CN109681015B - Method for controlling carrier, and device having storage function - Google Patents
Method for controlling carrier, and device having storage function Download PDFInfo
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- CN109681015B CN109681015B CN201910041227.3A CN201910041227A CN109681015B CN 109681015 B CN109681015 B CN 109681015B CN 201910041227 A CN201910041227 A CN 201910041227A CN 109681015 B CN109681015 B CN 109681015B
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- clamping part
- wheel
- horizontal movement
- clamping
- radius
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- 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
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- 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
Abstract
The application discloses a control method of a carrier, the carrier and a device with a storage function. The carrier includes a first clamping portion and a second clamping portion, and the control method includes: acquiring wheel information of a vehicle to be carried; determining second motion information of the second clamping part according to the wheel information, the initial position information of the first clamping part, the first motion information of the first clamping part and the initial position information of the second clamping part; and controlling the first clamping part to move according to the first motion information and simultaneously controlling the second clamping part to move according to the second motion information so that the first clamping part and the second clamping part simultaneously contact different positions of the wheels of the vehicle to be carried to complete the grabbing of the wheels. This application can control first clamping part and the contact of second clamping part simultaneously treat the different positions of haulage vehicle's wheel, accomplish snatching the wheel, improved the handling efficiency of carrier.
Description
Technical Field
The present disclosure relates to the field of carriers, and particularly to a method for controlling a carrier, and a device with a storage function.
Background
The problem of ubiquitous parking of vehicles is the result of social, economic and traffic development of cities to a certain extent, and the development of three-dimensional parking equipment is abroad, especially has 30-40 years of history in Japan, and has been successful technically and empirically. China also starts to research and develop mechanical three-dimensional parking equipment in the early 90 s, and has a history of nearly two decades. As the proportion of the residents to the parking spaces in a plurality of newly built communities is 1:1, in order to solve the contradiction between the occupied area of the parking spaces and the commercial area of the residents, the mechanical three-dimensional parking equipment is accepted by the majority of users due to the unique characteristic of small average single-vehicle occupied area. With the rapid increase of the quantity of motor vehicles, the vehicle parking and taking becomes an important factor restricting the development of the stereo garage, and the performance of the intelligent vehicle carrier determines the vehicle parking and taking efficiency.
When the existing clamping and holding type automobile carrying robot takes a car, the robot stops in front of the car. The clamping and embracing mechanism extends out, the clamping and embracing arm is unfolded after the clamping and embracing mechanism extends out, then the robot runs forwards again, and the clamping and embracing arm is pulled back at the same time. When the clamping arm touches an automobile tire, the clamping arm stops moving; when the conveying roller of the robot touches an automobile tire, the clamping arm mechanism and the conveying roller act cooperatively to clamp the automobile tire from the ground onto the conveying roller. In the clamping and holding conveying process, the actions of the clamping and holding arms and the running actions of the robot have a sequence, and the efficiency is low.
That is, the carrier of the prior art has a low carrying efficiency.
Disclosure of Invention
The application provides a control method of a carrier, a carrier and a device with a storage function, which can improve the carrying efficiency of the carrier.
In order to solve the above technical problem, the first technical solution adopted by the present application is: there is provided a control method of a carrier including a first clamping portion and a second clamping portion, the control method including: acquiring wheel information of a vehicle to be carried;
determining second motion information of the second clamping part according to the wheel information, the initial position information of the first clamping part, the first motion information of the first clamping part and the initial position information of the second clamping part;
and controlling the first clamping part to move according to the first motion information, and simultaneously controlling the second clamping part to move according to the second motion information, so that the first clamping part and the second clamping part simultaneously contact different positions of the wheels of the vehicle to be carried, and the wheels are grabbed.
The step of obtaining the wheel information of the vehicle to be carried specifically comprises:
acquiring coordinates of at least 3 points on the wheels of the vehicle to be carried, wherein the vertical coordinates of at least 3 points are different,
obtaining the circle center coordinate and the radius of the wheel according to the coordinates of the at least 3 points;
the step of determining second motion information of the second clamping portion according to the wheel information, the initial position information of the first clamping portion, the first motion information of the first clamping portion, and the initial position information of the second clamping portion specifically includes:
and determining second motion information of the second clamping part according to the circle center coordinate of the wheel, the radius of the wheel, the initial position information of the first clamping part, the first motion information of the first clamping part and the initial position information of the second clamping part.
