CN109444910B - Vehicle parking positioning device and vehicle parking guiding method - Google Patents
Vehicle parking positioning device and vehicle parking guiding method Download PDFInfo
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- CN109444910B CN109444910B CN201811606462.2A CN201811606462A CN109444910B CN 109444910 B CN109444910 B CN 109444910B CN 201811606462 A CN201811606462 A CN 201811606462A CN 109444910 B CN109444910 B CN 109444910B
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- 238000001514 detection method Methods 0.000 claims description 8
- 238000005259 measurement Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 4
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- 238000004891 communication Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- General Physics & Mathematics (AREA)
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- Traffic Control Systems (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a vehicle parking positioning device and a vehicle parking guiding method, and relates to the technical field of parking positioning equipment. A vehicle parking positioning device comprises a control system and a plurality of line laser ranging devices. The line laser ranging device comprises a word line laser, a camera and a bracket, wherein the bracket is used for being arranged at the two sides and the tail of a carriage and jointly encloses a parking interval. The camera and the word line laser face the parking space, and the camera face and the word line laser face form an included angle. A wordline laser is used to form the laser segments on the car. The camera is used to capture images of the laser segments and generate image data. The control system is used for receiving the image data and calculating the distance between the line laser ranging device and the carriage according to the image data. A vehicle parking guiding method is applied to the vehicle parking positioning device. Thus, the parking position information can be accurately obtained, and the carriage can be accurately parked at the appointed position.
Description
Technical Field
The invention relates to the technical field of parking positioning equipment, in particular to a vehicle parking positioning device and a vehicle parking guiding method.
Background
In the field of production and logistics, the demands for mechanization and automation of cargo loading are vigorous. In an automated loading system, it is necessary to stop a vehicle in a predetermined area in advance and then perform loading. However, it is difficult to accurately park the carrier vehicle in an ideal position where the sides of the vehicle cabin are aligned with the prescribed area, and deviation is unavoidable. This makes it difficult to position and position the mechanical devices in the loading system. In this case, it is necessary for the automated loading system to acquire relative positional information of the loading machine and the vehicle cabin.
In view of the above problems, a general solution is to install a sensing measurement device or a visual recognition device on a mechanical device of a loading system instead of obtaining accurate parking position information of a vehicle, and obtain and analyze spatial distance information in a cabin in real time during loading to assist the mechanical device in adjusting an action range and a path in real time.
Disclosure of Invention
The invention aims to provide a vehicle parking positioning device which can accurately obtain parking position information and ensure that a carriage is accurately parked at a designated position.
The invention provides a technical scheme that:
A vehicle parking positioning device includes a control system and a plurality of line laser ranging devices.
The line laser ranging device comprises a word line laser, a camera and a plurality of supports, wherein the supports are respectively arranged on two sides and the tail of a carriage and jointly enclose a parking interval, and the area of the parking interval is larger than that of the carriage.
The camera and the word line laser are both installed on the support and face the parking interval, and the direction of the camera and the direction of the word line laser are arranged at an included angle.
The one-word line laser is used for emitting one-word line laser and forming a laser section on the carriage.
The camera is used for acquiring images of the laser segments and generating image data.
The camera is electrically connected with the control system, and the control system is used for receiving the image data and calculating the distance between the line laser ranging device and the carriage according to the image data.
Further, the vehicle parking positioning device also comprises a parking prompting device, wherein the parking prompting device comprises a display screen and a voice prompting device;
The display screen is electrically connected with the control system and is used for displaying a target parking position, a current parking position and a carriage offset;
The voice prompt device is electrically connected with the control system and is used for sending out a voice prompt signal according to the calculation result of the control system.
Further, the emitting surface of the word line laser emitting the word line laser is perpendicular to the ground.
Further, a plurality of line laser ranging devices for setting up in the carriage both sides are crisscross to be set up.
Further, the support includes first support and second support, first support is used for installing in ground and perpendicular to ground setting, the second support connect in the tip of first support, and the second support is on a parallel with ground, camera with a word line laser all install in the second support.
