CN109823318B - Internet of things vehicle moving mobile robot device and positioning method thereof - Google Patents
Internet of things vehicle moving mobile robot device and positioning method thereof Download PDFInfo
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- CN109823318B CN109823318B CN201910226509.0A CN201910226509A CN109823318B CN 109823318 B CN109823318 B CN 109823318B CN 201910226509 A CN201910226509 A CN 201910226509A CN 109823318 B CN109823318 B CN 109823318B
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Abstract
The invention discloses an Internet of things vehicle moving mobile robot device which comprises a central telescopic part, wherein two hoisting units are rotatably arranged on two sides of the central telescopic part, the hoisting units are connected with an Internet of things control unit, the Internet of things control unit is arranged in a robot body and the ground of a range in which the robot body operates, the Internet of things control unit comprises a positioning chip, a three-dimensional laser modeling instrument, a positioning chip, a high-definition camera and a pressure sensor, and a plurality of positioning punctuations are arranged in the ground of the range. According to the Internet of things vehicle moving mobile robot device and the positioning method thereof, self adjustment is performed on different vehicles through the central telescopic part and the hoisting unit, the Internet of things vehicle moving mobile robot device can be suitable for vehicles with different sizes or vehicles which are parked in an irregular mode to move effectively, the device is calculated and positioned to move in an underground parking lot through a track, the moving position is accurate, and the condition that the vehicles collide with each other is avoided.
Description
Technical Field
The invention relates to an Internet of things robot, in particular to an Internet of things vehicle moving mobile robot.
Background
The definition of the internet of things is as follows: through information sensing equipment such as Radio Frequency Identification (RFID), infrared inductor, global positioning system, laser scanner, according to agreed agreement, any article are connected through thing networking domain name, carry out information exchange and communication, a network concept of realizing intelligent discernment, location, tracking, control and management, along with the continuous development of automobile industry, the car use amount of china increases by a wide margin, and the supply on parking stall can't satisfy the increase of car ownership, when the car owner drives a car and goes out, often meet the condition that does not have local parking, often can only occupy private parking stall temporarily or park temporarily in public place. Adopt more when the car parks temporarily and move the license plate and provide car owner's contact means, make things convenient for relevant personnel in time to contact car owner and drive away the car, avoid arousing unnecessary dispute, then, car self space is limited, the function that has the license plate of moving now is too single, can cause the burden to the narrow and small car in space originally, about moving the car, the VGA automatic parking system that a car mill used now, its main realization mode is the device of parking that uses a monoblock to have leading wheel and hoisting apparatus, utilize VGA can realize automatic guide and carry out accurate parking, the device's weak point lies in: the parking management system has the advantages that the parking management system is large in size, is mainly applied to large parking lots or automobile manufacturing enterprises, and is convenient for unified parking management of manufactured automobiles or automobiles parked in the parking lots so as to save space; however, for narrow and complex underground garages, the existing vehicle moving equipment is too simple, cannot automatically adapt to and match vehicles with different specifications and sizes, underground signal shielding interference is complex, and the complex signal transmission matching system device is not suitable for use.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide an Internet of things vehicle moving mobile robot device and a positioning method thereof, aiming at the defects of the prior art, and the Internet of things vehicle moving mobile robot device is convenient to use.
The technical scheme is as follows: the utility model provides a thing networking vehicle moving mobile robot device which characterized in that: the robot comprises a central telescopic part, two hoisting units are rotatably arranged on two sides of the central telescopic part, the hoisting units are connected with an Internet of things control unit, the Internet of things control unit is arranged in a robot body and the ground in a running range of the robot body, the Internet of things control unit comprises a positioning chip, a three-dimensional laser modeling instrument, a high-definition camera and a pressure sensor, and a plurality of positioning punctuations are arranged in the ground in the range; the lifting unit comprises a supporting block connected to a first steering engine, a first supporting rod and a second supporting rod are hinged to the supporting block, a first electric telescopic arm is hinged between the middle lower parts of the first supporting rod and the second supporting rod, the end parts of the first supporting rod and the second supporting rod are connected with a wheel frame assembly through the second steering engine, the wheel frame assembly is provided with a high-definition camera used for judging the position of a wheel and identifying the brand and model of a vehicle, and a second electric telescopic arm is hinged between the first supporting rods on the two sides; the wheel frame assembly comprises a mounting plate, the lower portion of the mounting plate is connected with a driving travelling wheel through a suspension assembly, the upper portion of the mounting plate is symmetrically hinged with two lifting arms, the tops of the lifting arms are hinged with pin shafts for supporting wheels, anti-skidding lines are arranged on the surfaces of the pin shafts, the side walls of the lifting arms are provided with slide rails along the axial direction of the side walls, slide blocks of the slide rails are hinged to telescopic ends of hydraulic lifting rods, the roots of the hydraulic lifting rods are connected to the mounting plate, and strong springs for buffering are arranged on the upper surface of the mounting plate.
