CN109814097B - Automobile parking body inclination detection system - Google Patents
Automobile parking body inclination detection system Download PDFInfo
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- CN109814097B CN109814097B CN201910110484.8A CN201910110484A CN109814097B CN 109814097 B CN109814097 B CN 109814097B CN 201910110484 A CN201910110484 A CN 201910110484A CN 109814097 B CN109814097 B CN 109814097B
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Abstract
The invention discloses a system for detecting the inclination of a parked automobile body, which comprises: the parking system comprises a parking platform, a radar system, an industrial personal computer and an electronic display screen; the parking platform is provided with parallel driving passageways, a first side passageway and a second side passageway; respectively scanning and covering a first side road and a second side road by a radar system; the industrial personal computer is connected with the radar system and receives the induction signal of the radar system; the industrial personal computer comprises a storage module and an inclination logic module, wherein a left deviation indicating video and a right deviation indicating video are stored in the storage module; the inclination logic module is used for outputting the left-leaning indicating video to the electronic display screen for playing when the industrial personal computer receives the first scanning signal and outputting the right-leaning indicating video to the electronic display screen for playing when the industrial personal computer receives the second scanning signal. The invention can detect and prompt the vehicle body lateral deviation condition of the vehicle running into the parking platform, ensures that the vehicle stops in the designated area of the parking aisle, and improves the working efficiency of the AGV.
Description
Technical Field
The invention belongs to the technical field of automatic guided vehicles, and particularly relates to a vehicle body lateral deviation detection system for a vehicle running into an AGV parking platform.
Background
With the progress of technology, an agv (automated guided vehicle) is widely used in the field of mechanical stereo parking garage as a transportation vehicle with safety protection and transfer functions due to its highly automated characteristic. In practice, a parking platform is required to be provided for the car to park on, and then the parked car is picked up and transported away with the AGV moving to the underside of the parking platform. The existing parking alignment system has the advantages of single function, low detection precision and incapability of prompting and standardizing the parking position of a vehicle owner, and once the vehicle owner stops the vehicle askew, the condition that the vehicle collides with a stand column or other vehicles in the carrying process can occur. Therefore, how to develop a novel system for detecting the inclination of a parked car body, which can detect the lateral deviation of the car body of the car running on the parking platform and output an indication signal in real time, is a direction that needs to be studied by those skilled in the art.
Disclosure of Invention
The invention aims to provide a system for detecting the inclination of a parked automobile body, which can detect and prompt the lateral deviation of the automobile body of an automobile driven into a parking platform and improve the working efficiency of an AGV.
The technical scheme is as follows:
a parked vehicle body lean detection system, comprising: the parking system comprises a parking platform, a radar system, an industrial personal computer and an electronic display screen; one side of the parking platform is a platform inlet, and the other side of the parking platform is a platform outlet; a travelling crane passageway, a first side channel and a second side channel which are parallel to each other are arranged between the platform inlet and the platform outlet; the first side road and the second side road are respectively positioned at the left side and the right side of the driving passage; the radar system comprises a first radar and a second radar; the first radar is used for scanning and covering the first side road and outputting a first scanning signal when the automobile body enters the scanning and covering range of the automobile body; the second radar is used for scanning and covering the second side road and outputting a second scanning signal when the automobile body enters the scanning and covering range of the automobile body; the industrial personal computer is respectively connected with the first radar and the second radar; the industrial personal computer comprises a storage module and an inclination logic module, wherein a left deviation indicating video and a right deviation indicating video are stored in the storage module; the inclination logic module is used for outputting the right deviation indicating video to the electronic display screen for playing when the industrial personal computer receives the first scanning signal and outputting the left deviation indicating video to the electronic display screen for playing when the industrial personal computer receives the second scanning signal. The left deviation indicating video is used for prompting the owner that the current vehicle body is in a left deviation position; the right deviation indicating video is used for prompting the owner that the current vehicle body is in a right deviation position.
By adopting the technical scheme: respectively scanning two sides of a driving passageway by using a first radar and a second radar; when the left/right side deviation of the automobile causes the automobile body to enter the scanning coverage range of the first radar/the second radar, scanning signals are generated and fed back to the industrial personal computer. And the industrial personal computer correspondingly outputs corresponding left indication video/right indication video on the electronic display screen according to the fed-back scanning signal, so that the detection and prompt of the lateral deviation condition of the automobile body in the left and right directions of the automobile running into the parking platform are realized.
