CN109814097A - A kind of automobile parking body sway detection system - Google Patents
A kind of automobile parking body sway detection system Download PDFInfo
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Abstract
The invention discloses a kind of automobile parking body sway detection systems, comprising: landing, radar system, industrial personal computer and electronic display；Landing is equipped with parallel driving passageway, the first side line and the second side line；Radar system scans the first side line of covering and the second side line respectively；Industrial personal computer connection radar system simultaneously receives its inductive signal；Include memory module and inclination logic module in industrial personal computer, has instruction video to the left and instruction video to the right in memory module；Inclination logic module, which is used to export instruction video to the left to electronic display when industrial personal computer receives the first scanning signal, to be played out, when receiving the second scanning signal by instruction video to the right and output to electronic display plays out.The present invention can carry out the detection and prompt of vehicle body lateral deviation situation to the automobile driven on landing, it is ensured that automobile stop improves the working efficiency of AGV vehicle in the specified region in parking passageway.
Description
Technical field
The invention belongs to automated guided vehicle field technical field, relate in particular to a kind of for driving into AGV vehicle
The vehicle body lateral deviation detection system of automobile on landing.
Background technique
With advances in technology, AGV (Automated Guilded Vehicle) vehicle as it is a kind of have safeguard protection and
The carrier of transfer function, because its supermatic characteristic, is widely used in mechanical stereo parking garage field.Practice
In, it needs to be arranged a landing and is parked in thereon for automobile, be then moved on the downside of landing with AGV vehicle and obtain park
Automobile and being carried remove.Existing parking alignment system function is relatively simple, detection accuracy is not high and can not be to car owner
Parking position prompted and standardized, once car owner by automobile stop it is askew, will appear in handling process automobile and column or other
The case where automobile collides.Therefore, a kind of novel automobile parking body sway detection system how is developed, it can be to sailing
The automobile entered on landing carries out the detection of vehicle body lateral deviation situation, and exports indication signal in real time, is those skilled in the art
The direction for needing to study.
Summary of the invention
It, can be to driving on landing the object of the present invention is to provide a kind of automobile parking body sway detection system
Automobile carries out the detection and prompt of vehicle body lateral deviation situation, improves the working efficiency of AGV vehicle.
The technical scheme adopted is as follows:
A kind of automobile parking body sway detection system, comprising: landing, radar system, industrial personal computer and electronical display
Screen；The landing side is dock door, the other side is platform outlet；It is equipped between the dock door and platform outlet
Driving passageway parallel to each other, the first side line and the second side line；First side line and the second side line are located at driving passageway
The left and right sides；The radar system includes the first radar and the second radar；First radar is for scanning the first side line of covering
And enters when it scans coverage area in body of a motor car and export the first scanning signal；Second radar is for scanning covering second
Side line simultaneously exports the second scanning signal when body of a motor car enters its scanning coverage area；The industrial personal computer is separately connected the first thunder
Up to the second radar；Include memory module and inclination logic module in the industrial personal computer, has finger to the left in the memory module
Show video and instruction video to the right；The inclination logic module is used for finger to the right when industrial personal computer receives the first scanning signal
Show that video is exported to electronic display play out, when receiving the second scanning signal by instruction video to the left and export to electricity
Sub- display screen plays out.The instruction video to the left is for prompting car owner when front of the car is in position to the left；The finger to the right
Show video for prompting car owner when front of the car is in position to the right.
By using this technical solution: scanning the two sides in driving passageway respectively with the first radar and the second radar；Work as vapour
Scanning signal is generated when vehicle left/right lateral deviation causes vehicle body to enter the first radar/second radar scanning coverage area feeds back to work
In control machine.Industrial personal computer according to the scanning signal of the feedback accordingly export on the electronic display screen corresponding instruction video to the left/partially
Right instruction video carries out the detection of vehicle body left and right directions lateral deviation situation to the automobile driven on landing and mentions to realize
Show.