Furthermore, the central telescopic part is hinged to the hoisting unit, a first steering engine for driving is arranged at the hinged position of the central telescopic part, the central telescopic part is a hydraulic telescopic rod, and the central telescopic part is provided with a positioning chip and a three-dimensional laser modeling instrument.
Further, it includes atmospheric pressure damping adjuster section of thick bamboo subassembly to hang the subassembly, the both sides output end symmetry of atmospheric pressure damping adjuster section of thick bamboo subassembly articulates there is first anti-roll bar, the lateral wall of atmospheric pressure damping adjuster section of thick bamboo subassembly articulates there is the second anti-roll bar, first anti-roll bar, second are prevented the roll bar and are connected in fixed cover, fixed cover is connected with the support column downwards, the support column bottom articulates there is the horizontal pole that is used for connecting the road wheel that drives, fixed cover is equipped with the end vibration rubber seat, it has flexible damping rod to articulate between end vibration rubber seat and the horizontal pole, the cover is equipped with the cylindrical spring that alleviates the resonance on the flexible damping rod, cylindrical spring is equipped with pressure sensor with end vibration rubber seat combination department, pressure sensor connects in atmospheric pressure damping adjuster section of thick bamboo.
Further, the road wheel comprises a brushless motor connected to the cross rod, an output shaft of the brushless motor is connected with a universal friction traveling wheel, the universal friction traveling wheel comprises a wheel disc, flanges are arranged on the end faces of the two sides of the wheel disc, a plurality of friction rollers parallel to each other are arranged on the rotating shaft around the flanges, an included angle formed between the axial direction of each friction roller and the axial direction of the wheel disc is 5-15 degrees, and the cross sections of the friction rollers on the two sides are gradually reduced in the middle.
Further, a section of thick bamboo subassembly is adjusted in atmospheric pressure damping includes that two symmetries set up independent divided inflator body, the inflator body is connected with the air pump, the air pump is connected in pressure sensor, axis department in the inflator body is equipped with the telescopic link, the telescopic link is connected in a piston side end face, piston another side end face is equipped with the connecting rod of connecting in first anti-roll bar.
Furthermore, the end part of the pin shaft for supporting the wheel is provided with a U-shaped bent part.
Further, the gas cylinder body is filled with helium.
Further, a positioning method of the Internet of things vehicle moving mobile robot device is further provided, and the positioning method is characterized by comprising the following steps:
step 1: the three-dimensional laser modeling instrument and the high-definition camera are started to gradually scan the surrounding environment, the high-definition camera sends vehicle information to the Internet of things control unit, size information of the vehicle is transferred, and the first steering engine, the second steering engine, the first electric telescopic arm, the second electric telescopic arm and the hydraulic telescopic rod are driven to adjust the hoisting unit, so that the mounting plate moves to four wheels;
step 2: the pressure sensor sends real-time data to the air pump, the supporting angle of the supporting column is changed by changing the position of the piston, and the total height of the device and the hardness of a suspension system are changed to adapt to the influence caused by the speed bump and the gradient;
and step 3: the positioning chip and a positioning punctuation preset in the field send signals to each other, the signals are transmitted back to the Internet of things control unit, and the starting direction and the locking state of each brushless motor are controlled respectively;
and 4, step 4: when the positioning chip can receive the positioning punctuation signal, the path control is carried out on the control unit of the Internet of things, and then the starting direction and the locking state of each brushless motor are controlled;
and 5: when the positioning chip cannot accept the positioning punctuation signal, the track dead reckoning positioning is used for solving the positioning coordinate, the path control is carried out on the Internet of things control unit, and then the starting direction and the locking state of each brushless motor are controlled;
step 6: and when the positioning chip receives the positioning punctuation signal again, returning to the step 1.
