CN109870951A - Control method, carrier and the device with store function of carrier - Google Patents
Control method, carrier and the device with store function of carrier Download PDFInfo
- Publication number
- CN109870951A CN109870951A CN201910041689.5A CN201910041689A CN109870951A CN 109870951 A CN109870951 A CN 109870951A CN 201910041689 A CN201910041689 A CN 201910041689A CN 109870951 A CN109870951 A CN 109870951A
- Authority
- CN
- China
- Prior art keywords
- wheel
- rectangle
- carrier
- vehicle
- level coordinates
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
This application discloses a kind of control method of carrier, carrier and with the device of store function.The control method of the carrier includes: the level coordinates of the first wheel for obtaining vehicle to be handled respectively, the center of the second wheel and third wheel, wherein the first wheel and the second wheel are coaxially disposed；The level coordinates of the 4th wheel of vehicle to be handled are determined according to the level coordinates at the center of the first wheel, the second wheel and third wheel, wherein the 4th wheel and third wheel are coaxially disposed；Carrier movement is controlled according to the level coordinates of the first wheel, the second wheel, third wheel and the 4th wheel, to carry vehicle to be handled.The application monitors the position of vehicle to be handled in real time, and then adjusts the movement of carrier in real time, can be improved the handling efficiency of carrier and improve the safety of carrier.
Description
Technical field
This application involves carrier field more particularly to a kind of control method of carrier, carrier and there is storage function
The device of energy.
Background technique
The problem of vehicle is nowhere parked be the society in city, economy, transport development generate to a certain extent as a result, three-dimensional
The development of parking apparatus is at abroad, especially have nearly 30~40 years history in Japan, no matter technically or empirically
Success is obtained.In order to solve the contradiction of parking stall occupied area Yu resident's commercialization area, mechanical three-dimensional parking device
With its small unique property of bicycle occupied area that is averaged, received by users.With the rapid growth of vehicle guaranteeding organic quantity,
Transport Vehicle becomes an important factor for restricting development of solid garage, and the height of intelligent vehicle carrier performance then determines access
Vehicle efficiency.
The existing conveying-type automobile carrier that holds is when picking up the car, if carrier can not get the wheel of vehicle to be handled
Accurate location information, then contraposition inaccuracy, which may occur, to be caused to carry failure, to affect handling efficiency.
That is, the carrier handling efficiency of the prior art is lower and safety is not high.
Summary of the invention
The application provides control method, carrier and the device with store function of a kind of carrier, can be improved and removes
It transports the handling efficiency of device and improves the safety of carrier.
In order to solve the above technical problems, first technical solution that the application uses is: providing a kind of control of carrier
Method, the control method include: the first wheel for obtaining vehicle to be handled respectively, the center of the second wheel and third wheel
Level coordinates, wherein first wheel and second wheel are coaxially disposed；According to first wheel, described
The level coordinates at the center of two wheels and the third wheel determine the horizontal plane of the 4th wheel of the vehicle to be handled
Coordinate, wherein the 4th wheel and the third wheel are coaxially disposed；According to first wheel, second wheel, institute
The level coordinates for stating third wheel and the 4th wheel control the carrier movement, to carry the vehicle to be handled
?.
Wherein, the water at the center of first wheel for obtaining vehicle to be handled respectively, the second wheel and third wheel
The step of plane coordinates includes: to scan first wheel, second wheel and described along the horizontal plane by acquisition device
Third wheel is formed with obtaining horizontal scan face cutting first wheel, second wheel and the third wheel
The first rectangle, the second rectangle and third rectangle each three endpoints level coordinates；According to first rectangle, described
Second rectangle and the third rectangle determine described first close to the level coordinates of each three endpoints of the acquisition device
The level coordinates at the center of rectangle, second rectangle and the third rectangle, to obtain first wheel, described
The level coordinates at the center of the second wheel and the third wheel.
Wherein, the horizontal plane at the center according to first wheel, second wheel and the third wheel
Coordinate determines that the step of level coordinates of the 4th wheel of the vehicle to be handled specifically includes: according to first wheel and
The level coordinates at the center of second wheel determine the axis of symmetry of the vehicle to be handled on the horizontal scan face
Curvilinear equation；According to the center of the axis of symmetry and the third wheel of the vehicle to be handled on the horizontal scan face
Level coordinates determine the third wheel center level coordinates.
