Control system and method of outer forklift parking robot with foldable stop arms

[0075] This embodiment relates to a parking robot with a stop arm, such as figure 1 As shown, the robot includes:

[0076] Vehicle frame 100, the vehicle frame 100 is a straight structure, and its length is fixed;

[0077] Active running device 140, the active running device 140 is installed on the vehicle frame 100, and is used to drive the vehicle frame 100 to move;

[0078] The left fork arm 200 and the right fork arm 300 with the same symmetrical structure, the left fork arm 200 and the right fork arm 300 are respectively installed at the two ends of the same side of the vehicle frame 100, and the distance between them is adjustable;

[0079] Universal wheel 340, the universal wheel 340 is installed on the left fork arm 200 and the right fork arm 300, to meet the driving requirements of the parking robot, and as a supporting structure;

[0080] The left arm 500 and the right arm 600 with the same symmetrical structure, the left arm 500 and the right arm 600 are movably inst

[0096] This embodiment relates to a control system and a control method applicable to Embodiment 1.

[0097] Such as Figure 7 As shown, the control system of the parking robot with a stop arm includes a travel module, a fork arm movement module, a stop arm drive module, a measurement module, a navigation module and a general controller.

[0098] The traveling module includes an active traveling device 140 and a universal wheel 340, which are used to drive the parking robot to move according to the traveling control instruction issued by the general controller;

[0099] The yoke moving module includes a yoke moving device 310 for driving the yoke to move;

[0100] The gear arm drive module, including the gear arm moving device and the folding structure, is used to drive the gear arm to move, open and fold;

[0101] A measurement module, including a photoelectric sensor 400, for detecting the wheelbase of the vehicle;

[0102] The navigation module is used to calculate the trav