Has the advantages that: according to the Internet of things vehicle moving mobile robot device and the positioning method thereof, self adjustment is performed on different vehicles through the central telescopic part and the hoisting unit, the Internet of things vehicle moving mobile robot device can adapt to vehicles with different sizes or vehicles with irregular parking for effective moving, the device is calculated and positioned to move in an underground parking lot through a track, the moving position is accurate, and the condition that the vehicles collide with the vehicle is avoided.
Drawings
FIG. 1 shows a schematic view of aIs a structural schematic diagram of the invention.
FIG. 2Is a schematic structural view of the wheel carrier assembly of the present invention.
FIG. 3The invention is a structural schematic diagram of a suspension system and a driving travelling wheel.
FIG. 4Is a flow chart of the positioning method of the present invention.
Detailed Description
The technical solution of the present invention is described in detail below, but the scope of the present invention is not limited to the embodiments.
Such asFIGS. 1 to 4The Internet of things vehicle moving mobile robot device comprises a central telescopic part 1, two hoisting units are rotatably arranged on two sides of the central telescopic part, the hoisting units are connected with an Internet of things control unit, the Internet of things control unit is arranged in a robot body and the ground of a range in which the robot body operates, the Internet of things control unit comprises a positioning chip, a three-dimensional laser modeling instrument, a high-definition camera and a pressure sensor, and a plurality of positioning punctuations are arranged in the ground of the range.
The central telescopic part 1 is hinged with the hoisting unit, a first steering engine 2 used for driving is arranged at the hinged position of the central telescopic part 1, the central telescopic part 1 is a hydraulic telescopic rod, and the central telescopic part 1 is provided with a positioning chip and a three-dimensional laser modeling instrument.
The jack-up unit is including connecting in the supporting shoe of first steering wheel 2, it has first bracing piece 3 and second bracing piece 4 to articulate on the supporting shoe, it has first electronic flexible arm 5 to articulate between the well lower part of first bracing piece 3 and second bracing piece 4, the tip of first bracing piece 3 and second bracing piece 4 is connected with wheel carrier subassembly through second steering wheel 6, wheel carrier subassembly is equipped with and is used for judging the wheel position, and discern the high definition digtal camera of vehicle brand model, it has the electronic flexible arm 29 of second to articulate between the first bracing piece 3 of both sides.
Wheel frame subassembly includes mounting panel 7, the mounting panel 7 lower part is connected with the road wheel through hanging the subassembly, 7 articulated of symmetry have two to lift up arm 8 on the mounting panel, the top of lifting up arm 8 articulates there is the round pin axle 9 that is used for supporting the wheel, round pin axle 9 surface is equipped with anti-skidding line, it is equipped with slide rail 10 to lift up 8 lateral walls of arm along its axial direction, slide rail 10's slider articulates in the flexible end of hydraulic lifting rod 11, the root of hydraulic lifting rod 11 is connected in mounting panel 7, 7 upper surfaces of mounting panel are equipped with the powerful spring that is used for the buffering.
The suspension assembly comprises an air pressure damping adjusting cylinder assembly 12, the two side output ends of the air pressure damping adjusting cylinder assembly 12 are symmetrically hinged to form a first anti-tilting rod 13, the side wall of the air pressure damping adjusting cylinder assembly 12 is hinged to form a second anti-tilting rod 14, the first anti-tilting rod 13, the second anti-tilting rod 14 is connected to a fixing sleeve 15, the fixing sleeve 15 is downwards connected with a supporting column 16, the bottom of the supporting column 16 is hinged to a cross rod 17 used for being connected with a driving travelling wheel, the fixing sleeve 15 is provided with a vibration stopping rubber seat 18, a telescopic damping rod 19 is hinged between the vibration stopping rubber seat 18 and the cross rod 17, a cylindrical spring 20 for reducing resonance is sleeved on the telescopic damping rod 19, a pressure sensor is arranged at the joint of the cylindrical spring 20 and the vibration stopping rubber seat 18.