Wherein, the curvilinear equation of the axis of symmetry of the vehicle to be handled on the horizontal scan face is such as formula (1)
Shown in formula,
Z=kX+c (1)
The level coordinates at the center of first wheel and second wheel are swept with the vehicle to be handled described
The curvilinear equation for retouching the axis of symmetry on horizontal plane meets the relationship as shown in formula (2),
Wherein, (Xa0,Za0) be first wheel center level coordinates, (Xb0,Zb0) it is second wheel
The level coordinates at center.
Wherein, described according to first wheel, second wheel, the third wheel and the 4th wheel
The step of level coordinates control carrier movement, specifically includes: obtaining the radius of first wheel；According to described
The radius of one wheel, first wheel, second wheel, the third wheel and the 4th wheel horizontal plane sit
Mark controls the carrier movement, to carry the vehicle to be handled.
Wherein, the step of radius for obtaining first wheel specifically includes: according to three of first rectangle
The level coordinates of endpoint and height of the acquisition device apart from ground determine the radius of first wheel.
Wherein, described to scan first wheel, second wheel and described along the horizontal plane by acquisition device
Three wheels are formed by with obtaining horizontal scan face cutting first wheel, second wheel and the third wheel
The step of level coordinates of each three endpoints of first rectangle, the second rectangle and third rectangle, specifically includes: by described
Acquisition device obtains first rectangle, second rectangle and the third rectangle close to each three of the acquisition device
The relative position information of endpoint；According to the acquisition device and first rectangle, second rectangle and the third square
Shape is determined close to the relative position information of each three endpoints of the acquisition device and the level coordinates of the acquisition device
The horizontal plane of first rectangle, second rectangle and the third rectangle close to each three endpoints of the acquisition device
Coordinate.
In order to solve the above technical problems, second technical solution that the application uses is: providing a kind of carrier, including place
Manage device and acquisition device and memory with processor coupling；The acquisition device is for acquiring data, the storage
Device is used to store the computer program and the generated intermediate data when executing computer program that the processor executes；Institute
When stating processor execution computer program, method described in any one of the first string is realized.
Wherein, the acquisition device is fixed on one jiao of the carrier, and the acquisition device is from vehicle to be handled
Side acquire data, the acquisition device be ultrasonic distance-measuring sensor, laser range sensor, infrared distance measuring sensor with
And any one of radar sensor.
In order to solve the above technical problems, the third technical solution that the application uses is: providing a kind of with store function
Device, the device with store function is stored with program data, and described program data can be performed to realize first
Method described in any one of a scheme.
The beneficial effect of the application is: being different from the prior art, the control method of the application carrier includes: to obtain respectively
First wheel of vehicle to be handled, the center of the second wheel and third wheel level coordinates, wherein the first wheel and
The coaxial arrangement of two wheels；It is determined according to the level coordinates at the center of the first wheel, the second wheel and third wheel to be handled
The level coordinates of 4th wheel of vehicle, wherein the 4th wheel and third wheel are coaxially disposed；According to the first wheel, second
The level coordinates control carrier movement of wheel, third wheel and the 4th wheel, to carry vehicle to be handled.The application is logical
The information that acquisition device acquires 3 wheels is crossed, and then according to the information of the 4th wheel of the acquisition of information of 3 wheels and wait remove
The opposite deflection angle with carrier of vehicle is transported, monitors the position of vehicle to be handled in real time, and then adjusts the fortune of carrier in real time
It is dynamic, it can be improved the handling efficiency of carrier and improve the safety of carrier.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of one embodiment of the application carrier；
Fig. 2 is the structural schematic diagram of one specific embodiment of Fig. 1 carrier；
Schematic diagram when Fig. 3 is Fig. 2 carrier acquisition wheel information；
Fig. 4 is the structural schematic diagram in Fig. 2 carrier at acquisition device；
Fig. 5 is status diagram when clamping device is withdrawn completely in Fig. 2 carrier；
Fig. 6 is status diagram when clamping device part is stretched out in Fig. 2 carrier；
Fig. 7 is status diagram when clamping device is fully extended in Fig. 2 carrier；
Fig. 8 is the flow diagram of one embodiment of control method of the application carrier；
Schematic diagram when Fig. 9 is Fig. 8 carrier acquisition wheel information；
Figure 10 is the schematic illustration that Fig. 8 carrier obtains wheel center level coordinates；
Figure 11 is the schematic illustration that Fig. 8 carrier obtains the first wheel center ordinate；
Figure 12 is the schematic illustration that Fig. 8 carrier carries vehicle to be handled；
Figure 13 is the structural schematic diagram for one embodiment of device that the application has store function.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment belongs to the range of the application protection.
Referring to Figure 1, