CN105888338B - UWB-positioning-based intelligent automobile transfer robot and control method thereof - Google Patents

UWB-positioning-based intelligent automobile transfer robot and control method thereof Download PDF

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Publication number
CN105888338B
CN105888338B CN201610364654.1A CN201610364654A CN105888338B CN 105888338 B CN105888338 B CN 105888338B CN 201610364654 A CN201610364654 A CN 201610364654A CN 105888338 B CN105888338 B CN 105888338B
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CN
China
Prior art keywords
loading
transfer robot
automobile
uwb
hydraulic
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CN105888338A (en
Inventor
张桂青
李成栋
高修崇
田崇翼
陶亮
汪明
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Shandong Zhangkong Iot Technology Co Ltd
Shandong Jianzhu University
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Shandong Zhangkong Iot Technology Co Ltd
Shandong Jianzhu University
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Priority to CN201610364654.1A priority Critical patent/CN105888338B/en
Publication of CN105888338A publication Critical patent/CN105888338A/en
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    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00Buildings for parking cars, rolling stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08Garages for many vehicles
    • E04H6/12Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/30Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
    • E04H6/36Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only characterised by use of freely-movable dollies
    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00Buildings for parking cars, rolling stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E04H6/422Automatically operated car-parks
    • E04H6/424Positioning devices

Abstract

The invention discloses a UWB-positioning-based intelligent automobile transfer robot and a control method thereof. A traveling mechanism, a lifting mechanism, a clamping mechanism, an electrical control unit, a central control unit and a charging unit are arranged on two load-bearing faces, control can be realized through an instruction of the central control unit, and the position of a clamping arm can be adjusted in advance during traveling according to an instruction sent by a parking lot main control system; an automobile can be clamped by only a slight action when reaching a parking position. Compared with existing automobile transfer equipment, the intelligent automobile transfer robot can remarkably reduce automobile transfer time, safety coefficient in the automobile transfer process can be improved, and safe, quick and intelligent parking can be realized.

Description

A kind of intelligent automobile transfer robot positioned based on UWB and its control method
Technical field
The present invention relates to a kind of intelligent automobile transfer robot positioned based on UWB and its control method.
Background technology
With the development and the raising of living standards of the people of auto industry, per capita automobile occupancy volume is continuously increased in city, but It is that location available for parking day is becoming tight as the increase of urban population, the living space of people are less and less, in order to adapt to stop The needs of car, people start to use intelligent three-dimensional garage in a large number.At present, multi-storied garage mainly have planar movement, vertical lift and Several patterns such as tunnel stacking, there is the several methods, wherein car such as vehicle-containing, lifting comb and wheel clamping in the carrying of automobile Wheel is clipping fast with compact conformation, access vehicle speed, and the low advantage application of civil engineering cost is more and more extensive.Car carrying robot The existing mode navigated when running in garage mainly has electromagnetic type, video, laser type etc., by navigation system with real cars on hand The automatic access of automobile in storehouse.
The Chinese invention patent of entitled " a kind of car carrying robot " of Publication No. " CN 105220918A " is disclosed A kind of robot for carrying vehicle-containing, this technical scheme synchronous can be caused for robot multiple lifting bodies are difficult to realize Automobile on vehicle-containing occurs inclining, falls the shortcomings of security incident such as damage and propose.But, because this vehicle-containing is carried Robot still has the process of an access vehicle-containing in Transport Vehicle, increased the time of Transport Vehicle, and operating efficiency is than relatively low.
