Design Of Structure And Control System Of Parking Robot In Underground Garage

With the substantial increase in the number of urban cars,the disadvantages of traditional underground garages gradually appear,which has the disadvantages of low utilization of parking spaces and high operating costs.To make up for these shortcomings of traditional underground garages,the state has vigorously developed underground intelligent parking garages.As a vehicle transfer device in a smart garage,parking robots have great research significance.This paper designs the structure and control system of the parking robot in the underground intelligent parking garage,and completes the prototype and performance test experiments of the robot.Firstly,this paper analyzes the needs of parking robots,designs the mechanical structure of the robots based on the working scene and motion characteristics of the robots,and uses SolidWorks software to design a virtual prototype model of the parking robots.The calculation and selection were carried out,and then the robot was subjected to kinematic analysis,and the robot was simulated under heavy load in ADAMS to lay the foundation for subsequent robot motion control.Secondly,design the software and hardware of the control system on the designed parking robot mechanical platform,complete the selection of the hardware equipment of the control system,and design the system main control,power supply and hardware circuits of each sensor;then design Based on the layered architecture of the control system software,the board-level driver layer software and the application layer of motor drive,sensor data acquisition and processing,and wireless communication software are designed in detail.The combination of angle PID and speed PID is used to control the robot’s running direction and speed,and the S-type acceleration and deceleration control algorithm is used for the lifting motor,which increases the stability of the start-stop process.Finally,build a parking robot experiment platform,and relevant test experiments are carried out.The experimental results show that the robot’s load-bearing motion performance is good,and the structure design is reasonable.The system’s design goals have been initially achieved.