Further, the middle portion of the second bracket is connected to the end portion of the first bracket.
Further, the camera and the word line laser are respectively mounted at two ends of the second bracket.
Further, the number of line laser ranging devices is greater than or equal to 3.
Compared with the prior art, the vehicle parking positioning device provided by the invention has the beneficial effects that:
The vehicle parking positioning device provided by the invention can be used for respectively measuring the laser sections formed by the word line lasers on the carriage through the line laser ranging devices respectively arranged on the two sides and the tail part of the carriage, and sending the laser sections to the control system, so that the distance between each line laser ranging device and the outer edge of the carriage is calculated according to the laser sections through the control system, and further, whether the carriage is parked in a parking interval is judged according to the calculated result of the control system, parking position information can be accurately obtained, and the carriage can be accurately parked in a designated position.
Another object of the present invention is to provide a vehicle parking guidance method capable of accurately obtaining parking position information and ensuring that a vehicle cabin is accurately parked at a designated position.
The invention provides a technical scheme that:
A vehicle parking guiding method is applied to a vehicle parking positioning device, and the vehicle parking positioning device comprises a control system and a plurality of line laser ranging devices. The line laser ranging device comprises a word line laser, a camera and a plurality of supports, wherein the supports are respectively arranged on two sides and the tail of a carriage and jointly enclose a parking interval, and the area of the parking interval is larger than that of the carriage. The camera and the word line laser are both installed on the support and face the parking interval, and the direction of the camera and the direction of the word line laser are arranged at an included angle. The one-word line laser is used for emitting one-word line laser and forming a laser section on the carriage. The camera is used for acquiring images of the laser segments and generating image data. The camera is electrically connected with the control system, and the control system is used for receiving the image data and calculating the distance between the line laser ranging device and the carriage according to the image data.
The vehicle parking guidance method includes:
And generating image information by the camera according to the laser segments formed by the word line laser, and sending the image information to the control system.
And calculating the distances between the plurality of line laser ranging devices and the carriage respectively through the control system.
Judging whether the carriage is parked in the parking interval according to the distances between the line laser ranging devices and the carriage.
Compared with the prior art, the beneficial effects of the vehicle parking guiding method provided by the invention are the same as those of the vehicle parking positioning device provided by the invention relative to the prior art, and the description is omitted here.
It is still another object of the present invention to provide a vehicle parking position determination device that can accurately obtain parking position information and can be applied to parking position detection of vehicles having different height compartments.
The invention provides a technical scheme that:
A vehicle parking positioning device for positioning detection of a vehicle having a cabin, the vehicle parking positioning device comprising a plurality of ranging devices.
The distance measuring device comprises a main support, a lifting mechanism and a distance measuring sensor, wherein a plurality of main supports are respectively arranged at the tail part and two sides of a carriage and jointly enclose a parking interval, and the area of the parking interval is larger than that of the carriage.
The lifting mechanism is arranged on the main support, the distance measuring sensor is arranged on the lifting mechanism and faces the parking interval, the lifting mechanism is used for driving the distance measuring sensor to lift, and the distance measuring sensor is used for detecting the distance between the distance measuring sensor and the carriage.
Compared with the prior art, the vehicle parking positioning device provided by the invention has the beneficial effects that:
The vehicle parking positioning device provided by the invention can perform ranging detection on a plurality of directions of the carriage through a plurality of ranging devices, so that the position of the carriage can be accurately detected during parking, and the carriage can be accurately parked in a designated position. In addition, the distance measuring device can be positioned at a proper position through the lifting mechanism so as to be suitable for parking positioning of vehicles with carriages of different heights, and the universal applicability of the vehicle parking positioning device is improved.
It is still another object of the present invention to provide a vehicle parking position guidance method that can accurately obtain parking position information and can be applied to parking position detection of vehicles with different height cars.
The invention provides a technical scheme that:
A vehicle parking guiding method is applied to a vehicle parking positioning device, and the vehicle parking positioning device comprises a plurality of distance measuring devices. The distance measuring device comprises a main support, a lifting mechanism and a distance measuring sensor, wherein a plurality of main supports are respectively arranged at the tail part and two sides of a carriage and jointly enclose a parking interval, and the area of the parking interval is larger than that of the carriage. The lifting mechanism is arranged on the main support, the distance measuring sensor is arranged on the lifting mechanism and faces the parking interval, the lifting mechanism is used for driving the distance measuring sensor to lift, and the distance measuring sensor is used for detecting the distance between the distance measuring sensor and the carriage.
The vehicle parking guidance method includes:
The height of the ranging sensor is adjusted by the lifting mechanism so that the height of the ranging sensor is adapted to the height of the carriage.
And detecting the distance from the carriage edge through the distance measuring sensor, and generating a distance parameter.
And judging whether the carriage is parked in the parking interval or not according to the distance parameters measured by the distance measuring sensors.
Compared with the prior art, the beneficial effects of the vehicle parking guiding method provided by the invention are the same as those of the vehicle parking positioning device provided by the invention relative to the prior art, and the description is omitted here.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described. It is appreciated that the following drawings depict only certain embodiments of the invention and are therefore not to be considered limiting of its scope. Other relevant drawings may be made by those of ordinary skill in the art without undue burden from these drawings.
Fig. 1 is a schematic structural view of a vehicle parking positioning device according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of a line laser ranging device according to a first embodiment of the present invention;
fig. 3 is a flowchart of a vehicle parking guidance method according to a second embodiment of the present invention;
FIG. 4 is a schematic structural view of a vehicle parking positioning device according to a third embodiment of the present invention;
Fig. 5 is a schematic structural diagram of a ranging apparatus according to a third embodiment of the present invention;
Fig. 6 is a flowchart of a vehicle parking guidance method provided in a fourth embodiment of the present invention.
Icon: 10-a vehicle parking positioning device; 20-carriage; 100-line laser ranging device; 110-a bracket; 111-a first scaffold; 112-a second scaffold; 120-a word line laser; 130-a camera; 200-ranging device; 210-a ranging sensor; 220-a main support; 230-lifting mechanism; 231-guide bar; 232-driving a motor; 233-active block.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "left", "right", etc. are based on the directions or positional relationships shown in the drawings, or the directions or positional relationships conventionally put in place when the inventive product is used, or the directions or positional relationships conventionally understood by those skilled in the art are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific direction, be configured and operated in a specific direction, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, terms such as "disposed," "connected," and the like are to be construed broadly, and for example, "connected" may be either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The following describes specific embodiments of the present invention in detail with reference to the drawings.
First embodiment
Referring to fig. 1, a vehicle parking positioning device 10 is provided in the present embodiment, which is applied to parking positioning of a vehicle, and is specifically used for parking a cabin 20 of the vehicle to a designated position. The vehicle parking positioning device 10 can obtain parking position information accurately, and can ensure that the vehicle compartment 20 is parked at a specified position accurately.
It should be noted that, in the present embodiment, the cabin 20 has a tail portion and two sides, wherein the tail portion refers to a side of the cabin 20 away from the vehicle head, and the two sides of the cabin 20 refer to two sides adjacent to the tail portion.
Referring to fig. 1 and 2 in combination, the vehicle parking positioning device 10 includes a control system (not shown) and n line laser ranging devices 100, each of the n line laser ranging devices 100 being electrically connected to the control system so that data detected and transmitted by the line laser ranging device 100 can be received and processed by the control system. Note that n is a positive integer greater than or equal to 3, that is, the number of line laser distance measuring devices 100 may be 3 or 4, or may be 5, 6, or 10. In the present embodiment, the line laser distance measuring device 100 is described using 4 examples.
It should be noted that the control system may be a computer or other operating system.
The four line laser ranging devices 100 are respectively disposed at the tail of the carriage 20 and at two sides of the carriage 20, so as to respectively detect and generate corresponding image data through the line laser ranging devices 100, and send the image data to the control system. The control system calculates the distances between the four line laser ranging devices 100 and the carriage 20 according to the image data, and further determines whether the carriage 20 is stopped at the designated position.
The distance between the line laser distance measuring device 100 and the car 20 refers to the distance between the line laser distance measuring device 100 and the edge of the car 20.
It should be noted that, the four line laser ranging devices 100 are respectively located on three sides of a virtual rectangle, so that a square open space can be enclosed by the four line laser ranging devices 100 together, wherein the square open space is a parking space, that is, the four line laser ranging devices 100 together enclose a parking space. The parking space is rectangular with one side missing, and the missing side is the opening of the carriage 20 for parking in the parking space.
Wherein, when the carriage 20 is parked inside the parking space, at least one line laser ranging device 100 is located at the tail of the carriage 20. In this embodiment, one line laser ranging device 100 is disposed at the tail of the carriage 20, and three line laser ranging devices 100 are respectively disposed at two sides of the carriage 20, i.e. two line laser ranging devices 100 are disposed at one side of the carriage, and one line laser ranging device 100 is disposed at the other side of the carriage. Further, in the present embodiment, the plurality of line laser ranging devices 100 provided on both sides of the vehicle cabin 20 are staggered. That is, in the present embodiment, one of the line laser ranging apparatuses 100 on one side is correspondingly disposed in the gap between the two line laser ranging apparatuses 100 on the other side.
Line laser ranging device 100 includes a word line laser 120, a camera 130, and a cradle 110.
The plurality of brackets 110 are respectively mounted on both sides and the rear of the vehicle 20, so that the plurality of brackets 110 together enclose a parking space for parking the vehicle 20. The parking space is larger than the area of the carriage 20, so that when the carriage 20 is parked inside the parking space, the line laser ranging devices 100 are spaced from the edge of the carriage 20, and damage to the line laser ranging devices 100 caused by collision between the line laser ranging devices 100 and the carriage 20 can be avoided. In this embodiment, the plurality of brackets 110 are used for being mounted on the ground, and the extending direction of the brackets 110 is perpendicular to the ground. It should be appreciated that in other embodiments, the bracket 110 may be adapted to be mounted to other bearing surfaces.
Further, the bracket 110 includes a first bracket 111 for being mounted to the ground and disposed perpendicular to the ground, and a second bracket 112 connected to an end of the first bracket 111, and the second bracket 112 is parallel to the ground. The camera 130 and a word line laser 120 are mounted on the second bracket 112.
In the present embodiment, the middle portion of the second bracket 112 is connected to the middle portion of the first bracket 111, so that the bracket 110 has a T-shape.
In addition, the camera 130 and the word line laser 120 are mounted to the bracket 110 and disposed toward the parking space. Specifically, in the present embodiment, the camera 130 and the one-word line laser 120 are mounted on the second bracket 112, and the camera 130 and the one-word line laser 120 are mounted on both ends of the second bracket 112, respectively. Further, the camera 130 is oriented at an angle to the orientation of a word line laser 120.
In this embodiment, the distance between the line laser ranging device 100 and the carriage 20 can be detected by the laser triangulation method by the orientation of the camera 130 and the line laser 120 being set at an angle, and by the orientation of the line laser 120 and the camera 130. Wherein a wordline laser 120 emits a wordline laser and forms laser segments at the edges of the car 20, and a camera 130 captures images of the laser segments and forms image information.
In addition, it is by using a single wordline laser 120 to measure, it is possible to adapt to a variety of vehicles with different car 20 heights. That is, the line laser 120 irradiates the side surfaces of the carriages 20 with different heights, and the camera 130 collects the images, so that the initial position and the height of the line laser ranging device 100 can be set at one time according to the height range of the carriages 20, and the vehicles with various heights of the carriages 20 can be satisfied. In addition, the influence of the outside of the vehicle cabin 20 on the measurement accuracy can be avoided. For example, the interference of the mud or paint or the reflection band adhered to the side outer edge of the vehicle compartment 20 can be prevented from affecting the measurement accuracy by the word line laser 120. That is, a laser section having a certain length can be formed on the car 20 by a word line laser 120, and interference factors in the laser section can be removed by using an image algorithm, thereby improving accuracy of ranging.
In the present embodiment, the camera 130 is electrically connected to the control system, so that the formed image information can be sent to the control system by the camera 130, and the control system can calculate the distance between the line laser ranging device 100 and the carriage 20 according to the image information. The control system can calculate the distance between the carriage 20 and the line laser ranging device 100 according to the position of the laser segment in the image and the triangle ranging principle.
In the present embodiment, the emitting surface of a word line laser 120 emits a word line laser beam perpendicular to the ground, so that a laser section substantially perpendicular to the ground can be formed in the carriage 20, thereby facilitating the measurement of the distance between the line laser ranging device 100 and the carriage 20.
The vehicle parking positioning device 10 further comprises a parking prompt device, wherein the parking prompt device is electrically connected with the control system, and the parking prompt device is used for sending a prompt signal according to the calculation result of the control system. That is, in the present embodiment, after calculating the distance between the line laser ranging device 100 and the car 20 according to the image information, the control system can send the calculation result to the parking prompting device, and the parking prompting device can prompt the position of the car 20 in real time, so that the operator can park the car 20 into the parking space.
In this embodiment, the parking prompting device includes a display screen and a voice prompt. And the display screen and the voice prompter are electrically connected with the control system. The control system can send the image information and the calculation result to the display to display the corresponding parking position, the current carriage 20 position and the carriage 20 offset through the display. So that the operator can adjust the position of the carriage 20 through the images or characters displayed by the display, and further the carriage 20 can be parked in the parking space. In addition, the control system also sends the calculation result to the voice prompt system, and the voice prompt system is used for sending a voice prompt signal according to the calculation result of the control system. That is, the voice prompt system can perform voice broadcast on the real-time parking information according to the real-time calculation result of the control system, wherein when the vehicle exceeds the range of the parking interval, the voice prompt can issue an alarm according to the calculation result, that is, when the distance from one side of the carriage 20 to the line laser ranging device 100 is lower than the minimum allowable distance value, the voice prompt can issue an alarm warning. Or when the vehicle compartment 20 is parked in the parking space, a prompt can be issued to prompt the operator through the voice prompt.
It should be appreciated that in other embodiments, the display screen and the voice prompt can be implemented separately, i.e., in one of the embodiments, the vehicle park locating device 10 may be provided with only the display screen and no voice prompt; similarly, in another embodiment, the vehicle parking positioning apparatus 10 may be provided with only the voice prompt apparatus, without providing the display screen.
The vehicle parking positioning device 10 provided in this embodiment can be used for measuring the laser sections formed by a word line laser 120 on the carriage 20 through the line laser ranging devices 100 respectively arranged on both sides and the tail of the carriage 20, and sending the laser sections to the central control system, so as to calculate the distance between each line laser ranging device 100 and the outer edge of the carriage 20 according to the laser sections through the control system, and further judge whether the carriage 20 is parked in the parking interval according to the calculated result of the control system, which can accurately obtain the parking position information and ensure that the carriage 20 is accurately parked in the designated position.
Second embodiment
Referring to fig. 3, a vehicle parking guidance method is provided in the present embodiment, and the vehicle parking guidance method is applied to the vehicle parking positioning device 10 provided in the first embodiment. The vehicle parking guidance method can accurately obtain parking position information, and can ensure that the vehicle compartment 20 is accurately parked at a designated position.
The vehicle parking guidance method includes:
s101, generating image information by the camera 130 according to the laser segment formed by the word line laser 120, and sending the image information to the control system.
That is, when the car 20 slowly enters the parking space, a laser segment can be formed at the edge of the car 20 by a word line laser 120, and an image of the laser segment is collected by the camera 130 to form image information by the camera 130, and the image information is transmitted to the control system.