Authorization Notice No. is disclosed for " CN 204457020U ":" a kind of AGV automobile carriers, including two structures is little Car, and connection two dollies bindiny mechanism, the dolly include support body, be arranged on the support body walking mechanism, Universal wheel group, telescopic hydraulic linkage and electric control system." this technical scheme mainly has following some weak point:1st, should The navigation system of the AGV that patent is adopted is the modes such as electromagnetism, video, laser, if parking lot structure changes, navigation system The improvement expenses of system is larger.2nd, dolly turning function has differential to realize by dolly left and right sidesing driving wheel described in the patent, This can increase space required during trolley travelling, and the time of required steering also can increase.3rd, the patent in time must in access Must be that dolly is pierced under automobile bottom and then obtains wheel position by sensor, adjust little truck position, and then holding-wheel, this meeting Greatly increase the time needed for whole Transport Vehicle process.4th, arm mechanism intermediate gaps are clamped non-adjustable, if wheel is less, is had Timing on clamping device may be caused, wheel is liftoff not yet, or wheel it is larger when, automobile is placed directly within clamping limb, Easily there is security incident during transport.5th, the width of automobile carrier only has single model described in the patent, in reality In the situation of border, automobile size difference is very big (such as the gap between Land Rover and Cherry QQ), if this may result in described in the patent Carrier can be carried if Cherry QQ, and when automobile carrier described in the patent carries Land Rover, its structure will seem It is excessively little so as to cause potential safety hazard, if automobile carrier just carries Land Rover described in the patent, when it carries Cherry QQ Just probably bore less than under QQ underbodies.
The content of the invention
The present invention is in order to solve the above problems, it is proposed that a kind of intelligent automobile transfer robot positioned based on UWB and its Control method, this device can be according to instruction automatic running, quick in intelligent garage, the access automobile of safety.
To achieve these goals, the present invention is adopted the following technical scheme that:
A kind of intelligent automobile transfer robot positioned based on UWB, including walking mechanism, elevating mechanism, blessing mechanism, electricity Gas control unit, central control unit, charhing unit and load carrier, wherein:
The load carrier include about two pieces the first loading ends arranged, the second loading ends, first loading end and Second loading end is supported by elevating mechanism and connected, and the both sides positioned at the second loading end of upper end are symmetrically laid with blessing automotive wheels The clamping device of tire;
First loading end and the second loading end can change size in actual design process according to actual conditions.
The end of first loading end is provided with obstacle avoidance sensor, and the obstacle avoidance sensor sends the signal for gathering To control unit, UWB positioning labels are additionally provided with first loading end, to realize the positioning to robot;
The charhing unit is arranged on the first loading end, including the power storage module and wireless charging electric wire that are connected to Circle, the first loading end bottom is provided with walking mechanism;
The central control unit, builds electronic chart, according to vapour to be taken according to parking lot road information and actual environment The position of car and the position of transfer robot, determine track route, according to the existing of the track route and transfer robot planned Speed, calculates the acceleration of robot, sends the route information for making robot reach appointed place and the action for completing carrying Instruction;
The electric control unit communicates with central control unit, route information and move that reception central control unit sends Instructing, and control walking mechanism, elevating mechanism, clamping device or/and charhing unit carries out corresponding action, realizes specifying vapour The carrying of car.
Preferably, first loading end and the second loading end are integral structure, and are rectangle.
The walking mechanism, including four groups of controlled universal wheels and its driving steering stepper motor, wherein, it is described controlled universal Wheel and its drive turns to stepper motor and drives the rotation and walking of four groups of controlled universal wheels respectively, it is described turn Driving Stepping Motor with Control unit connects, and receives control instruction.
Four groups of controlled Universal wheel structures are identical, including two symmetrical universal wheels laid, and four groups controlled universal Wheel is arranged in four ends of the first loading end bottom.
The blessing mechanism includes two guide rails and four groups of telescopic hydraulic bars, and the guide rail is arranged at the two of the second loading end End, every group of telescopic hydraulic bar includes two supporting rods, and four groups of telescopic hydraulic bars are symmetricly set in two-by-two the two ends of guide rail, stretch per group Hydraulic pushing device is provided with the outside of contracting hydraulic stem, hydraulic pushing device promotes supporting rod to be moved along guide rail and fixed, Realize the blessing and fastening of tire.