The road wheel of having a drive is including connecting in the brushless motor 21 of horizontal pole 17, brushless motor 21's output shaft has universal friction walking wheel, universal friction walking wheel includes rim plate 22, rim plate 22's both sides terminal surface is equipped with flange 23, the pivoted that encircles between flange 23 is equipped with a plurality of friction roller 24 that are parallel to each other, the contained angle between the axial direction of friction roller 24 and the axial direction of rim plate 22 is 5 ~ 15, friction roller 24 has the centre to reduce gradually to the both sides cross-section.
The air pressure damping adjusting cylinder assembly 12 comprises two symmetrically arranged independent and separated air cylinder bodies 25, the air cylinder bodies 25 are connected with air pumps 26, the air pumps 26 are connected with pressure sensors, an expansion rod 27 is arranged at the central axis of the air cylinder bodies 25, the expansion rod 27 is connected with one side end face of a piston 28, and a connecting rod connected with a first anti-tilting rod 13 is arranged on the other side end face of the piston 28.
The end part of the pin shaft 9 for supporting the wheel is provided with a U-shaped bending part.
The cylinder body 25 is filled with helium gas.
A positioning method of an Internet of things vehicle moving mobile robot device comprises the following steps:
step 1: the three-dimensional laser modeling instrument and the high-definition camera are started to gradually scan the surrounding environment, the high-definition camera sends vehicle information to the Internet of things control unit to transfer the size information of the vehicle, and the first steering engine 2, the second steering engine 6, the first electric telescopic arm 5, the second electric telescopic arm 29 and the hydraulic telescopic rod are driven to adjust the hoisting unit, so that the mounting plate 7 moves to four wheels;
step 2: the pressure sensor sends real-time data to the air pump 26, the supporting angle of the supporting column 16 is changed by changing the position of the piston 28, and the total height of the device and the hardness of a suspension system are changed to adapt to the influence caused by a speed bump and a gradient;
and step 3: the positioning chip and a positioning punctuation preset in the field send signals to each other, the signals are transmitted back to the Internet of things control unit, and the starting direction and the locking state of each brushless motor 21 are respectively controlled;
and 4, step 4: when the positioning chip can receive the positioning punctuation signal, the path control is carried out on the control unit of the Internet of things, and then the starting direction and the locking state of each brushless motor 21 are controlled;
and 5: when the positioning chip cannot accept the positioning punctuation signal, the track dead reckoning positioning is used for solving the positioning coordinate, the path control is carried out on the Internet of things control unit, and then the starting direction and the locking state of each brushless motor 21 are controlled;
step 6: and when the positioning chip receives the positioning punctuation signal again, returning to the step 1.
As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. The utility model provides a thing networking vehicle moving mobile robot device which characterized in that: the robot comprises a central telescopic part, two hoisting units are rotatably arranged on two sides of the central telescopic part, the hoisting units are connected with an Internet of things control unit, the Internet of things control unit is arranged in a robot body and the ground of a range in which the robot body operates, the Internet of things control unit comprises a positioning chip, a three-dimensional laser modeling instrument, a high-definition camera and a pressure sensor, and a plurality of positioning punctuations are arranged in the ground of the range;
the lifting unit comprises a supporting block connected to a first steering engine, a first supporting rod and a second supporting rod are hinged to the supporting block, a first electric telescopic arm is hinged between the middle lower parts of the first supporting rod and the second supporting rod, the end parts of the first supporting rod and the second supporting rod are connected with a wheel frame assembly through the second steering engine, the wheel frame assembly is provided with a high-definition camera used for judging the position of a wheel and identifying the brand and model of a vehicle, and a second electric telescopic arm is hinged between the first supporting rods on the two sides;
the wheel frame assembly comprises a mounting plate, the lower portion of the mounting plate is connected with a driving travelling wheel through a suspension assembly, the upper portion of the mounting plate is symmetrically hinged with two lifting arms, the tops of the lifting arms are hinged with pin shafts for supporting wheels, anti-skidding lines are arranged on the surfaces of the pin shafts, the side walls of the lifting arms are provided with slide rails along the axial direction of the side walls, slide blocks of the slide rails are hinged to telescopic ends of hydraulic lifting rods, the roots of the hydraulic lifting rods are connected to the mounting plate, and strong springs for buffering are arranged on the upper surface of the mounting plate.
