Control System Design Of Omni-directional Parking Robot

As the problem of parking is becoming increasingly serious,the traditional stereo garage can not meet the current parking demands because of complex structure and the inflexibility of moving equipment.The omnidirectional mobile parking robot has got rid of the complex guide rail structure.It can move independently in narrow space and move cross floor.So the omni-directional mobile robot is the best way to simplify the garage structure and reduce the construction cost.Therefore,the parking robot has become a key factor to promote the development of stereo garage and solve the problem of parking.This paper based on the project of "Three Floors Plane Mobile Intelligent Mechanical Parking Equipment Research and Development".A parking robot with the capabilities of achieving omnidirectional motion and stable performance has been developed.The design and debugging of parking robot control system are completed.The specific research contents are as follows:(1).The overall scheme for an omni-directional mobile parking robot control system is formulated.The system architecture of the garage in this project is analyzed.According to the structure of the garage control system,the actual demands of the project,and the shortcomings such as poor flexibility,unreasonable exchange mode and inaccurate positioning,the functional requirements and performance indexes of the parking robot are determined.And the overall design scheme is set up.(2).According to the gear train structure of the omni-directional mobile parking robot,the kinematics model of the robot is established.The motion characteristics of the robot are analyzed.The kinematics model is simulated in simulation software Matlab.And the kinematics simulation of the parking robot’s virtual prototype is completed with the Adams.And the correctness of the kinematic model is verified.It provides a theoretical basis for the design of the motion control algorithm and the positioning algorithm of the robot.(3).Control system of the omni-directional mobile parking robot is debugged.Firstly,after the design and installation of mobile robot’s control system hardware,the lifting system and motion control system of the robot are debugged to ensure the synchronization of the lifting system and motion accuracy.Secondly,in order to realize the high-precision location of parking robot in narrow space,a localization algorithm based on multisensor fusion is designed.The error of the two positioning methods is studied through the comparison of the positioning trajectory of the inertial/ mileage meter,the kinematic positioning trajectory and the actual trajectory.A data fusion location algorithm is designed.Finally,taking the developed omnidirectional mobile robot as the research object,the lifting performance,the motion performance and the positioning accuracy of the robot are tested.The experimental results show that the omnidirectional mobile parking robot meets the design requirements.