The first clamping part and the second clamping part are both round rollers, the first motion information comprises a first horizontal motion distance, and the second motion information comprises a second horizontal motion distance;
the step of determining second motion information of the second clamping portion according to the circle center coordinate of the wheel, the radius of the wheel, the initial position information of the first clamping portion, the first motion information of the first clamping portion, and the initial position information of the second clamping portion specifically includes:
determining the first horizontal movement distance of the first clamping part according to the circle center coordinate of the wheel, the radius of the wheel, the initial ordinate of the circle center of the first clamping part, the initial abscissa of the circle center of the first clamping part and the radius of the first clamping part, wherein the first horizontal movement distance L is1Satisfies the relationship shown in the formula (1),
wherein X is the horizontal coordinate of the circle center of the wheel, R is the radius of the wheel, and Y is4Is the initial ordinate, X, of the center of the circle of the first clamping part4Is an initial abscissa, R, of the center of the first clamping part1Is the radius of the first clamping part, L1Is the first horizontal movement distance; according to the circle center coordinate of the wheel, the radius of the wheel, the initial ordinate of the circle center of the second clamping part, the initial abscissa of the circle center of the second clamping part and the second clamping partDetermines the second horizontal movement distance L of the second clamping portion2Satisfies the relationship shown in the formula (2),
wherein X is the horizontal coordinate of the circle center of the wheel, R is the radius of the wheel, and Y is5Is the initial ordinate, X, of the center of the circle of the second clamping part5Is an initial abscissa, R, of the center of the second clamping part2Is the radius of the second clamping part, L2Is the second horizontal movement distance.
The step of determining second motion information of the second clamping portion according to the circle center coordinate of the wheel, the radius of the wheel, the initial position information of the first clamping portion, the first motion information of the first clamping portion, and the initial position information of the second clamping portion specifically includes:
determining the horizontal movement time of the first clamping part according to the first horizontal movement distance and the first horizontal movement speed of the first clamping part;
and determining the horizontal movement time of the second clamping part and the horizontal movement speed of the second clamping part according to the horizontal movement time of the first clamping part and the second horizontal movement distance.
Wherein the horizontal movement time of the first clamping part, the second horizontal movement distance, the horizontal movement time of the second clamping part, and the horizontal movement speed of the second clamping part satisfy a relationship as shown in formula (3),
wherein, T1Is the horizontal movement time of the first clamping part, T is the unfolding time of the first clamping part, T2Is the horizontal movement time, L, of the second clamping part2Is said secondHorizontal movement distance, V2Is the horizontal movement speed of the second clamping part.
The step of obtaining the coordinates of 3 points on the wheel of the vehicle to be carried specifically comprises:
acquiring coordinate differences between the three sensors with different heights and 3 points on the wheel through three sensors with different heights arranged on the carrier respectively;
and acquiring the coordinates of 3 points on the wheel according to the coordinates of the three sensors with different heights and the coordinate difference between the three sensors with different heights and the 3 points on the wheel.
Wherein the coordinates of the 3 points on the wheel and the coordinates and the radius of the center of the circle of the wheel satisfy the relationship shown in the formula (4),
wherein (X)1,Y1)、(X2,Y2)、(X3,Y3) The coordinates of 3 points on the wheel are (X, Y) the coordinates of the circle center of the wheel, and R is the radius of the wheel.
In order to solve the above technical problem, the second technical solution adopted by the present application is: providing a carrier comprising a processor and an acquisition device and a memory coupled to the processor; the acquisition device is used for acquiring data, and the memory is used for storing a computer program executed by the processor and intermediate data generated when the computer program is executed; the processor, when executing the computer program, implements the method of any of the first aspects.
Wherein the collecting device is fixed on the carrier; the acquisition device comprises at least three sensors with different heights so as to acquire the coordinates of at least 3 points on the wheels of the vehicle to be carried.
In order to solve the above technical problem, the third technical solution adopted by the present application is: there is provided a storage-enabled device having stored thereon program data executable to implement the method of any one of the first aspects.
The beneficial effect of this application is: different from the prior art, the application provides a control method of a carrier, the carrier comprises a first clamping part and a second clamping part, and the control method comprises the following steps: acquiring wheel information of a vehicle to be carried; determining second motion information of the second clamping part according to the wheel information, the initial position information of the first clamping part, the first motion information of the first clamping part and the initial position information of the second clamping part; and controlling the first clamping part to move according to the first motion information and simultaneously controlling the second clamping part to move according to the second motion information so that the first clamping part and the second clamping part simultaneously contact different positions of the wheels of the vehicle to be carried to complete the grabbing of the wheels. This application can control first clamping part and second clamping part and contact the different positions of treating the wheel of haulage vehicle simultaneously, accomplishes snatching the wheel, has improved the handling efficiency of carrier.