Preferably, the hydraulic pushing device is hydraulic drive oil cylinder.
In different telescopic oil cylinders, the telescopic hydraulic bar is provided with to penetrating photoelectricity every group of telescopic hydraulic rod set Sensor and range sensor, according to the data for penetrating photoelectric sensor and range sensor adjusting the position of telescopic hydraulic bar And length.
Preferably, the telescopic hydraulic bar is arc towards the side of automotive wheel.
The elevating mechanism is hydraulic lift, specifically includes several raise-lower hydraulic bars and hydraulic pump, the lifting Hydraulic stem is fixed between the first loading end and the second loading end, for adjusting the distance of the first loading end and the second loading end, The hydraulic pump connects raise-lower hydraulic bar.
The electric control unit, including command reception module, electric cabinet, UWB positioning label and several anticollision sensings Device, the obstacle avoidance sensor is arranged on the end of the first loading end, and the UWB positioning label is arranged at the geometry of the first loading end Center, the command reception module is arranged in the geometric center lines of the first loading end, receive central control unit acceleration or Deceleration instruction, the steer motor and motor and hydraulic pump of the electric cabinet control walking mechanism.
The central control unit is connected with parking lot monitoring server, the electronic chart of the reception server, positional information With information of vehicles to be taken.
Preferably, it is described to treat that a pick-up information includes position, diameter, width, front wheels and rear wheels spacing and the parking of tire Position.
A kind of control method of above-mentioned intelligent automobile transfer robot positioned based on UWB, is comprised the following steps:
(1) transfer robot is positioned according to UWB location technologies, it is determined according to the electronic chart in parking lot and is treated The shortest path of pick-up, plans driving path;
(2) according to the due acceleration of path computing transfer robot of planning, control it and run to vehicle location to be taken, Drive to vehicle bottom to be taken;
(3) information of vehicles to be taken is received, according to the front wheels and rear wheels spacing and diameter of wheel, the position of telescopic hydraulic bar is adjusted Put and spacing so as to corresponding with wheel, according to penetrating the data that photoelectric sensor and range sensor are detected, to flexible Hydraulic stem position and collapsing length are adjusted, so as to realize the clamping to automobile tire;
(4) complete after clamping process, adjust the distance between the first loading end and the second loading end, make automobile leave ground Face;
(5) EXIT is determined according to the electronic chart of UWB location technologies and parking lot and treats the shortest path of pick-up Footpath, plans driving path, makes transfer robot transport automobile to EXIT.
In the step (1), when transfer robot does not carry task, transfer robot is rested on wireless charging It is charged on the parking stall of function, if now there is automobile to stop into garage port, managing system of car parking is by camera to vapour Car carries out pattern-recognition, the position of model, tire the vehicle of the automobile for detecting, front wheels and rear wheels spacing and parking stall Put, by being wirelessly transferred transfer robot is sent to, the positional information of wherein tire is obtained according to the map of coordinatograph, (ratio The origin that the upper right corner that garage first entrance goes out is whole garage coordinate system is such as set, tire is drawn according to camera mode identification Coordinate, be sent to transfer robot so that dolly can in advance adjust arm mechanism according to automobile tire position coordinate, So as to realize when transfer robot gets into bottom of car, automobile tire is placed exactly in the central purpose of each pair arm mechanism).
In the step (1), during path planning, empty wagons parking stall is made full use of, carry out the determination of optimal path, and avoided The parking stall of parking.
In the step (1), electronic chart is generated by the way of Mapinfo Software Creates, makes each parking stall of parking lot Position it is corresponding with the coordinate on electronic chart.
In the step (1), the first loading end of transfer robot and the length of the second loading end, width and parking stall Length, width are adapted.
In the step (2), if path planning turns round, controllable universal wheel group is set to rotate 90 ° in corner.
