Telescopic four-claw type vehicle carrying robot forklift method based on laser
A technology of vehicle handling and robotics, applied in the field of laser-based retractable four-claw vehicle handling robot forklifts, which can solve problems such as easy collision with tires
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Embodiment 1
[0033] Such as figure 1 with 2 As shown, the present embodiment relates to a retractable four-claw vehicle handling robot, and the robot includes:
[0034] A crossbeam 100, the crossbeam 100 is an inline structure, a length adjustment structure 120 is provided in the middle, and a laser radar scanner 140 is installed above the crossbeam;
[0035] Two longitudinal beams 200, one end of each longitudinal beam 200 is equipped with a steering wheel 210, and the other end is equipped with a universal wheel 220, and one end where the steering wheel 210 is installed and one end of the beam 100 are connected together through the lifting structure 110;
[0036] Four yokes 300, including two pairs of yokes 300 with the same symmetrical structure, and the two pairs of yokes 300 are respectively movably installed on the left and right sides of the beam 100 on the same side as the longitudinal beam 200;
[0037] The two ends of the length adjusting structure 120 are respectively slidably...
Embodiment 2
[0041] This embodiment relates to a laser-based four-claw type laser-based retractable four-claw vehicle handling robot forklift method in Embodiment 1, the method comprising:
[0042] S1: The vehicle handling robot drives to one side of the vehicle and makes its beam parallel to the direction of the vehicle;
[0043] S2: the lidar scanner scans the profile of the vehicle to obtain the wheelbase and the center vertical line of the wheelbase;
[0044] S3: Control the steering wheel and the caster wheel that are far away from the lidar scanner to start, and adjust the length of the beam until the length of the beam is greater than the wheelbase of the vehicle, and the difference is greater than or equal to the first predetermined difference;
[0045]Since there is a length adjustment structure between the steering wheel and the universal wheel farther from the laser radar scanner and the laser radar scanner, the length adjustment structure Elongated, but the position of the lid...
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