the driver judges that the surrounding environment is normal, and the robot is controlled according to the initially set parameters.
9. The system of claim 8, wherein the control module is further specifically configured to:
when the surrounding environment has a danger potential, the detection sensor outputs a danger potential signal to the driver, the driver calculates the danger potential distance, the target speed and the parking time of a danger situation are calculated according to the danger potential distance, the driver dynamically detects the current actual speed of the robot, a parking speed instruction is calculated according to the following formula, and then a control instruction is calculated, so that the robot is controlled to park:
parking speed command ═ (current actual speed-target speed)/parking time
The speed command of the current period is the speed command of the last period, namely the parking speed command.
10. The system of claim 9, wherein the control module is further specifically configured to:
when the surrounding environment is in danger at once, the detection sensor monitors that the surrounding danger is in danger at once, the detection sensor outputs a danger generation signal to the driver at once, the driver starts emergency response, the parking time is set to zero, the robot is controlled to park at once, and meanwhile, the bus power supply is cut off to ensure the safety of the robot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011441564.0A CN114603549A (en) | 2020-12-08 | 2020-12-08 | Control method and system for intelligent parking of driver |
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| CN202011441564.0A CN114603549A (en) | 2020-12-08 | 2020-12-08 | Control method and system for intelligent parking of driver |
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Citations (7)
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| JPH06180800A (en) * | 1992-12-14 | 1994-06-28 | Akebono Brake Ind Co Ltd | Automatic brake device |
| US20150057907A1 (en) * | 2013-08-22 | 2015-02-26 | Honda Research Institute Europe Gmbh | Consistent behavior generation of a predictive advanced driver assistant system |
| CN104723350A (en) * | 2015-03-16 | 2015-06-24 | 珠海格力电器股份有限公司 | Industrial robot safety protection intelligent control method and system |
| CN106080556A (en) * | 2016-08-25 | 2016-11-09 | 辽宁科技学院 | A kind of for Vehicular intelligent brake system and control method thereof |
| CN206012368U (en) * | 2016-09-06 | 2017-03-15 | 上海拓础智能科技有限公司 | A kind of intelligent navigation headstock |
| CN108995636A (en) * | 2018-07-25 | 2018-12-14 | 合肥市智信汽车科技有限公司 | A kind of vehicle automatic emergency brake method |
| CN110525400A (en) * | 2019-08-28 | 2019-12-03 | 天津大学 | Anti-collision system for automobile intelligent controller |
-
2020
- 2020-12-08 CN CN202011441564.0A patent/CN114603549A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06180800A (en) * | 1992-12-14 | 1994-06-28 | Akebono Brake Ind Co Ltd | Automatic brake device |
| US20150057907A1 (en) * | 2013-08-22 | 2015-02-26 | Honda Research Institute Europe Gmbh | Consistent behavior generation of a predictive advanced driver assistant system |
| CN104723350A (en) * | 2015-03-16 | 2015-06-24 | 珠海格力电器股份有限公司 | Industrial robot safety protection intelligent control method and system |
| CN106080556A (en) * | 2016-08-25 | 2016-11-09 | 辽宁科技学院 | A kind of for Vehicular intelligent brake system and control method thereof |
| CN206012368U (en) * | 2016-09-06 | 2017-03-15 | 上海拓础智能科技有限公司 | A kind of intelligent navigation headstock |
| CN108995636A (en) * | 2018-07-25 | 2018-12-14 | 合肥市智信汽车科技有限公司 | A kind of vehicle automatic emergency brake method |
| CN110525400A (en) * | 2019-08-28 | 2019-12-03 | 天津大学 | Anti-collision system for automobile intelligent controller |
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Application publication date: 20220610 |
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