Preferably, in above-mentioned automobile parking body sway detection system: further including the infrared light curtain sense for connecting industrial personal computer
System is answered, the infrared light curtain induction system includes the first light curtain that is parallel to each other and being installed at left and right sides of driving passageway
Group, the second light curtain group, third light curtain group and the 4th light curtain group；First light curtain is mounted on dock door side, the described 4th
Light curtain is mounted on platform outlet side；The third light curtain group is between the first light curtain group and the 4th light curtain group；Described second
Light curtain group is between the first light curtain group and third light curtain group；The first light curtain group, which is used to generate, crosses the first of driving passageway
Light curtain simultaneously feeds back the first inductive signal to industrial personal computer when body of a motor car reaches the first light curtain；The second light curtain group is for generating
It crosses second light curtain in driving passageway and the second inductive signal is fed back to industrial personal computer when body of a motor car reaches the second light curtain；It is described
Third light curtain group be used for generates cross driving passageway third light curtain and body of a motor car arrival third light curtain when it is anti-to industrial personal computer
Present third inductive signal；The 4th light curtain group is used to generate the 4th light curtain for crossing driving passageway and in body of a motor car arrival the
The 4th inductive signal is fed back to industrial personal computer when four light curtains；In the industrial personal computer include ahead logic module and hysteresis logic module,
There are advanced instruction video and lag instruction video in the memory module；The ahead logic module is used to receive in industrial personal computer
Advanced instruction video is exported to electronic display when to the second inductive signal and four inductive signals and is played out；The lag
Logic module for that will indicate that video is exported to electricity when industrial personal computer receives the first inductive signal and third inductive signal in advance
Sub- display screen plays out.The advanced instruction video is for prompting car owner when front of the car position is advanced；The instruction view to the right
Frequency is for prompting car owner to lag when front vehicle position.
By using this technical solution: with infrared light curtain induction vehicle body currently driving passageway extending direction on locating for
Position simultaneously exports corresponding inductive signal when vehicle body reaches light curtain.When body of a motor car triggers the second inductive signal and the 4th simultaneously
When inductive signal, illustrate that vehicle body is in advance position at this time.Industrial personal computer will indicate video by ahead logic module in advance at this time
Output to electronic display plays out；When body of a motor car triggers the first inductive signal and third inductive signal simultaneously, explanation
Vehicle body is in lag position at this time.Industrial personal computer will be late by indicating that video is exported to electronic display by hysteresis logic module at this time
It plays out.To realize the detection and prompt that carry out vehicle body front-rear direction lateral deviation situation to the automobile driven on landing.
Preferably, in above-mentioned automobile parking body sway detection system: the second light curtain group and third light curtain group it
Between between be divided into 2 meters, between the first light curtain group and the 4th light curtain group between be divided into 5.2 meters, further include in the industrial personal computer
It is detached from logic module, has disengaging prompt video in the memory module；The disengaging logic module be used for industrial personal computer simultaneously
It will be disengaged from instruction video when receiving the first inductive signal and four inductive signals to export to electronic display and play out.It is detached from
Instruction video is for prompting driver to be driven out to from landing immediately.
By using this technical solution: being the longest vehicle body length allowed with the distance between the first light curtain and the 4th light curtain
Degree, the distance between the second light curtain and third light curtain be the most short length of wagon of permission, when the first light curtain and the 4th light curtain simultaneously
Detect the vehicle body of vehicle, it was demonstrated that the vehicle body being currently located on landing is too long, does not meet and parks requirement, and industrial personal computer passes through aobvious
Display screen output is detached from instruction video, driver is reminded to be driven out to immediately.
Compared with prior art, the present invention can carry out the detection of vehicle body lateral deviation situation to the automobile driven on landing
And prompt, improve the work and control efficiency of AGV vehicle.
Detailed description of the invention
Present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments:
Fig. 1 is the structural schematic diagram of embodiment 1；
Fig. 2 is the logic module block diagram of industrial personal computer.