Drawings
FIG. 1 is a schematic structural view of an embodiment of a carrier according to the present application;
FIG. 2 is a schematic block diagram of one embodiment of the carrier of FIG. 1;
FIG. 3 is a schematic view of the structure of the collection device in the carrier of FIG. 2;
FIG. 4 is a schematic flow chart diagram illustrating an embodiment of a method for controlling a carrier according to the present application;
FIG. 5 is a schematic diagram of a method of controlling the carrier of FIG. 4;
fig. 6 is a schematic structural diagram of an embodiment of the device with a storage function according to the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, fig. 2 and fig. 3, fig. 1 is a schematic structural diagram of an embodiment of a carrier of the present application; FIG. 2 is a schematic block diagram of one embodiment of the carrier of FIG. 1; fig. 3 is a schematic structural view of the collecting device in the carrier of fig. 2.
With reference to fig. 1, 2 and 3, the carrier 10 includes a processor 11, and an acquisition device 13 and a memory 12 coupled to the processor 11; an acquisition device 13 for acquiring data, a memory 12 for storing a computer program executed by the processor 11 and intermediate data generated when the computer program is executed; the processor 11, when executing the computer program, implements: acquiring wheel information of a vehicle to be carried; determining second motion information of the second clamping portion 151 according to the wheel information, the initial position information of the first clamping portion 141, the first motion information of the first clamping portion 141, and the initial position information of the second clamping portion 151; and controlling the first clamping part 141 to move according to the first motion information, and simultaneously controlling the second clamping part 151 to move according to the second motion information, so that the first clamping part 141 and the second clamping part 151 simultaneously contact different positions of the wheel of the vehicle to be carried, and the wheel is grabbed.
In the present embodiment, the carrier 10 includes a carrier main body 14 and a clamping device 15, and the clamping device 15 is movably connected to the carrier main body 14. Both ends of the first clamping portion 141 are hinged to the carrier body 14, and one end of the second clamping portion 151 is hinged to the clamping device 15. The collecting device 13 is located on the side of the first clamping portion 141 away from the second clamping portion 151, and is fixed on the carrier 10 main body. The acquisition device 13 comprises three sensors 131 with different heights, and when the carrier 10 approaches to the wheels of the vehicle to be carried, the acquisition device 13 acquires the coordinates of 3 points on the wheels of the vehicle to be carried through the three sensors 131. In other embodiments, the capturing device 13 may include 4, 5 or more sensors 131, and it is only necessary to ensure that the capturing device 13 can acquire the coordinates of at least 3 points on the wheel of the vehicle to be handled.
Further, flanges 142 are arranged on two sides of the carrier main body 14, the collecting device 13 is connected with the flanges 142 through bolts, and the flanges 142 prevent wheels of the vehicle to be carried from sliding out of the carrier main body 14. The harvester 13 includes a base 132, an inner rail 133, and an outer rail 134. The outer guide rail 134 is sleeved on the outer surface of the inner guide rail 133, the outer guide rail 134 is movably connected with the inner guide rail 133, and the outer guide rail 134 and the inner guide rail 133 can slide relatively. The outer rail 134 is secured to the flange 142 by bolting. The base 132 is fixedly connected with the inner guide rail 133, and 3 sensors 131 are fixed on the base 132. Processor 11 controls inner rail 133 to slide relative to outer rail 134 to extend out of outer rail 134 or retract inside outer rail 134. The processor 11 controls the inner rail 133 to extend out of the outer rail 134 to collect the wheel information, and the processor 11 controls the inner rail 133 to retract into the outer rail 134 after the collection device 13 finishes collecting the wheel information, so as to prevent the wheel from colliding with the collection device 13 when entering the carrier 10.
In the present embodiment, the second clamping portion 151 is in a retracted state (i.e., the state in fig. 2) at an initial position. When the carrier body 10 and the gripping device 15 approach the wheels simultaneously, the first gripping portion 141 and the second gripping portion 151 are brought into motion from the initial positions simultaneously. Here, the second clamping portion 151 is first unfolded to allow the wheel to enter between the first clamping portion 141 and the second clamping portion 151 with respect to the carrier 10. The carrier body 10 and the clamping device 15 continue to approach the wheel at the same time, and drive the first clamping portion 141 and the second clamping portion 151 to continue to approach the wheel, so that the first clamping portion 141 contacts with the first side of the wheel, in the process that the first clamping portion 141 moves to contact with the wheel, the second clamping portion 151 crosses the wheel through translation, and is folded to contact with the wheel from the second side of the wheel, and the first clamping portion 141 and the second clamping portion 151 contact with the wheel from both sides of the wheel at the same time after completing respective movement. At this point, the wheel is grabbed.
Different from the prior art, the carrier of the embodiment comprises a first clamping part and a second clamping part, and the carrier of the embodiment acquires wheel information of a vehicle to be carried; determining second motion information of the second clamping part according to the wheel information, the initial position information of the first clamping part, the first motion information of the first clamping part and the initial position information of the second clamping part; and controlling the first clamping part to move according to the first motion information and simultaneously controlling the second clamping part to move according to the second motion information so that the first clamping part and the second clamping part simultaneously contact different positions of the wheels of the vehicle to be carried to complete the grabbing of the wheels. This application can control first clamping part and second clamping part and contact the different positions of treating the wheel of haulage vehicle simultaneously, accomplishes snatching the wheel, has improved the handling efficiency of carrier.
To specifically describe the control method of the carrier of the present application, referring to fig. 4 and 5, fig. 4 is a schematic flow chart of an embodiment of the control method of the carrier of the present application; fig. 5 is a schematic view of a control method of the carrier of fig. 4. For convenience of explanation, the present application will be described with reference to the carrier shown in fig. 1, 2, and 3. In fig. 3, the horizontal axis of the predetermined coordinate system is the direction in which the carrier 10 moves toward the wheels, and is the horizontal direction, and the vertical axis of the predetermined coordinate system is the vertical direction.
Referring to fig. 1 to 5, in the present embodiment, a method of controlling a carrier includes:
step 201: and acquiring wheel information of the vehicle to be carried.
In the present embodiment, the wheel information of the vehicle to be transported includes the center coordinates and the radius of the wheel 17. Coordinates of 3 points on the wheel 17 of the vehicle to be carried are acquired, wherein the ordinate of the 3 points is different. The center of the wheel 17 is M points. The circular coordinates and the radius of the wheel 17 are obtained from the coordinates of the 3 points. In other embodiments, the number of the points on the wheel 17 may be 4, 5, or more, and it is only necessary to ensure that the coordinates of at least 3 points on the wheel 17 are obtained, and the vertical coordinates of at least 3 points are different, which is not limited in this application.
In the present embodiment, the coordinate differences between the three sensors 131 having different heights and 3 points on the wheel 17 are obtained by the three sensors 131 having different heights provided on the carrier 10; the coordinates of 3 points on the wheel 17 are obtained from the coordinates of the three sensors 131 having different heights and the coordinate difference between the three sensors 131 having different heights and the 3 points on the wheel 17. Obviously, under the preset coordinate system, the coordinates of the 3 sensors 131 are known quantities, and the preset coordinates are not limited in this application and can be determined according to actual situations.
In one specific embodiment, the three sensors 131 are located at points a, B, and C, respectively, in the initial position. The three sensors 131 respectively acquire 3 points on the wheel 17, namely, a point D, a point E, and a point F, and the ordinate of the point D, the point E, and the point F is the same as the ordinate of the point a, the point B, and the point C. Therefore, coordinates of the D point, the E point, and the F point on the wheel 17 are obtained as (X), respectively1,Y1)、(X2,Y2)、(X3,Y3)。
Further, the center coordinates and the radius of the wheel 17 are calculated by equation (4),
wherein (X)1,Y1)、(X2,Y2)、(X3,Y3) The coordinates of 3 points on the wheel 17, (X, Y) are the coordinates of the center of the wheel 17, and R is the radius of the wheel 17.
Obviously, 3 unknowns can be solved by 3 equations, and the coordinates of the center of the circle and the radius of the wheel 17 can be obtained by solving the equation set in the formula (4).
Step 202: second motion information of the second clamping portion is determined according to the wheel information, the initial position information of the first clamping portion, the first motion information of the first clamping portion, and the initial position information of the second clamping portion 151.
In the present embodiment, the second movement information of the second clamping portion 151 is determined based on the center coordinates of the wheel 17, the radius of the wheel 17, the initial position information of the first clamping portion 141, the first movement information of the first clamping portion 141, and the initial position information of the second clamping portion 151.
In this embodiment, the first clamping portion 141 and the second clamping portion 151 are both circular rollers, the first movement information includes a first horizontal movement distance, and the second movement information includes a second horizontal movement distance.
In the present embodiment, the first clamping portion 141 is at the initial positionWhen the first clamping portion 141 is in the set position, the center of the circle is the point Q. Accordingly, the initial position information of the first clamping portion 141 at the initial position is: the initial coordinate of the circle center Q point is (X)4,Y4),Y4An initial ordinate, X, of the center of the first clamping portion 1414Which is an initial abscissa of the center of the first clamping portion 141. The position of the second clamping portion 151 relative to the first clamping portion 141 at the initial position is fixed and known. Therefore, the initial center coordinates of the second clamping portion 151 are obtained according to the initial center coordinates of the first clamping portion 141 and the relative positions of the first clamping portion 141 and the second clamping portion 151. Accordingly, the initial position information of the second clamping portion 151 at the initial position is: the initial coordinate of the circle center is (X)5,Y5),Y5An initial ordinate, X, of the center of the second clamping portion 1515Which is an initial abscissa of the center of the second clamping part 151. The relative positions of the first clamping portion 141 and the second clamping portion 151 depend on the specific design of the carrier 10, which is not limited in the present application.
In order for the first clamping portion 141 and the second clamping portion 151 to simultaneously grip the tire from both sides of the wheel 17, the first clamping portion 141 and the second clamping portion 151 need to reach both sides of the wheel 17 at the same time, respectively, and first, the distance that the first clamping portion 141 and the second clamping portion 151 need to move needs to be calculated. Assuming that the first clamping portion 141 reaches the first side of the wheel 17 after moving for the first horizontal movement distance, and the second clamping portion 151 reaches the second side of the wheel 17 after moving for the second horizontal movement distance, the first side of the wheel 17 is located on the side of the wheel 17 close to the carrier 10.
The first clamping part 141 reaches the first side of the wheel 17 after moving a first horizontal movement distance L, i.e. the center of the first clamping part 141 moves from point Q to point G1The first clamping portion 141 is tangent to the wheel 17 for the length of QG. Because the translation is carried out, the Q point is the same as the longitudinal coordinate of the G point; the first clamping portion 141 is tangent to the wheel 17, and the length of the MG is the sum of the radii of the first clamping portion 141 and the wheel 17. The first horizontal movement distance of the first clamping part 141 is determined according to the initial ordinate of the center of the first clamping part 141, the initial abscissa of the center of the first clamping part 141, and the radius of the first clamping part 141A first horizontal movement distance L1Satisfies the relationship shown in the formula (1),
wherein X is the abscissa of the center of the wheel 17, R is the radius of the wheel 17, Y4An initial ordinate, X, of the center of the first clamping portion 1414An initial abscissa, R, of the center of the first clamping portion 1411Is the radius of the first clamping portion 141, L1Is a first horizontal movement distance.
Similarly, the second clamping portion 151 reaches the second side of the wheel 17 after moving the second horizontal movement distance, the center of the second clamping portion 151 moves from the initial position to the Z point, the ordinate of the Z point is the same as the initial ordinate of the center of the second clamping portion 151, and the second clamping portion 151 is tangent to the wheel 17. The length of MZ is the sum of the radius of the second clamping portion 151 and the wheel 17. Determining a second horizontal movement distance L of the second clamping part 151 according to the circle center coordinate of the wheel 17, the radius of the wheel 17, the initial ordinate of the circle center of the second clamping part 151, the initial abscissa of the circle center of the second clamping part 151 and the radius of the second clamping part 151, wherein the second horizontal movement distance L is2Satisfies the relationship shown in the formula (2),
wherein X is the abscissa of the center of the wheel 17, R is the radius of the wheel 17, Y5An initial ordinate, X, of the center of the second clamping portion 1515An initial abscissa, R, of the center of the second clamping portion 1512Is the radius of the second clamping portion 151, L2A second horizontal movement distance.
In the present embodiment, after the first horizontal movement distance and the second horizontal movement distance are acquired, the horizontal movement time of the first clamping part 141 is determined according to the first horizontal movement distance and the first horizontal movement speed of the first clamping part 141, and the horizontal movement time of the second clamping part 151 and the horizontal movement speed of the second clamping part 151 are determined according to the horizontal movement time of the first clamping part 141 and the second horizontal movement distance.
In the present embodiment, the processor 11 controls the first clamping portion 141 to move at the first horizontal movement speed V1Uniform motion is carried out, namely the first horizontal motion distance and the first horizontal motion speed V1Is the horizontal movement time T of the first clamping part 1411. In another embodiment, the processor 11 may control the first clamping unit 141 to move at a variable speed, and calculate the horizontal movement time T of the first clamping unit 141 according to the first horizontal movement distance and the acceleration and speed of the first clamping unit 1411That is, the present application does not limit this.
In one embodiment, the second clamping portion 151 translates from an initial position to flush with the wheel 17 and expands and contracts during translation to flush with the wheel 17. Therefore, the horizontal movement time of the first clamping part 141 and the horizontal movement time of the second clamping part 151 are the same.
The horizontal movement time of the first clamping part 141, the second horizontal movement distance, the horizontal movement time of the second clamping part 151 and the horizontal movement speed of the second clamping part 151 satisfy the relationship as shown in formula (5),
wherein, T1Is the horizontal movement time, T, of the first clamping part 1412Is the horizontal movement time, L, of the second clamping part 1512For the second horizontal movement distance, V2Is the horizontal movement speed of the second clamping part 151.
In another embodiment, the second clamping portion 151 is initially deployed for an initial time T, then translated to be flush with the wheel 17, and then retracted during translation to be flush with the tire. Wherein the deployment time T depends on the performance of the carrier 10, such as 1s, 2s, etc. Therefore, the sum of the horizontal movement time of the second clamping part 151 and the development time of the second clamping part 151 is the same as the horizontal movement time of the first clamping part 141.
The horizontal movement time of the first clamping part 141, the second horizontal movement distance, the horizontal movement time of the second clamping part 151 and the horizontal movement speed of the second clamping part 151 satisfy the relationship as shown in formula (4),
wherein, T1Is the horizontal movement time of the first clamping part 141, T is the unfolding time of the second clamping part 151, T2Is the horizontal movement time, L, of the second clamping part 1512For the second horizontal movement distance, V2Is the horizontal movement speed of the second clamping part 151.
Step 203: and controlling the first clamping part to move according to the first motion information and simultaneously controlling the second clamping part to move according to the second motion information so that the first clamping part and the second clamping part simultaneously contact different positions of the wheels of the vehicle to be carried to complete the grabbing of the wheels.
In the present embodiment, the second motion information is determined. And controlling the first clamping part 141 to move according to the first motion information, and simultaneously controlling the second clamping part 151 to move according to the second motion information, so that the first clamping part 141 and the second clamping part 151 simultaneously contact different positions of the wheel 17 of the vehicle to be carried, and the wheel 17 is grabbed.
In a specific embodiment, the processor 11 controls the first and second clamping portions 141 and 151 to move from the initial positions simultaneously. The processor 11 controls the first clamping part 141 to rotate at a speed V1Move while controlling the second clamping portion 151 from the initial position at a speed V2Translated to be flush with the wheels 17 and unfolded and folded during translation to be flush with the wheels. The horizontal movement time T of the first and second clamping parts 141 and 151 in moving the first clamping part 1411And then simultaneously contact the wheels 17 from both sides, respectively, to complete the gripping of the wheels 17.
In a specific embodiment, the processor 11 controls the first clamping portion 141 and the second clamping portionThe clamping portion 151 is simultaneously moved from the initial position. Wherein the processor 11 controls the first clamping part 141 to rotate at a speed V1And meanwhile, the second clamping portion 151 is controlled to be firstly unfolded within the unfolding time T at the initial position, then translated to be flush with the wheel 17, and folded in the process of translating to be flush with the wheel 17. The horizontal movement time T of the first and second clamping parts 141 and 151 in moving the first clamping part 1411And then simultaneously contact the wheels 17 from both sides, respectively, to complete the gripping of the wheels 17.
Different from the prior art, the application provides a control method of a carrier, the carrier comprises a first clamping part and a second clamping part, and the control method comprises the following steps: acquiring wheel information of a vehicle to be carried; determining second motion information of the second clamping part according to the wheel information, the initial position information of the first clamping part, the first motion information of the first clamping part and the initial position information of the second clamping part; and controlling the first clamping part to move according to the first motion information and simultaneously controlling the second clamping part to move according to the second motion information so that the first clamping part and the second clamping part simultaneously contact different positions of the wheels of the vehicle to be carried to complete the grabbing of the wheels. This application can control first clamping part and second clamping part and contact the different positions of treating the wheel of haulage vehicle simultaneously, accomplishes snatching the wheel, has improved the handling efficiency of carrier.
Referring to fig. 6, fig. 6 is a schematic structural diagram of an embodiment of a device with a storage function according to the present application. The means 60 with storage function has stored therein at least one program or instructions 61, the program or instructions 61 being adapted to implement any of the methods described above. In one embodiment, an apparatus having a storage function includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
This application can control first clamping part and second clamping part and contact the different positions of treating the wheel of haulage vehicle simultaneously, accomplishes snatching the wheel, has improved the handling efficiency of carrier.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a module or a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application.
The above embodiments are merely examples and are not intended to limit the scope of the present disclosure, and all modifications, equivalents, and flow charts using the contents of the specification and drawings of the present disclosure or those directly or indirectly applied to other related technical fields are intended to be included in the scope of the present disclosure.
Claims (6)
1. A method of controlling a carrier, the carrier including a first clamping portion and a second clamping portion, the method comprising:
acquiring wheel information of a vehicle to be carried;
determining second motion information of the second clamping part according to the wheel information, the initial position information of the first clamping part, the first motion information of the first clamping part and the initial position information of the second clamping part;
controlling the first clamping part to move according to the first motion information, and simultaneously controlling the second clamping part to move according to the second motion information, so that the first clamping part and the second clamping part simultaneously contact different positions of wheels of the vehicle to be carried, and the wheels are grabbed;
the step of obtaining the wheel information of the vehicle to be carried specifically comprises:
acquiring coordinates of at least 3 points on the wheels of the vehicle to be carried, wherein the vertical coordinates of at least 3 points are different,
obtaining the circle center coordinate and the radius of the wheel according to the coordinates of the at least 3 points;
the step of determining second motion information of the second clamping portion according to the wheel information, the initial position information of the first clamping portion, the first motion information of the first clamping portion, and the initial position information of the second clamping portion specifically includes:
determining second motion information of the second clamping part according to the circle center coordinate of the wheel, the radius of the wheel, the initial position information of the first clamping part, the first motion information of the first clamping part and the initial position information of the second clamping part; the first clamping part and the second clamping part are both round rollers, the first motion information comprises a first horizontal motion distance, and the second motion information comprises a second horizontal motion distance;
the step of determining second motion information of the second clamping portion according to the circle center coordinate of the wheel, the radius of the wheel, the initial position information of the first clamping portion, the first motion information of the first clamping portion, and the initial position information of the second clamping portion specifically includes:
determining the first horizontal movement distance of the first clamping part according to the circle center coordinate of the wheel, the radius of the wheel, the initial ordinate of the circle center of the first clamping part, the initial abscissa of the circle center of the first clamping part and the radius of the first clamping part, wherein the first horizontal movement distance L is1Satisfies the relationship shown in the formula (1),
wherein X is the horizontal coordinate of the circle center of the wheel, R is the radius of the wheel, and Y is4Is the initial ordinate, X, of the center of the circle of the first clamping part4Is an initial abscissa, R, of the center of the first clamping part1Is the radius of the first clamping part, L1Is the first horizontal movement distance;
determining the second horizontal movement distance of the second clamping part according to the circle center coordinate of the wheel, the radius of the wheel, the initial ordinate of the circle center of the second clamping part, the initial abscissa of the circle center of the second clamping part and the radius of the second clamping part, wherein the second horizontal movement distance L is2Satisfies the relationship shown in the formula (2),
wherein X is the horizontal coordinate of the circle center of the wheel, R is the radius of the wheel, and Y is5Is the initial ordinate, X, of the center of the circle of the second clamping part5Is an initial abscissa, R, of the center of the second clamping part2Is the radius of the second clamping part, L2Is the second horizontal movement distance;
the step of determining second motion information of the second clamping portion according to the circle center coordinate of the wheel, the radius of the wheel, the initial position information of the first clamping portion, the first motion information of the first clamping portion, and the initial position information of the second clamping portion specifically further includes:
determining the horizontal movement time of the first clamping part according to the first horizontal movement distance and the first horizontal movement speed of the first clamping part;
determining the horizontal movement time of the second clamping part and the horizontal movement speed of the second clamping part according to the horizontal movement time of the first clamping part and the second horizontal movement distance;
the horizontal movement time of the first clamping part, the second horizontal movement distance, the horizontal movement time of the second clamping part and the horizontal movement speed of the second clamping part satisfy the relationship shown in formula (3),
wherein, T1Is the horizontal movement time of the first clamping part, T is the unfolding time of the second clamping part, T2Is the horizontal movement time, L, of the second clamping part2For the second horizontal movement distance, V2Is the horizontal movement speed of the second clamping part.
2. The control method according to claim 1, wherein the step of acquiring coordinates of 3 points on the wheel of the vehicle to be handled specifically comprises:
acquiring coordinate differences between the three sensors with different heights and 3 points on the wheel through three sensors with different heights arranged on the carrier respectively;
and acquiring the coordinates of 3 points on the wheel according to the coordinates of the three sensors with different heights and the coordinate difference between the three sensors with different heights and the 3 points on the wheel.
3. The control method according to claim 1, wherein the coordinates of 3 points on the wheel and the coordinates of the center of the circle and the radius of the wheel satisfy a relationship as shown in formula (4),
wherein (X)1,Y1)、(X2,Y2)、(X3,Y3) The coordinates of 3 points on the wheel are respectively shown, (X, Y) are the coordinates of the circle center of the wheel, and R is the radius of the wheel.
4. A carrier comprising a processor and an acquisition device and memory coupled to the processor; the acquisition device is used for acquiring data, and the memory is used for storing a computer program executed by the processor and intermediate data generated when the computer program is executed; the processor, when executing the computer program, implementing the method of any of claims 1-3.
5. The carrier of claim 4, wherein said collection device is secured to said carrier; the acquisition device comprises at least three sensors with different heights so as to acquire the coordinates of at least 3 points on the wheels of the vehicle to be carried.
6. An apparatus having a storage function, characterized in that the apparatus having a storage function stores program data executable to implement the method of any one of claims 1-3.
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| CN201910041227.3A CN109681015B (en) | 2019-01-16 | 2019-01-16 | Method for controlling carrier, and device having storage function |
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| IT1271716B (en) * | 1994-11-09 | 1997-06-04 | Roberto Siviero | PERFECT EQUIPMENT FOR THE USE OF BICYCLES IN WATER |
| JPH08151818A (en) * | 1994-11-29 | 1996-06-11 | Sumitomo Heavy Ind Ltd | Car stopper device on pallet in mechanical parking garage |
| JP3511617B2 (en) * | 1997-12-08 | 2004-03-29 | 日産自動車株式会社 | Automatic guided vehicle |
| JP4749442B2 (en) * | 2008-05-28 | 2011-08-17 | Ｉｈｉ運搬機械株式会社 | Vehicle moving device |
| CN102864954A (en) * | 2012-09-21 | 2013-01-09 | 北京宏地车港科技有限公司 | Longitudinal shifting carrier for cars |
| CN104120906B (en) * | 2014-07-22 | 2016-06-15 | 四川理工学院 | Multi-storied garage intelligent floor truck |
| US9828094B2 (en) * | 2015-07-26 | 2017-11-28 | John B. McMillion | Autonomous cleaning system |
| CN105888338B (en) * | 2016-05-26 | 2017-05-03 | 山东建筑大学 | UWB-positioning-based intelligent automobile transfer robot and control method thereof |
| CN206346543U (en) * | 2016-12-27 | 2017-07-21 | 沈阳通用机器人技术股份有限公司 | A kind of vehicle tyre clamping device and automatic transporting device |
| CN107269076B (en) * | 2017-05-22 | 2019-04-12 | 北京泊宝机器人科技有限公司 | A kind of wheel alignment method and system of vehicle carrier |
| CN107486860A (en) * | 2017-09-05 | 2017-12-19 | 毛慧 | A kind of control method of engineering machinery mechanical arm |
| CN107605207A (en) * | 2017-10-31 | 2018-01-19 | 杭州极木科技有限公司 | A kind of intelligent parking robot and its control method |
| CN108868265B (en) * | 2018-09-21 | 2023-08-22 | 江苏润邦智能车库股份有限公司 | Distributed hydraulic drive's car carrier |
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Denomination of invention: Carrier control method, carrier and device with storage function Effective date of registration: 20220926 Granted publication date: 20201225 Pledgee: Shenzhen hi tech investment small loan Co.,Ltd. Pledgor: SHENZHEN YEEFUNG ROBOTICS & DYNAMICS Ltd. Registration number: Y2022980016392 |
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