CN108118934A - The parking robot guide wheel assemblies of built-in scan radar - Google Patents
The parking robot guide wheel assemblies of built-in scan radar Download PDFInfo
- Publication number
- CN108118934A CN108118934A CN201810157186.XA CN201810157186A CN108118934A CN 108118934 A CN108118934 A CN 108118934A CN 201810157186 A CN201810157186 A CN 201810157186A CN 108118934 A CN108118934 A CN 108118934A
- Authority
- CN
- China
- Prior art keywords
- radar
- scanning
- parking robot
- hollow shaft
- dimensional laser
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
- E04H6/36—Garages 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
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/422—Automatically operated car-parks
- E04H6/424—Positioning devices
Abstract
The present invention relates to the parking robot guide wheel assemblies of a kind of guide wheel assemblies, specifically built-in scan radar, belong to parking robot directive wheel technical field.It includes directive wheel, hollow shaft and scanning radar, and lower cover is bolted in hollow shaft lower face, and upper cover plate is bolted in hollow shaft upper surface；Lower cover lower face is bolted radar supports, and scanning constant radar on radar supports, scanning radar top is stretched out from hollow shaft internal cavity, and scanning radar lower part and middle part are located in hollow shaft.Two-dimensional laser radar is built according to a certain angle in directive wheel by the present invention, and it is respectively arranged in the diagonal of parking robot, efficiently use 270 ° of scanning areas of two-dimensional laser radar, two two-dimensional laser radars is only needed to can be realized has scanning to the surrounding of parking robot, ensure the safety of the omnidirectional moving of parking robot, the effective scanning region of two-dimensional laser radar is increased, reduces the quantity of two-dimensional laser radar.
Description
Technical field
The present invention relates to the parking robot guide wheel groups of a kind of guide wheel assemblies, specifically built-in scan radar
Part belongs to parking robot directive wheel technical field.
Background technology
To reduce garage warehouse compartment height, parking stall capital construction cost is reduced, adapts to join automobile in a wide range of plane
And carrying, it is desirable that parking robot is using slipping into " flat remove flat " formula car carrying mode.In car carrying operation, Apparatus for parking vehicles
Device people needs forward-reverse, traversing and divertical motion, bumps against if parking robot occurs with automobile or other objects, front end both sides
Arrangement directive wheel plays the walking guiding role to parking robot, while plays the work of the protection to parking robot and automobile
With.And parking robot and automobile or other objects bump against in order to prevent, need to be arranged in parking robot front end avoidance detection and
Guiding device realizes this purpose frequently with two-dimensional laser radar at present.
The scanning area of two-dimensional laser radar is 270 ° of covering of the fans that radius is 2-10 meters, and within a certain height.And
Low using the parking robot whole height for slipping into " flat remove flat " formula car carrying mode, two-dimensional laser radar setting height(from bottom) is not
Can be higher than whole height, then the scanning height of two-dimensional laser radar is not above parking robot height.In order to which maximum utilizes this
Scanning area makes parking robot body at least stop this scanning area, usual two-dimensional laser radar have front end intermediate arrangement and
Two kinds of arrangements are arranged in front end both sides.Using front end intermediate arrangement mode, then the scanning area of two-dimensional laser radar is being only just
Forward portion, maximum can not scan parking robot two side areas, then can not ensure to park using also there was only 180 ° of scanning areas
The security of robot transverse motion；Using front end both sides arrangement, two two-dimensional laser radars are arranged in and are parked
On rear side of two directive wheels in front end of robot, and directive wheel height is less than to the scanning area height of two-dimensional laser radar, it is this
Arrangement can scan front and the two side areas of parking robot, but need two two-dimensional laser radars, if parking robot
It moves forward and backward, rear and front end both sides all need to arrange, then need four two-dimensional laser radars.
The content of the invention
It is an object of the present invention to overcome the above deficiencies, so as to provide a kind of parking robot of built-in scan radar
With guide wheel assemblies, two-dimensional laser radar is built according to a certain angle in directive wheel, and at diagonal point of parking robot
It does not arrange, efficiently uses 270 ° of scanning areas of two-dimensional laser radar, have scanning to the surrounding of parking robot, increase two
The effective scanning region of laser radar is tieed up, reduces the quantity of two-dimensional laser radar.
According to technical solution provided by the invention, the parking robot of built-in scan radar includes being oriented to guide wheel assemblies
Wheel, hollow shaft and scanning radar, it is characterized in that：Hollow shaft side bearing set, bearing side suit directive wheel；Hollow shaft lower end
Lower cover is bolted in face, and upper cover plate is bolted in hollow shaft upper surface；Lower cover lower face is bolted
Radar supports, scanning constant radar on radar supports, scanning radar top are stretched out from hollow shaft internal cavity, scanning radar lower part and
Middle part is located in hollow shaft.
Further, spacer is set in hollow shaft, spacer is close to bearing side.
Further, scanning radar top is equipped with scanning window, and scanning window is higher than hollow shaft upper surface position.
Further, scanning radar is two-dimensional laser radar.
Compared with the prior art the present invention has the following advantages：
The invention has the advantages of simple structure, compactness and reasonable structure, stable and reliable in work, and whole height is low；By two-dimensional laser radar according to a certain angle
Degree is built in directive wheel, and is respectively arranged in the diagonal of parking robot, efficiently uses 270 ° of scannings of two-dimensional laser radar
Region, two two-dimensional laser radars is only needed to can be realized has scanning to the surrounding of parking robot, ensures parking robot
The safety of omnidirectional moving increases the effective scanning region of two-dimensional laser radar, reduces the quantity of two-dimensional laser radar.
Description of the drawings
Fig. 1 is front view of the present invention.
Fig. 2 is top view of the present invention.