Each appended drawing reference and component names corresponding relationship are as follows:
1, landing；2, radar system；3, industrial personal computer；4, electronic display；5, infrared light curtain induction system；11, it puts down
Platform entrance；12, platform exports；13, driving passageway；14, the first side line；15, the second side line；21, the first radar；22, the second thunder
It reaches；31, memory module；32, logic module is tilted；33, ahead logic module；34, hysteresis logic module；35, it is detached from logic mould
Block；51, the first light curtain group；52, the second light curtain group；53, third light curtain group；54, the 4th light curtain group.
Specific embodiment
In order to illustrate more clearly of technical solution of the present invention, it is further described below in conjunction with each embodiment.
As shown in Figs. 1-2 it is embodiment 1:
A kind of automobile parking body sway detection system comprising landing 1, radar system 2, industrial personal computer 3, electronic display
Display screen 4 and infrared light curtain induction system 5.
The landing side is dock door 11, the other side is platform outlet 12；The dock door 11 and platform
Driving passageway 13 parallel to each other, the first side line 14 and the second side line 15 are equipped between outlet 12；First side line 14 and
Two side lines 15 are located at 13 left and right sides of driving passageway；The radar system 2 includes the first radar 21 and the second radar 22；Institute
State the first radar 21 for scan the first side line 14 of covering and enter to export when it scans coverage area in body of a motor car and first sweep
Retouch signal；Second radar 22 is for scanning the second side line 15 of covering and entering in body of a motor car defeated when it scans coverage area
Second scanning signal out；Specifically, the scanning range of the first radar and the second radar is respectively to be located at driving passageway 13 or so
90 degree of two sides, the region of width 5.4mX high 2.2m, this region can be subdivided into 12 spacing again and differ, and area is adjustable
Minizone.
The infrared light curtain induction system 5 includes four groups of light curtain groups for being parallelly mounted to 13 left and right sides of driving passageway.Tool
Body includes: the first light curtain group 51 set on 11 side of dock door, the 4th light curtain group 54 set on platform outlet side；Positioned at
Third light curtain group 53 between one light curtain group 51 and the 4th light curtain group 54；It is described to be located at the first light curtain group 51 and third light curtain group 53
Between the second light curtain group 52；The first light curtain group 51 is used to generate the first light curtain for crossing driving passageway 13 and in Automobile
The first inductive signal is fed back to industrial personal computer 3 when body reaches the first light curtain；The second light curtain group 52 was driven a vehicle for generating to cross
Second light curtain in road 13 simultaneously feeds back the second inductive signal to industrial personal computer 3 when body of a motor car reaches the second light curtain；The third light
Curtain group 53 is used to generate the third light curtain for crossing driving passageway 13 and feeds back when body of a motor car reaches third light curtain to industrial personal computer 3
Third inductive signal；The 4th light curtain group 54 is used to generate the 4th light curtain for crossing driving passageway 13 and reaches in body of a motor car
The 4th inductive signal is fed back to industrial personal computer 3 when four light curtains；The distance between second light curtain 52 and third light curtain 53 are 2 meters.Institute
5.2m is divided between stating between the first light curtain group 51 and the 4th light curtain group 54.It include memory module 31, inclination in the industrial personal computer 3
Logic module 32, ahead logic module 33, hysteresis logic module 34 and disengaging logic module 35.Have in the memory module 31
Instruction video to the left, instruction video to the right indicate video, lag instruction video and disengaging instruction video in advance；The inclination is patrolled
Module 32 is collected to carry out for exporting instruction video to the right to electronic display 4 when industrial personal computer 3 receives the first scanning signal
It plays, when receiving the second scanning signal by instruction video to the left and output is played out to electronic display 4.It is described advanced
Logic module 33 is used to indicate that in advance video is defeated when industrial personal computer 3 receives the second inductive signal and four inductive signals simultaneously
It is played out out to electronic display 4；The hysteresis logic module 34 is used to receive the first inductive signal simultaneously in industrial personal computer 3
It is played out with exporting advanced instruction video to electronic display 4 when third inductive signal.The disengaging logic module 35 is used
It exports in will be disengaged from instruction video when industrial personal computer 3 receives the first inductive signal and four inductive signals simultaneously to electronical display
Screen 4 plays out.
In practice, by the body of a motor car lateral deviation detection method of above system realization, its process is as follows:
S1: the two sides in driving passageway are scanned respectively with the first radar and the second radar；When automobile left/right lateral deviation leads to vehicle body
Scanning signal is generated when into the first radar/second radar scanning coverage area to feed back in industrial personal computer；
S2: the scanning signal that industrial personal computer is fed back according to S1 accordingly exports corresponding instruction view to the left on the electronic display screen
Frequently/instruction video to the right；
S3: the first light curtain and the first induction of feedback letter when body of a motor car reaches the first light curtain are generated with the first light curtain group 51
Number；Second light curtain group 52 generates the second light curtain and feeds back the second inductive signal when body of a motor car reaches the second light curtain；Third light
Curtain group 53 generates third light curtain and feeds back third inductive signal when body of a motor car reaches third light curtain；4th light curtain group 54 generates
4th light curtain simultaneously feeds back the 4th inductive signal when body of a motor car reaches four light curtains；
S4: when body of a motor car triggers the second inductive signal and four inductive signals simultaneously, industrial personal computer 3 passes through ahead logic
Module 33 will indicate that video is exported to electronic display 4 in advance and play；When body of a motor car triggers the first inductive signal and the simultaneously
When three inductive signals, illustrate that vehicle body is in lag position at this time.Industrial personal computer 3 will be late by indicating by hysteresis logic module 34 at this time
Video is exported to electronic display 4 and is played out；
S5: when body of a motor car triggers the first inductive signal and four inductive signals simultaneously, industrial personal computer 3 passes through electronical display
4 output of screen is detached from instruction video, driver is reminded to be driven out to immediately.
The above, only specific embodiments of the present invention, but scope of protection of the present invention is not limited thereto, it is any ripe
The technical staff of art technology is known in technical scope disclosed by the invention, any changes or substitutions that can be easily thought of, should all contain
Lid is within protection scope of the present invention.Protection scope of the present invention is subject to the scope of protection of the claims.
Claims (3)
1. a kind of automobile parking body sway detection system, it is characterised in that: including landing (1), radar system (2), work
Control machine (3) and electronic display (4)；
Landing (1) side is dock door (11), the other side is platform outlet (12)；The dock door (11) with
Platform, which exports, is equipped with driving passageway (13) parallel to each other, the first side line (14) and the second side line (15) between (12)；Described
One side line (14) and the second side line (15) are located at left and right sides of driving passageway (13)；
The radar system (2) includes the first radar (21) and the second radar (22)；First radar (21) is covered for scanning
The first side line of lid (14) simultaneously exports the first scanning signal when body of a motor car enters its scanning coverage area；Second radar
(22) the second scanning signal is exported for scanning covering the second side line (15) and entering when it scans coverage area in body of a motor car；
The industrial personal computer (3) is separately connected the first radar (21) and the second radar (22)；It include memory module in the industrial personal computer (3)
(31) and logic module (32) are tilted, has instruction video to the left and instruction video to the right in the memory module (31)；It is described
Inclination logic module (32) is for exporting instruction video to the right to electronic display when industrial personal computer (3) receives the first scanning signal
Display screen (4) plays out, carries out instruction video to the left and exporting to electronic display (4) when receiving the second scanning signal
It plays.