Beneficial effects of the present invention are:
(1) autonomous navigation system of the present invention is navigated using architecture and map, when parking lot structure or parking road Line changes, and only need to change respective virtual electronic chart, simple with location navigation, the few advantage of improvement expenses;
(2) walking mechanism of the present invention is controllable universal wheel, and when robot needs to turn to, robot integrally need not turn It is dynamic, only universal wheel group need to be rotated, can be time-consuming, reduce security risk;
(3) arm mechanism of the present invention is by central control unit instruction control, the finger that can be sent according to parking lot master control system Order adjusts in advance in the process of moving jig arm position, only needs mild action when automobile stop position is reached, you can complete to vapour The clamping work of car;
(4) arm mechanism surface of the present invention has to penetrating photoelectric sensor and range sensor, is capable of achieving to automobile tire Clip position it is certain, be unlikely to pine or tension;Information of vehicles to be taken according to sending adjusts in advance jig arm position, therefore removes The time of the process that fortune robotic gripper takes out automobile can greatly shorten;
(5) present invention may be designed as some robots that differ in size in actual design engineering, when cart is parked in porch When, then call larger transfer robot to be carried;When dolly is parked in porch, then less transfer robot is called Carried.
(6) battery pack of the present invention is charged as wireless charging mode, can reduce robot operating procedure, makes the continuous work of robot Make.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the present invention;
Fig. 2 is the first loading end structural representation of the present invention;
Fig. 3 is the second loading end structural representation of the present invention;
Fig. 4 is the hydraulic system principle figure of the present invention;
Side view when Fig. 5 is the bearing automobile of the present invention;
Fig. 6 is the application schematic diagram of the present invention.
Wherein, the 1, first loading end;2nd, the second loading end;3rd, push cylinder;4th, telescopic oil cylinder;5th, raise-lower hydraulic bar;6、 Universal wheel group;7th, telescopic hydraulic bar clasps wheel side;8th, push-and-pull hydraulic stem;9th, alignment sensor;10th, hydraulic pump;11st, compress Motor;12nd, central control module;13rd, battery pack;14th, Wireless charging coil;15th, electric cabinet;16th, anticollision sensor; 17th, telescopic hydraulic bar;18th, guide rail, 20, command information receiving unit, 21, photoelectricity opposite type sensor, 22, range sensor;
301-308, push cylinder, 6011,6021,6012,6022,6013,6023,6014,6024 universal wheel groups drive Turn to stepper motor, 501-504, raise-lower hydraulic bar group.
Specific embodiment:
Below in conjunction with the accompanying drawings the invention will be further described with embodiment.
A kind of intelligent automobile transfer robot, the transfer robot include vehicle frame, be arranged on it is controlled on the vehicle frame Universal wheel group, arm mechanism and electric control system.In the transfer robot also include wireless instructions information receiving unit, Central control module, battery component, wireless charging management assembly, sensor cluster, anticollision monitoring assembly.The universal wheel Group, arm mechanism are connected with electric control system.The electric control system and wireless instructions information receiving unit with The central control module connection.
Transfer robot navigation mode is navigated using high accuracy digital map navigation mode, and the high accuracy map is by sensing Collection of the device to parking lot road environment information, is then generated by way of modeling.
Controlled universal wheel is four groups eight, is directly driven by motor.The direction of controlled universal wheel is turned to electricity by four Machine is controlled, and the motor and steer motor are controlled by electric control system, and the electric control system is controlled with central authorities Module is connected and according to central control module instruction action.
Transfer robot is provided with arm mechanism described in four groups, arm mechanism is clamped described in four groups and is symmetrically arranged at the vehicle frame two Side.The clamping arm mechanism adopts controlled hydraulic transmission device, the hydraulic transmission to be controlled by electric control system.
The surface of clamping arm contact wheel is provided with photoelectricity opposite type sensor 21 and range sensor 22, and the photoelectricity is to penetrating biography Sensor 21 and range sensor 22 are connected with central control module.
Including loading end 1 and loading end 2, and the raise-lower hydraulic bar 5 of two loading ends of connection, it is arranged on the loading end 1 Universal wheel group 6, raise-lower hydraulic bar 5, electric cabinet 15, wireless charging mutual inductor 14, battery pack 13, alignment sensor 9, hydraulic pressure Pump 10, compression motor 11, central control module 12, anticollision sensor 16, command information receiving unit 20 is arranged on described Push cylinder 3, telescopic oil cylinder 4, push-and-pull hydraulic stem 8, guide rail 18 on loading end 2 and the flexible liquid being arranged on telescopic oil cylinder Depression bar 17.By arranging Wireless charging coil 14 on loading end 1, parking lot coordinates can realize that robot is uninterrupted to the present invention Work, especially in parking peak period, transfer robot not enough power supply will largely effect on parking efficiency.
Existing AGV transfer robots air navigation aid is adopted similar to following method:According to installed in transfer robot On sensor and ground on medium navigating to transfer robot.The breakage of the medium on ground has dirt general Navigation accuracy can be largely effected on.The present invention is positioned using indoor high-precision location technique ultra broadband UWB, through optimized algorithm sum The positioning precision within 5cm is can reach according to process.The alignment sensor of intelligent robot of the present invention is arranged on into the several of loading end 1 What central point, according to the actual scale in parking lot some locating base stations are arranged, and are capable of achieving to carry out standard to transfer robot real time position It is determined that position, further according to the high-precision electronic map that parking lot road information and actual environment build, and plans transfer robot Operating path and existing speed, the due acceleration of transfer robot can be calculated such that it is able to realize transfer robot from Master runs to specified parking stall.The high accuracy map and location information are stored in managing system of car parking server, carrying implement Device people only needs to receive acceleration or deceleration instruction execution corresponding actions by command reception component 20.
As shown in Figure 1 and Figure 2, according to the above embodiments of the present invention, the universal wheel group 6 includes that four groups of eight drivings turn To stepper motor 6011,6021,6012,6022,6013,6023,6014,6024., wherein 6011,6021,6014,6024 simultaneously Row are located at one end bottom of the loading end 1, and 6012,6022,6013,6023 are located at side by side the other end bottom of loading end 1.
As shown in Fig. 2 according to the above embodiments of the present invention, the electric cabinet 15, Wireless charging coil 14, battery pack 13rd, alignment sensor 9, hydraulic pump 10, compression motor 11, central control module 12, command reception component 20 are sequentially arranged at described In the geometric center lines of loading end 1, the anticollision sensor 16 is located at four angles position of the loading end 1.The lifting Hydraulic stem 5 includes 501,502,503,504 4 groups, wherein 501,504 are located at side by side one end top of the loading end 1,502, 503 other end bottoms for being located at loading end 1 side by side.
UWB positioning labels are used to receive pulse, realize the positioning to transfer robot geometric center point;Obstacle avoidance sensor can With infrared, radar, ultrasonic wave etc., distance of the transfer robot away from barrier in the detection transfer robot direction of motion;Instruction connects Receiving sensor is used to receive the control command that managing system of car parking is sended over, and sends the central authorities' control in transfer robot to Molding block, transfer robot performs relevant action according to dependent instruction.