2. The internet of things vehicle moving mobile robot device as claimed in claim 1, wherein: the central telescopic part is hinged to the hoisting unit, a first steering engine used for driving is arranged at the hinged position of the central telescopic part, the central telescopic part is a hydraulic telescopic rod, and the central telescopic part is provided with a positioning chip and a three-dimensional laser modeling instrument.
3. The internet of things vehicle moving mobile robot device as claimed in claim 1, wherein: the suspension assembly comprises an air pressure damping adjusting cylinder assembly, the bilateral output end of the air pressure damping adjusting cylinder assembly is symmetrically hinged to a first anti-tilting rod, the side wall of the air pressure damping adjusting cylinder assembly is hinged to a second anti-tilting rod, the first anti-tilting rod and the second anti-tilting rod are connected to a fixing sleeve, the fixing sleeve is connected with a support column downwards, the bottom of the support column is hinged to a transverse rod used for being connected with a driving travelling wheel, the fixing sleeve is provided with a vibration stopping rubber seat, a telescopic damping rod is hinged between the vibration stopping rubber seat and the transverse rod, a cylindrical spring for reducing resonance is sleeved on the telescopic damping rod, a pressure sensor is arranged at the joint of the cylindrical spring and the vibration stopping rubber seat, and the pressure sensor is connected to the air pressure damping adjusting cylinder assembly.
4. The internet of things vehicle moving mobile robot device as claimed in claim 3, wherein: the road wheel comprises a brushless motor connected to a cross rod, an output shaft of the brushless motor is connected with a universal friction road wheel, the universal friction road wheel comprises a wheel disc, flanges are arranged on the end faces of the two sides of the wheel disc, a plurality of friction rollers parallel to each other are arranged between the flanges in a surrounding mode, an included angle between the axial direction of each friction roller and the axial direction of the wheel disc is 5-15 degrees, and the friction rollers are gradually reduced from the middle to the cross sections of the two sides.
5. The Internet of things vehicle moving mobile robot device as claimed in claim 4, wherein: the air pressure damping adjusting cylinder assembly comprises two symmetrical independent separated inflator bodies, the inflator bodies are connected with air pumps, the air pumps are connected to a pressure sensor, an expansion rod is arranged at the position of a central axis in the inflator bodies, the expansion rod is connected to the end face of one side of a piston, and a connecting rod connected to a first anti-tilting rod is arranged on the end face of the other side of the piston.
6. The internet of things vehicle moving mobile robot device as claimed in claim 1, wherein: the end part of the pin shaft for supporting the wheel is provided with a U-shaped bending part.
7. The Internet of things vehicle moving mobile robot device as claimed in claim 5, wherein: helium is filled in the inflator body.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910226509.0A CN109823318B (en) | 2019-03-25 | 2019-03-25 | Internet of things vehicle moving mobile robot device and positioning method thereof |
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| CN201910226509.0A CN109823318B (en) | 2019-03-25 | 2019-03-25 | Internet of things vehicle moving mobile robot device and positioning method thereof |
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| CN109823318A CN109823318A (en) | 2019-05-31 |
| CN109823318B true CN109823318B (en) | 2020-12-22 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110725591A (en) * | 2019-09-25 | 2020-01-24 | 璐炬俯 | Automatic vehicle moving robot for underground parking lot |
| CN113589685B (en) * | 2021-06-10 | 2024-04-09 | 常州工程职业技术学院 | Vehicle moving robot control system and method based on deep neural network |
| CN113341697B (en) * | 2021-06-11 | 2022-12-09 | 常州工程职业技术学院 | Separated vehicle moving robot cooperative control method capable of accurately extracting vehicle center |
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