2. automobile parking body sway detection system as described in claim 1, it is characterised in that: further include connection industrial personal computer (3)
Infrared light curtain induction system (5), the infrared light curtain induction system (5) include it is parallel to each other and be installed on driving passageway
(13) the first light curtain group (51), the second light curtain group (52), third light curtain group (53) and the 4th light curtain group (54) at left and right sides of；
The first light curtain group (51) is set to dock door (11) side, the 4th light curtain group (54) is set to platform outlet one
Side；The third light curtain group (53) is between the first light curtain group (51) and the 4th light curtain group (54)；The second light curtain group
(52) between the first light curtain group (51) and third light curtain group (53)；
The first light curtain group (51) is used to generate the first light curtain for crossing driving passageway (13) and reaches first in body of a motor car
The first inductive signal is fed back to industrial personal computer (3) when light curtain；The second light curtain group (52) crosses driving passageway (13) for generating
The second light curtain and body of a motor car reach the second light curtain when to industrial personal computer (3) feed back the second inductive signal；The third light curtain
Group (53) is used to generate the third light curtain for crossing driving passageway (13) and when body of a motor car reaches third light curtain to industrial personal computer (3)
Feed back third inductive signal；The 4th light curtain group (54) is used to generate the 4th light curtain for crossing driving passageway (13) and in automobile
The 4th inductive signal is fed back to industrial personal computer (3) when vehicle body reaches four light curtains；
It further include ahead logic module (33) and hysteresis logic module (34), the memory module (31) in the industrial personal computer (3)
In have advanced instruction video and lag instruction video；The ahead logic module (33) for receiving simultaneously in industrial personal computer (3)
It will indicate that video is exported to electronic display (4) in advance when to the second inductive signal and four inductive signals to play out；It is described
Hysteresis logic module (34) is used to refer in advance when industrial personal computer (3) receives the first inductive signal and third inductive signal simultaneously
Show that video is exported to electronic display (4) to play out.
3. automobile parking body sway detection system as claimed in claim 2, it is characterised in that: the second light curtain group and third
2 meters are divided between light curtain group, between the first light curtain group and the 4th light curtain group between be divided into 5.2 meters, the industrial personal computer
(3) further include being detached from logic module (35) in, have disengaging prompt video in the memory module (31)；The disengaging logic mould
Block (35) is used to will be disengaged from instruction video output when industrial personal computer (3) receives the first inductive signal and four inductive signals simultaneously
It is played out to electronic display (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910110484.8A CN109814097B (en) | 2019-02-11 | 2019-02-11 | Automobile parking body inclination detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910110484.8A CN109814097B (en) | 2019-02-11 | 2019-02-11 | Automobile parking body inclination detection system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109814097A true CN109814097A (en) | 2019-05-28 |
| CN109814097B CN109814097B (en) | 2021-01-12 |
Family
ID=66606351
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910110484.8A Expired - Fee Related CN109814097B (en) | 2019-02-11 | 2019-02-11 | Automobile parking body inclination detection system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109814097B (en) |
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| CN108344365A (en) * | 2017-12-15 | 2018-07-31 | 广西云高智能停车设备有限公司 | Mechanical Three-dimensional Garage carries out intelligent contour detecting control method to vehicle |
| CN207686385U (en) * | 2017-12-26 | 2018-08-03 | 谭子轩 | A kind of auxiliary device of specification parking |
| CN207944761U (en) * | 2017-12-29 | 2018-10-09 | 广东嘉腾机器人自动化有限公司 | AGV self-navigation parking systems |
| CN109213173A (en) * | 2018-09-30 | 2019-01-15 | 青岛港国际股份有限公司 | A kind of AGV passes in and out the Anti-bumping protection method of interaction bracket |
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2019
- 2019-02-11 CN CN201910110484.8A patent/CN109814097B/en not_active Expired - Fee Related
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|---|---|---|---|---|
| AU6996498A (en) * | 1997-06-06 | 1998-12-10 | Park Plus Incorporated | Vehicle handling system |
| JP2001146853A (en) * | 1999-11-24 | 2001-05-29 | Mitsubishi Electric Corp | Parking guide device |
| CN101554877A (en) * | 2009-05-21 | 2009-10-14 | 方岫頔 | Gauge-exceeding laser monitoring and alarming system of suspension train |
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| CN202304997U (en) * | 2011-07-04 | 2012-07-04 | 山西国强称重设备有限公司 | Non-parking quick monitoring system of road axle load scale |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109814097B (en) | 2021-01-12 |
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