As shown in figure 3, according to the above embodiments of the present invention, the loading end 2 include push cylinder 3, telescopic oil cylinder 4, Push-and-pull hydraulic stem 8, guide rail 18 and the telescopic hydraulic bar 17 being arranged on telescopic oil cylinder.The push cylinder 3 include 301,302, 303rd, 304,305,306,307,308 8 groups, described 301,308 are located at side by side inside one end of the loading plate 2, described 304, The inside of 305 other ends for being located at the loading plate 2 side by side, described 302,303,306,307 are located at the horizontal of the loading plate 2 The inside of geometric center lines both sides.The telescopic oil cylinder 4 includes four sets, and the inside of the loading plate 2 is sequentially arranged at respectively.It is described Telescopic hydraulic bar 17 clasps the arc that the side 7 of wheel is set to laminating automobile tire, and the surface of side 7 for clasping wheel is provided with Photoelectricity opposite type sensor 21 and range sensor 22.The data that the photoelectricity opposite type sensor 21 is detected are stretched for feedback regulation Contracting hydraulic stem 17, the range data detected by the range sensor 22 is used for feedback regulation push-and-pull hydraulic stem 8.It is described flexible In the regracting telescopic oil cylinder 4 of hydraulic stem 17, the guide rail 18 is used for fixation when moving forward and backward to telescopic oil cylinder 4, makes flexible oil Cylinder action is relatively reliable firm.Heretofore described loading end 2 is an entirety, makes the firmer reliability of total.
Preferably, the photoelectricity opposite type sensor is arranged at the outer end point 25cm of telescopic hydraulic bar 17, the distance Sensor 22 is arranged at the outer end point 15cm of telescopic hydraulic bar 17.
With reference to Fig. 4, according to the above embodiments of the present invention, the hydraulic system only needs to a compression motor 11, and this is just The total quantity of the motor of whole transfer robot is reduced, transfer robot reliability of operation is improve.
Intelligent automobile transfer robot walking process:With reference to Fig. 6, introduce transfer robot and walk in No. 7 parking stalls side Process to No. 3 parking stalls and No. 10 parking stalls is accurate to transfer robot according to the alignment system in parking lot first Positioning, calculates the distance of transfer robot position to corner a, sends travel commands to transfer robot afterwards, and order is carried Robot runs, and during transfer robot is run to corner a, parking lot alignment system carries out reality to transfer robot Shi Dingwei simultaneously calculates the due acceleration of transfer robot and sends to transfer robot, with real-time adjustment transfer robot fortune Scanning frequency degree.After operation is to a of turning, four groups of universal wheels rotate simultaneously in universal wheel group 6, wherein universal wheel group 6011,6021, 6013rd, 6023 realize that universal wheel dextrorotation turn 90 degrees by stepper motor operation, universal wheel group 6012,6022,6014,6024 90 degree of universal wheel rotate counterclockwise is realized by stepper motor operation.After the completion of rotation, transfer robot is entered by above-mentioned steps Row is laterally run between No. 3 parking stalls and No. 10 parking stalls.Loading end is not sent out all the time during transfer robot whole service Raw rotation, only rotates to change transfer robot traffic direction by universal wheel.Wherein road width root is laterally run in parking lot According to transfer robot Design of length, the longitudinally running road width in parking lot is according to transfer robot width design.
Wherein, the positioner for recognizing its length, width is both provided with each parking stall, for recognizing that vehicle stops The approximate location put, described positioner can include limit switch, infrared switch or other locators.
According to the electronic chart for building, by the way of Mapinfo is generated, positioning and electronic chart is set highly to overlap, If there is deviation in Practical Project, carry out system debug and coordinate system is modified;Pick-up transfer robot road in bicycle parking Footpath planning strategy is according to the shortest path under the premise in anti-collision;According to cook up come path and transfer robot it is existing Speed can calculate due acceleration, transfer robot is only along two traffic directions of X-axis and Y-axis in electronic chart.
