Research On Embedded Control System And Navigation And Positioning Technology Of Parking Robot

With the rapid development of cities and the substantial increase in car ownership,traditional garages generally have problems such as low utilization rate and low level of intelligence in the management system.The method of intelligent transformation of traditional garages is studied,which is of great significance to the increase of the number of parking spaces,the alleviation of urban parking difficulties,and the improvement of parking management service levels.Based on the key Research and Development project of Shaanxi Province,"Research on the Key Technologies of Intelligent Garage Transformation Unmanned System",this paper launches specific research work on parking robots.The main research contents include: based on the analysis of the functional requirements of the parking robot,the mechanical structure of the parking robot and the car carrier plate is designed;on the basis of the robot kinematics analysis,based on the mechanical structure characteristics of the parking robot,proposed The overall motion control scheme of the robot;based on the completion of the selection of the main components of the robot,the hardware circuit of the control system is designed;multiple tasks are managed based on the scheduling mechanism of FreeRTOS,and the control is implemented in the bottom control subsystem of the STM32 single-chip microcomputer.Coordinated control of multi-drive motors;in the control board RK3399,based on the V4L2 interface of the Linux operating system,real-time acquisition of the guide line image is realized,and the navigation algorithm based on the visual patrol,the pose correction algorithm,and the safe obstacle avoidance algorithm are designed.And positioning algorithm based on two-dimensional code;completed the prototype production of a parking robot.The prototype was fully tested in the experimental test site built.The experimental results show that the parking robot has a reasonable structure design,flexible movement under a large load,and its motion control function meets the requirements of the project and meets the requirements of various performance indicators specified by the project.