Fig. 3 is A-A sectional views in Fig. 2.
Reference sign：1- directive wheels, 2- bearings, 3- spacers, 4- hollow shafts, 5- upper cover plates, 6- lower covers, 7- radars
Stent, 8- scanning radars, 9- scanning windows.
Specific embodiment
The present invention will be further described with reference to the embodiment in attached drawing below：
As shown in Fig. 1 ~ 3, the invention mainly comprises directive wheel 1, hollow shaft 4 and scanning radar 8,4 side bearing sets of hollow shaft
2,2 side of bearing suit directive wheel 1.
Lower cover 6 is bolted in 4 lower face of hollow shaft, and upper cover plate 5 is bolted in 4 upper surface of hollow shaft.Under
6 lower face of cover board is bolted radar supports 7, scanning constant radar 8 on radar supports 7.8 top of scanning radar is from hollow
4 internal cavity of axis stretches out, and 8 lower part of scanning radar and middle part are located in hollow shaft 4.
8 top of scanning radar is equipped with scanning window 9, and scanning window 9 is higher than 4 upper surface position of hollow shaft.It is described to sweep
Radar 8 is retouched as two-dimensional laser radar.
Spacer 3 is set in the hollow shaft 4, spacer 3 is close to 2 side of bearing, and the setting of spacer 3 avoids bearing from moving
It is dynamic.
The invention has the advantages of simple structure, compactness and reasonable structure, stable and reliable in work, and whole height is low；By two-dimensional laser radar according to certain
One angle is built in directive wheel, and is respectively arranged in the diagonal of parking robot, efficiently uses 270 ° of two-dimensional laser radar
Scanning area, two two-dimensional laser radars is only needed, which to can be realized, has the surrounding of parking robot scanning, ensures machine of parking
The safety of the omnidirectional moving of people increases the effective scanning region of two-dimensional laser radar, reduces the quantity of two-dimensional laser radar.
Claims (4)
1. a kind of parking robot guide wheel assemblies of built-in scan radar, including directive wheel（1）, hollow shaft（4）And scanning
Radar（8）, it is characterized in that：Hollow shaft（4）Side bearing set（2）, bearing（2）Side is set with directive wheel（1）；Hollow shaft（4）
Lower cover is bolted in lower face（6）, hollow shaft（4）Upper cover plate is bolted in upper surface（5）；Lower cover（6）Under
Radar supports are bolted in end face（7）, radar supports（7）Upper scanning constant radar（8）, scanning radar（8）Top is from sky
Mandrel（4）Internal cavity stretches out, scanning radar（8）Lower part and middle part are located at hollow shaft（4）It is interior.
2. the parking robot guide wheel assemblies of built-in scan radar as described in claim 1, it is characterized in that：It is described hollow
Axis（4）Upper suit spacer（3）, spacer（3）It is close to bearing（2）Side.
3. the parking robot guide wheel assemblies of built-in scan radar as described in claim 1, it is characterized in that：The scanning
Radar（8）Top is equipped with scanning window（9）, scanning window（9）Higher than hollow shaft（4）Upper surface position.
4. the parking robot guide wheel assemblies of the built-in scan radar as described in claim 1 ~ 3 any one, feature
It is：The scanning radar（8）For two-dimensional laser radar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810157186.XA CN108118934A (en) | 2018-02-24 | 2018-02-24 | The parking robot guide wheel assemblies of built-in scan radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810157186.XA CN108118934A (en) | 2018-02-24 | 2018-02-24 | The parking robot guide wheel assemblies of built-in scan radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108118934A true CN108118934A (en) | 2018-06-05 |
Family
ID=62234493
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810157186.XA Withdrawn CN108118934A (en) | 2018-02-24 | 2018-02-24 | The parking robot guide wheel assemblies of built-in scan radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108118934A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102393516A (en) * | 2011-08-23 | 2012-03-28 | 中国人民解放军军事交通学院 | Swinging device with three-dimensional scanning laser radar |
| CN102505881A (en) * | 2011-11-22 | 2012-06-20 | 大连尼奥冷暖设备制造有限公司 | Military mobile telescopic garage and military mobile telescopic hangar capable of preventing radar monitoring and infrared detection |
| CN104746915A (en) * | 2015-04-13 | 2015-07-01 | 浙江巨人控股有限公司 | Clamp wheel type automobile carrier |
| CN105835785A (en) * | 2016-03-11 | 2016-08-10 | 乐卡汽车智能科技（北京）有限公司 | Automobile radar system and data processing method for automobile radar |
| CN208267496U (en) * | 2018-02-24 | 2018-12-21 | 国信机器人无锡股份有限公司 | The parking robot guide wheel assemblies of built-in scan radar |
-
2018
- 2018-02-24 CN CN201810157186.XA patent/CN108118934A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102393516A (en) * | 2011-08-23 | 2012-03-28 | 中国人民解放军军事交通学院 | Swinging device with three-dimensional scanning laser radar |
| CN102505881A (en) * | 2011-11-22 | 2012-06-20 | 大连尼奥冷暖设备制造有限公司 | Military mobile telescopic garage and military mobile telescopic hangar capable of preventing radar monitoring and infrared detection |
| CN104746915A (en) * | 2015-04-13 | 2015-07-01 | 浙江巨人控股有限公司 | Clamp wheel type automobile carrier |
| CN105835785A (en) * | 2016-03-11 | 2016-08-10 | 乐卡汽车智能科技（北京）有限公司 | Automobile radar system and data processing method for automobile radar |
| CN208267496U (en) * | 2018-02-24 | 2018-12-21 | 国信机器人无锡股份有限公司 | The parking robot guide wheel assemblies of built-in scan radar |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180605 |
|
| WW01 | Invention patent application withdrawn after publication |