Intelligent automobile transfer robot storage/access car process:With reference to Fig. 6 and Fig. 1, transfer robot is introduced with optional position extremely Entrance goes out the process of pick-up, knows the porch that method for distinguishing is detected using camera mode according to managing system of car parking first The position of vehicle tyre, the data of the spacing between diameter, two front-wheels and two trailing wheels, transfer robot is in operation to entrance Push-and-pull hydraulic stem 8 and telescopic hydraulic bar 17 are adjusted during place so that the spacing often covered between arm mechanism is slightly larger than tire The width of corresponding height so that the distance for being symmetrically arranged at two sets of telescopic hydraulic rod end points of loading end 2 is slightly less than two front-wheels and two Spacing between trailing wheel.Now transfer robot pierces automobile lower, and causes arm mechanism to be directed at each automobile tire, this When, telescopic hydraulic bar 17 is flexed outward, and when to penetrating photoelectric sensor and having detected shelter, telescopic hydraulic bar 17 stops dynamic Make, then, the action of push-and-pull hydraulic stem 8 is clamped to automobile tire, push away when the range data that range sensor 22 is obtained is 0 Draw the stopping action of hydraulic stem 8.After the completion of clamping process, automobile is lifted disengaging ground by raise-lower hydraulic bar action, afterwards, is carried Robot can be by above-mentioned walking process carrier vehicle to specified location.The process of pick-up is then according to the automobile tire for having stored Data, adjust in advance the position of jig arm during operation to parking stall, to realize the purpose of quick pick-up.This is adjusted in advance The method of whole jig arm position and the efficiency of Transport Vehicle is greatly improved using the method for photoelectricity opposite type sensor and range sensor With the fastness that automobile is clamped in handling process, can solve the problem that the automobile in prior art on transfer robot occurs security incident Problem.When to automobile clamping where appropriate, just can with actual conditions improve the transfer robot speed of service, so as to shorten Transport Vehicle Time.
In running, corner, porch ground is provided with wireless charging to transfer robot provided by the present invention Coil, can be charged in these position short stays in transfer robot running to transfer robot, to prevent from sending out The situation of raw peak period transfer robot not enough power supply, if can not still meet electricity needs, can according to actual needs arrange nothing The quantity of line inductance coil.
Preferably, anticollision detection components of the present invention are infrared ray sensor, and detection transfer robot is to carrying The distance of barrier on robot traffic direction, judges whether to touch according to the existing speed of transfer robot and acceleration Hit, and then corresponding instruction is sent to transfer robot motor, and this instruction priority instruction above all.
Wireless charging coil and battery pack are located at transfer robot bottom.
Although the above-mentioned accompanying drawing that combines is described to the specific embodiment of the present invention, not to present invention protection model The restriction enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not Need the various modifications made by paying creative work or deformation still within protection scope of the present invention.

Claims (7)

1. it is a kind of based on UWB position intelligent automobile transfer robot control method, it is described based on UWB position intelligent automobile Transfer robot include walking mechanism, elevating mechanism, clamping device, electric control unit, central control unit, charhing unit and Load carrier, wherein:
The load carrier includes about two pieces the first loading ends arranged, the second loading ends, first loading end and second Loading end is supported by elevating mechanism and connected, and positioned at the both sides of the second loading end of upper end clamping automobile tire is symmetrically laid with Clamping device;
The end of first loading end is provided with obstacle avoidance sensor, and the signal of collection is sent to control by the obstacle avoidance sensor Unit processed, is additionally provided with UWB positioning labels, to realize the positioning to robot on first loading end;
The charhing unit is arranged on the first loading end, including the power storage module and Wireless charging coil that are connected to, institute State the first loading end bottom and be provided with walking mechanism;
The central control unit, builds electronic chart, according to automobile to be taken according to parking lot road information and actual environment Position and the position of transfer robot, determine track route, according to the track route and the existing speed of transfer robot of planning, The acceleration of robot is calculated, the route information for making robot reach appointed place and the action command for completing carrying is sent;