Preferably, in the above-described parked vehicle body inclination detection system: the system comprises an industrial personal computer, a first light curtain group, a second light curtain group, a third light curtain group and a fourth light curtain group, wherein the first light curtain group, the second light curtain group, the third light curtain group and the fourth light curtain group are parallel to each other and are arranged on the left side and the right side of a driving aisle; the first light curtain group is arranged on one side of the platform inlet, and the fourth light curtain group is arranged on one side of the platform outlet; the third light curtain group is positioned between the first light curtain group and the fourth light curtain group; the second light curtain group is positioned between the first light curtain group and the third light curtain group; the first light curtain group is used for generating a first light curtain crossing a driving passageway and feeding back a first sensing signal to the industrial personal computer when an automobile body reaches the first light curtain; the second light curtain group is used for generating a second light curtain crossing the driving passageway and feeding back a second sensing signal to the industrial personal computer when the automobile body reaches the second light curtain; the third light curtain group is used for generating a third light curtain crossing the driving passage and feeding back a third sensing signal to the industrial personal computer when the automobile body reaches the third light curtain; the fourth light curtain group is used for generating a fourth light curtain crossing the driving passage and feeding back a fourth sensing signal to the industrial personal computer when the automobile body reaches the fourth light curtain; the industrial personal computer comprises an advance logic module and a lag logic module, and an advance indication video and a lag indication video are stored in the storage module; the advanced logic module is used for outputting an advanced indication video to the electronic display screen for playing when the industrial personal computer receives the second induction signal and the fourth induction signal; and the lag logic module is used for outputting lag indication video to the electronic display screen for playing when the industrial personal computer receives the first induction signal and the third induction signal. The advanced indication video is used for prompting the advance of the current vehicle body position of the vehicle owner; the right deviation indication video is used for prompting the vehicle owner that the current vehicle position lags.
By adopting the technical scheme: the infrared light curtain is used for sensing the position of the vehicle body in the extending direction of the driving passageway and outputting a corresponding sensing signal when the vehicle body reaches the light curtain. When the automobile body triggers the second induction signal and the fourth induction signal simultaneously, the automobile body is in an advanced position at the moment. At the moment, the industrial personal computer outputs the advanced indication video to the electronic display screen through the advanced logic module for playing; when the automobile body triggers the first induction signal and the third induction signal simultaneously, the automobile body is in a lagging position at the moment. At the moment, the industrial personal computer outputs the lag indication video to the electronic display screen through the lag logic module for playing. Therefore, the detection and prompt of the lateral deviation condition of the automobile body in the front and back directions of the automobile driven into the parking platform are realized.
Preferably, in the above-described parked vehicle body inclination detection system: the interval between the second light curtain group and the third light curtain group is 2 meters, the interval between the first light curtain group and the fourth light curtain group is 5.2 meters, the industrial personal computer further comprises a separation logic module, and a separation prompt video is stored in the storage module; and the separation logic module is used for outputting a separation indication video to the electronic display screen for playing when the industrial personal computer simultaneously receives the first induction signal and the fourth induction signal. The disengagement indication video is used for prompting the driver to immediately pull out from the parking platform.
By adopting the technical scheme: the distance between the first light curtain and the fourth light curtain is used as the allowed longest automobile body length, the distance between the second light curtain and the third light curtain is used as the allowed shortest automobile body length, when the first light curtain and the fourth light curtain simultaneously detect the automobile body of the automobile, the current automobile body on the parking platform is proved to be too long, the parking requirement is not met, and the industrial personal computer outputs the separation indication video through the display screen and reminds the driver to immediately drive out.
Compared with the prior art, the method and the system can detect and prompt the vehicle body lateral deviation condition of the vehicle running into the parking platform, and improve the working and control efficiency of the AGV.
Drawings
The invention will be described in further detail with reference to the following detailed description and accompanying drawings:
FIG. 1 is a schematic structural view of example 1;
FIG. 2 is a block diagram of logic modules of an industrial personal computer.
The correspondence between each reference numeral and the part name is as follows:
1. a parking platform; 2. a radar system; 3. an industrial personal computer; 4. an electronic display screen; 5. an infrared light curtain sensing system; 11. a platform entrance; 12. a platform outlet; 13. a driving aisle; 14. a first side road; 15. a second side road; 21. a first radar; 22. a second radar; 31. a storage module; 32. a tilt logic module; 33. a look ahead logic module; 34. a hysteresis logic module; 35. a detach logic module; 51. a first light curtain group; 52. a second light curtain group; 53. a third light curtain group; 54. and a fourth light curtain group.
Detailed Description
In order to more clearly illustrate the technical solution of the present invention, the following will be further described with reference to various embodiments.
Example 1 as shown in fig. 1-2:
the utility model provides a car parking automobile body inclination detecting system, its includes parking platform 1, radar system 2, industrial computer 3, electronic display screen 4 and infrared light curtain induction system 5.
One side of the parking platform is provided with a platform inlet 11, and the other side of the parking platform is provided with a platform outlet 12; a travelling crane passageway 13, a first side channel 14 and a second side channel 15 which are parallel to each other are arranged between the platform inlet 11 and the platform outlet 12; the first side road 14 and the second side road 15 are respectively positioned at the left side and the right side of the driving aisle 13; the radar system 2 comprises a first radar 21 and a second radar 22; the first radar 21 is used for scanning and covering the first side road 14 and outputting a first scanning signal when the automobile body enters the scanning and covering range of the automobile body; the second radar 22 is used for scanning and covering the second side road 15 and outputting a second scanning signal when the automobile body enters the scanning and covering range of the automobile body; specifically, the scanning ranges of the first radar and the second radar are 90-degree, 5.4mX wide and 2.2m high areas located on the left side and the right side of the driving aisle 13 respectively, and the areas can be subdivided into 12 small areas with unequal intervals and adjustable areas.
The infrared light curtain induction system 5 comprises four light curtain groups which are arranged on the left side and the right side of the driving passageway 13 in parallel. The method specifically comprises the following steps: a first light curtain group 51 arranged at one side of the platform inlet 11 and a fourth light curtain group 54 arranged at one side of the platform outlet; a third light sheet group 53 positioned between the first light sheet group 51 and the fourth light sheet group 54; the second light curtain group 52 located between the first light curtain group 51 and the third light curtain group 53; the first light curtain group 51 is used for generating a first light curtain crossing the driving passageway 13 and feeding back a first sensing signal to the industrial personal computer 3 when the automobile body reaches the first light curtain; the second light curtain group 52 is used for generating a second light curtain crossing the driving aisle 13 and feeding back a second sensing signal to the industrial personal computer 3 when the automobile body reaches the second light curtain; the third light curtain group 53 is used for generating a third light curtain crossing the driving aisle 13 and feeding back a third sensing signal to the industrial personal computer 3 when the automobile body reaches the third light curtain; the fourth light curtain group 54 is used for generating a fourth light curtain crossing the traffic aisle 13 and feeding back a fourth sensing signal to the industrial personal computer 3 when the automobile body reaches the fourth light curtain; the distance between the second light sheet 52 and the third light sheet 53 is 2 meters. The interval between the first light curtain group 51 and the fourth light curtain group 54 is 5.2 m. The industrial personal computer 3 comprises a storage module 31, a tilt logic module 32, an advance logic module 33, a lag logic module 34 and a disengagement logic module 35. The storage module 31 stores a left indicating video, a right indicating video, an advance indicating video, a lag indicating video and a separation indicating video; the tilt logic module 32 is configured to output the right-biased indication video to the electronic display screen 4 for playing when the industrial personal computer 3 receives the first scanning signal, and output the left-biased indication video to the electronic display screen 4 for playing when the industrial personal computer 3 receives the second scanning signal. The advanced logic module 33 is used for outputting an advanced indication video to the electronic display screen 4 for playing when the industrial personal computer 3 receives the second induction signal and the fourth induction signal simultaneously; the lag logic module 34 is configured to output a lag indication video to the electronic display screen 4 for playing when the industrial personal computer 3 receives the first sensing signal and the third sensing signal at the same time. And the separation logic module 35 is used for outputting a separation indication video to the electronic display screen 4 for playing when the industrial personal computer 3 simultaneously receives the first sensing signal and the fourth sensing signal.
In practice, the process of the method for detecting the body lateral deviation of the automobile realized by the system is as follows:
s1: respectively scanning two sides of a driving passageway by using a first radar and a second radar; when the left/right side deviation of the automobile causes the automobile body to enter the scanning coverage range of the first radar/the second radar, scanning signals are generated and fed back to the industrial personal computer;
s2: the industrial personal computer correspondingly outputs corresponding left indication video/right indication video on the electronic display screen according to the scanning signal fed back by the S1;
s3: generating a first light curtain by using the first light curtain group 51 and feeding back a first sensing signal when the automobile body reaches the first light curtain; the second light curtain group 52 generates a second light curtain and feeds back a second sensing signal when the automobile body reaches the second light curtain; the third light curtain group 53 generates a third light curtain and feeds back a third sensing signal when the automobile body reaches the third light curtain; the fourth light curtain group 54 generates a fourth light curtain and feeds back a fourth sensing signal when the automobile body reaches the fourth light curtain;
s4: when the automobile body simultaneously triggers a second induction signal and a fourth induction signal, the industrial personal computer 3 outputs an advanced indication video to the electronic display screen 4 through the advanced logic module 33 for playing; when the automobile body triggers the first induction signal and the third induction signal simultaneously, the automobile body is in a lagging position at the moment. At the moment, the industrial personal computer 3 outputs a lag indication video to the electronic display screen 4 through the lag logic module 34 for playing;
s5: when the automobile body triggers the first sensing signal and the fourth sensing signal simultaneously, the industrial personal computer 3 outputs a separation indication video through the electronic display screen 4 to remind a driver to drive out immediately.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. The protection scope of the present invention is subject to the protection scope of the claims.
Claims (2)
1. A system for detecting the inclination of a parked vehicle body, characterized in that: the parking system comprises a parking platform (1), a radar system (2), an industrial personal computer (3) and an electronic display screen (4);
one side of the parking platform (1) is provided with a platform inlet (11), and the other side is provided with a platform outlet (12); a travelling crane aisle (13), a first side channel (14) and a second side channel (15) which are parallel to each other are arranged between the platform inlet (11) and the platform outlet (12); the first side road (14) and the second side road (15) are respectively positioned at the left side and the right side of the driving aisle (13);
the radar system (2) comprises a first radar (21) and a second radar (22); the first radar (21) is used for scanning and covering a first side road (14) and outputting a first scanning signal when the automobile body enters the scanning and covering range of the automobile body; the second radar (22) is used for scanning and covering the second side road (15) and outputting a second scanning signal when the automobile body enters the scanning coverage range of the automobile body; the industrial personal computer (3) is respectively connected with a first radar (21) and a second radar (22); the industrial personal computer (3) comprises a storage module (31) and an inclination logic module (32), wherein a left deviation indication video and a right deviation indication video are stored in the storage module (31); the inclination logic module (32) is used for outputting a right deviation indicating video to the electronic display screen (4) for playing when the industrial personal computer (3) receives a first scanning signal, and outputting a left deviation indicating video to the electronic display screen (4) for playing when a second scanning signal is received;
the system is characterized by further comprising an infrared light curtain sensing system (5) connected with the industrial personal computer (3), wherein the infrared light curtain sensing system (5) comprises a first light curtain group (51), a second light curtain group (52), a third light curtain group (53) and a fourth light curtain group (54) which are parallel to each other and are arranged on the left side and the right side of the driving aisle (13);
the first light curtain group (51) is arranged on one side of the platform inlet (11), and the fourth light curtain group (54) is arranged on one side of the platform outlet; the third light curtain group (53) is positioned between the first light curtain group (51) and the fourth light curtain group (54); the second light curtain group (52) is positioned between the first light curtain group (51) and the third light curtain group (53);
the first light curtain group (51) is used for generating a first light curtain crossing the driving passageway (13) and feeding back a first sensing signal to the industrial personal computer (3) when the automobile body reaches the first light curtain; the second light curtain group (52) is used for generating a second light curtain crossing the traffic aisle (13) and feeding back a second sensing signal to the industrial personal computer (3) when the automobile body reaches the second light curtain; the third light curtain group (53) is used for generating a third light curtain crossing the traffic aisle (13) and feeding back a third induction signal to the industrial personal computer (3) when the automobile body reaches the third light curtain; the fourth light curtain group (54) is used for generating a fourth light curtain crossing the traffic aisle (13) and feeding back a fourth induction signal to the industrial personal computer (3) when the automobile body reaches the fourth light curtain;
the industrial personal computer (3) further comprises an advance logic module (33) and a lag logic module (34), and an advance indication video and a lag indication video are stored in the storage module (31); the advanced logic module (33) is used for outputting an advanced indication video to the electronic display screen (4) for playing when the industrial personal computer (3) receives the second induction signal and the fourth induction signal simultaneously; and the hysteresis logic module (34) is used for outputting a hysteresis indication video to the electronic display screen (4) for playing when the industrial personal computer (3) receives the first induction signal and the third induction signal simultaneously.
2. The parked vehicle body inclination detection system of claim 1, wherein: the interval between the second light curtain group and the third light curtain group is 2 meters, the interval between the first light curtain group and the fourth light curtain group is 5.2 meters, the industrial personal computer (3) further comprises a separation logic module (35), and a separation prompt video is stored in the storage module (31); and the separation logic module (35) is used for outputting a separation indication video to the electronic display screen (4) for playing when the industrial personal computer (3) receives the first sensing signal and the fourth sensing signal simultaneously.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910110484.8A CN109814097B (en) | 2019-02-11 | 2019-02-11 | Automobile parking body inclination detection system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910110484.8A CN109814097B (en) | 2019-02-11 | 2019-02-11 | Automobile parking body inclination detection system |
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| CN109814097A CN109814097A (en) | 2019-05-28 |
| CN109814097B true CN109814097B (en) | 2021-01-12 |
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