S102, calculating the distances between the plurality of line laser ranging devices 100 and the carriage 20 respectively through a control system.
The plurality of line laser ranging devices 100 respectively send different image information to the control system, so that the control system can respectively calculate the distance between each line laser ranging device 100 and the carriage 20 according to the different image information.
S103, judging whether the carriage 20 is parked in the parking interval according to the distances between the plurality of line laser ranging devices 100 and the carriage 20.
In this embodiment, the control system sends the distances between the line laser ranging devices 100 and the carriage 20 to the parking prompt device, and provides prompt information to the operator according to the calculation result through the parking prompt device. Wherein the corresponding parking position, current car 20 position, and car 20 offset can be provided to the operator via the display screen. The voice prompt can be used to provide a prompt as to whether the vehicle 20 is parked in the parking space.
Third embodiment
Referring to fig. 4 and 5 in combination, a vehicle parking and positioning device 10 is provided in the present embodiment, which is applied to parking and positioning of a vehicle, and is specifically used for enabling a cabin 20 of the vehicle to park at a designated position. The vehicle parking positioning device 10 can accurately obtain parking position information and is applicable to the parking positioning detection of vehicles with carriages 20 of different heights.
The vehicle parking positioning apparatus 10 provided in the present embodiment is different from the vehicle parking positioning apparatus 10 provided in the first embodiment in that, in the present embodiment, the vehicle parking positioning apparatus 10 includes a plurality of distance measuring devices 200.
The plurality of ranging devices 200 are installed in the same manner as the plurality of line laser ranging devices 100 are installed in the vehicle cabin 20. The difference is that the ranging apparatus 200 is different in structure from the line laser ranging apparatus 100.
In this embodiment, the ranging apparatus 200 includes a main stand 220, a lifting mechanism 230, and a ranging sensor 210.
The plurality of main frames 220 are respectively mounted on both sides and the rear of the vehicle 20 such that the plurality of main frames 220 together enclose a parking space for parking the vehicle 20. The area of the parking space is larger than that of the carriage 20, so that when the carriage 20 is parked inside the parking space, the distance measuring devices 200 are spaced from the edge of the carriage 20, and damage to the distance measuring devices 200 caused by collision between the distance measuring devices 200 and the carriage 20 can be avoided. In this embodiment, the plurality of main brackets 220 are used to be mounted on the ground, and the extending direction of the main brackets 220 is perpendicular to the ground. It should be appreciated that in other embodiments, the main support 220 may be adapted to be mounted to other bearing surfaces.
The elevating mechanism 230 is mounted on the main support 220 and extends along the main support 220. The ranging sensor 210 is disposed on the lifting mechanism 230, and the ranging sensor 210 is disposed towards the parking space, so that when the car 20 is parked inside the parking space, the edge of the car 20 can be detected by the ranging sensor 210, and the distance between the ranging sensor 210 and the edge of the car 20 can be measured. The lifting mechanism 230 can drive the distance measuring sensor 210 to move along the lifting mechanism 230. Because the extending direction of the lifting mechanism 230 is the same as the extending direction of the main support 220, the ranging sensor 210 can move along the main support 220 at this time, and the height of the ranging sensor 210 can be adjusted, so that the height of the ranging sensor 210 can be adapted to the carriage 20 with any height, and the adaptability of the vehicle parking positioning device 10 is improved. Meanwhile, since the height adjustment of the ranging sensor 210 can be performed by the elevating mechanism 230, the installation of the ranging apparatus 200 can be performed only once for a plurality of vehicles having the plurality of height carriages 20.
In the present embodiment, the lifting mechanism 230 is disposed at a side of the main frame 220 near the parking space. So that the ranging sensor 210 installed at the lifting mechanism 230 can be disposed toward the parking space, thereby ensuring the ranging accuracy of the ranging sensor 210.
Specifically, the lifting mechanism 230 is disposed on top of the main support 220, so as to facilitate the height adjustment of the ranging sensor 210, and only the vehicle with the lowest carriage 20 height can be satisfied when the ranging sensor 210 moves to the lowest position of the lifting mechanism 230.
The elevating mechanism 230 includes a driving motor 232, a guide bar 231, and a movable block 233. Wherein the guide bar 231 is connected to the main support 220, and one end of the guide bar 231 is disposed near the top of the main support 220. The movable block 233 is movably coupled to the guide bar 231 such that the movable block 233 can move along the guide bar 231. The movable block 233 is disposed toward the parking space. The distance measuring sensor 210 is disposed on the movable block 233, so that the movable block 233 can drive the distance measuring sensor 210 to move when moving along the guide bar 231, thereby completing the height adjustment of the distance measuring sensor 210. The driving motor 232 is installed on the main support 220, and the driving motor 232 is connected to the movable block 233 to drive the movable block 233 to move along the guide bar 231.
In the present embodiment, the guide bar 231 has a length smaller than that of the main support 220, i.e., when the main support 220 is installed on the ground, the guide bar 231 extends downward from the end of the top of the main support 220 and extends to the middle of the main support 220.
The ranging sensor 210 may be a laser type sensor or an ultrasonic type sensor. In the present embodiment, the ranging sensor 210 employs a laser type sensor.
The vehicle parking positioning apparatus 10 provided in the present embodiment can perform ranging detection on a plurality of orientations of the vehicle cabin 20 by the plurality of ranging apparatuses 200 so that the position of the vehicle cabin 20 can be accurately detected at the time of parking, and the vehicle cabin 20 can be accurately parked at a specified position. In addition, the ranging device 200 can be positioned by the lifting mechanism 230 to be suitable for parking positioning of vehicles with carriages 20 of different heights, so that the universal applicability of the vehicle parking positioning device 10 is improved.
Fourth embodiment
Referring to fig. 6, a vehicle parking guiding method is provided in the present embodiment, which is applied to the vehicle parking positioning device 10 provided in the third embodiment. The vehicle parking guiding method can accurately obtain parking position information and is applicable to parking positioning detection of vehicles with carriages 20 of different heights.
The vehicle parking guidance method includes:
S101, the height of the ranging sensor 210 is adjusted by the lifting mechanism 230 so that the height of the ranging sensor 210 is adapted to the height of the vehicle cabin 20.
That is, the height of the ranging sensor 210 is first adjusted to be adapted to the height of the vehicle compartment 20 to improve the measurement accuracy of the ranging sensor 210.
S102, detecting the distance from the edge of the carriage 20 through the distance measuring sensor 210 and generating a distance parameter.
S103, judging whether the carriage 20 is parked in the parking interval according to the distance parameters measured by the plurality of distance measuring sensors 210.
In this embodiment, the distance measuring sensor 210 sends the distances between the distance measuring devices 200 and the carriage 20 to the parking prompt device, and provides prompt information to the operator according to the distance parameter through the parking prompt device. Wherein the corresponding parking position, current car 20 position, and car 20 offset can be provided to the operator via the display screen. The voice prompt can be used to provide a prompt as to whether the vehicle 20 is parked in the parking space.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (11)
1. A vehicle parking positioning device, which is characterized by comprising a control system and a plurality of line laser ranging devices;
the line laser ranging device comprises a word line laser, a camera and a plurality of brackets, wherein the brackets are respectively arranged at two sides and the tail part of a carriage and jointly enclose a parking interval, and the area of the parking interval is larger than that of the carriage;
the camera and the word line laser are both arranged on the bracket and are arranged towards the parking interval, and the orientation of the camera and the orientation of the word line laser form an included angle;
The word line laser is used for emitting a word line laser and forming a laser section on the carriage;
The camera is used for collecting images of the laser segments and generating image data;
The camera is electrically connected with the control system, and the control system is used for receiving the image data and calculating the distance between the line laser ranging device and the carriage according to the image data.
2. The vehicle parking location apparatus of claim 1, further comprising a parking reminder device comprising a display screen and a voice reminder;
The display screen is electrically connected with the control system and is used for displaying a target parking position, a current parking position and a carriage offset;
The voice prompt device is electrically connected with the control system and is used for sending out a voice prompt signal according to the calculation result of the control system.
3. The vehicle parking positioning apparatus of claim 1, wherein an emission surface of the one-word line laser that emits one-word line laser is perpendicular to the ground.
4. The vehicle parking positioning apparatus according to claim 1, wherein a plurality of the line laser ranging devices for being provided on both sides of the vehicle compartment are staggered.
5. The vehicle parking positioning apparatus of claim 1, wherein the bracket includes a first bracket for mounting to the ground and disposed perpendicularly to the ground, and a second bracket connected to an end of the first bracket, and the second bracket is parallel to the ground, the camera and the line laser each being mounted to the second bracket.
6. The vehicle parking positioning apparatus of claim 5, wherein a middle portion of the second bracket is connected to an end portion of the first bracket.
7. The vehicle parking positioning apparatus according to claim 5, wherein the camera and the line laser are mounted to both ends of the second bracket, respectively.
8. The vehicle parking positioning device of claim 1, wherein the number of line laser ranging devices is greater than or equal to 3.
9. A vehicle parking guidance method, applied to the vehicle parking positioning apparatus according to any one of claims 1 to 8, comprising:
generating image information by the camera according to a laser segment formed by the word line laser, and sending the image information to the control system;
calculating the distances between the plurality of line laser ranging devices and the carriage respectively through the control system;
judging whether the carriage is parked in the parking interval according to the distances between the line laser ranging devices and the carriage.
10. A vehicle parking positioning device for positioning detection of a vehicle having a cabin, characterized in that the vehicle parking positioning device includes a plurality of ranging devices;
The distance measuring device comprises a main support, a lifting mechanism and a distance measuring sensor, wherein the main supports are respectively arranged at the tail part and two sides of the carriage and jointly enclose a parking interval, and the area of the parking interval is larger than that of the carriage;
the lifting mechanism is arranged on the main support, the distance measuring sensor is arranged on the lifting mechanism and faces the parking interval, the lifting mechanism is used for driving the distance measuring sensor to lift, and the distance measuring sensor is used for detecting the distance between the distance measuring sensor and the carriage.
11. A vehicle parking guidance method, applied to the vehicle parking positioning device according to claim 10, comprising:
Adjusting the height of the ranging sensor by the lifting mechanism so that the height of the ranging sensor is adapted to the height of the carriage;
detecting the distance between the vehicle body and the edge of the vehicle body through the distance measuring sensor, and generating a distance parameter;
and judging whether the carriage is parked in the parking interval or not according to the distance parameters measured by the distance measuring sensors.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811606462.2A CN109444910B (en) | 2018-12-26 | 2018-12-26 | Vehicle parking positioning device and vehicle parking guiding method |
| PCT/CN2019/099498 WO2020134095A1 (en) | 2018-12-26 | 2019-08-06 | Vehicle parking positioning apparatus and vehicle parking guide method |
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| CN201811606462.2A CN109444910B (en) | 2018-12-26 | 2018-12-26 | Vehicle parking positioning device and vehicle parking guiding method |
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| CN109444910B (en) * | 2018-12-26 | 2024-07-12 | 合肥泰禾智能科技集团股份有限公司 | Vehicle parking positioning device and vehicle parking guiding method |
| CN110276989A (en) * | 2019-07-18 | 2019-09-24 | 杨婉淇 | A kind of safe and reliable intelligent parking lot |
| CN111071714B (en) * | 2019-12-09 | 2022-01-18 | 中车青岛四方机车车辆股份有限公司 | Automatic positioning device and method for machining of rail vehicle body |
| CN114655732A (en) * | 2020-12-23 | 2022-06-24 | 北醒（北京）光子科技有限公司 | Unmanned loading system based on laser radar |
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