The electric control unit communicates with central control unit, and the route information and action that reception central control unit sends refers to Making, and control walking mechanism, elevating mechanism, clamping device or/and charhing unit carries out corresponding action, realizes specifying automobile Carry;
The clamping device includes two guide rails and four groups of telescopic hydraulic bars, and the guide rail is arranged at the two ends of the second loading end, Every group of telescopic hydraulic bar includes two supporting rods, and four groups of telescopic hydraulic bars are symmetricly set in two-by-two the two ends of guide rail, and per group is stretched Hydraulic pushing device is provided with the outside of hydraulic stem, hydraulic pushing device promotes supporting rod to be moved along guide rail and fixed, real The clamping of existing tire and fastening;
It is characterized in that:
(1) transfer robot is positioned according to UWB location technologies, it is determined according to the electronic chart in parking lot and waits to pick up the car Shortest path, plan driving path;
(2) according to the due acceleration of path computing transfer robot of planning, control it and run to vehicle location to be taken, traveling To vehicle bottom to be taken;
(3) receive information of vehicles to be taken, according to the front wheels and rear wheels spacing and diameter of wheel, adjust telescopic hydraulic bar position and Spacing so as to corresponding with wheel, stretches out telescopic hydraulic bar according to the width information of wheel, and a successive step of going forward side by side stretches liquid The spacing of depression bar, clamps to automobile tire;
(4) according to the data and vehicle weight data of pressure sensor, clamp pressure is determined, after completing clamping process, adjustment the The distance between one loading end and the second loading end, make automobile leave ground;
(5) EXIT is determined according to the electronic chart of UWB location technologies and parking lot and treats the shortest path of pick-up, rule Driving path is drawn, makes transfer robot transport automobile to EXIT.
2. the control method of a kind of intelligent automobile transfer robot positioned based on UWB as claimed in claim 1, its feature It is:The walking mechanism, including four groups of controlled universal wheels and its driving steering stepper motor, wherein, described driving turns to stepping Motor drives respectively the rotational angle of four groups of controlled universal wheels and walking, the driving to turn to stepper motor and electric control unit Connection, receives control instruction.
3. the control method of a kind of intelligent automobile transfer robot positioned based on UWB as claimed in claim 2, its feature It is:Four groups of controlled Universal wheel structures are identical, including two symmetrical universal wheels laid, and four groups of controlled universal wheel difference It is arranged in four ends of the first loading end bottom.
4. the control method of a kind of intelligent automobile transfer robot positioned based on UWB as claimed in claim 1, its feature It is:In different telescopic oil cylinders, the telescopic hydraulic bar is provided with infrared emission sensing to every group of telescopic hydraulic rod set Device and range sensor, according to the position and length of infrared emission sensor and range-sensor data adjustment telescopic hydraulic bar.
5. the control method of a kind of intelligent automobile transfer robot positioned based on UWB as claimed in claim 1, its feature It is:The elevating mechanism is hydraulic lift, specifically includes several raise-lower hydraulic bars and hydraulic pump, the raise-lower hydraulic bar It is fixed between the first loading end and the second loading end, for adjusting the distance of the first loading end and the second loading end, the liquid Press pump connects raise-lower hydraulic bar.
6. the control method of a kind of intelligent automobile transfer robot positioned based on UWB as claimed in claim 5, its feature It is:The electric control unit, including command reception module, electric cabinet, UWB positioning label and several obstacle avoidance sensors, institute The end that obstacle avoidance sensor is arranged on the first loading end is stated, the UWB positioning label is arranged at the geometric center of the first loading end, The command reception module is arranged in the geometric center lines of the first loading end, and the acceleration or deceleration for receiving central control unit refers to Order, the driving of the electric cabinet control walking mechanism turns to stepper motor and hydraulic pump.
7. the control method of a kind of intelligent automobile transfer robot positioned based on UWB as claimed in claim 1, its feature It is:In the step (1), when transfer robot does not carry task, transfer robot is rested on wireless charging function Parking stall on be charged, if now there is automobile to stop into garage port, managing system of car parking has detected vehicle and has arrived, The weight of the vehicle of the automobile for detecting, the position of tire, diameter, width, front wheels and rear wheels spacing and parking spot, by nothing Line transmission is sent to transfer robot.
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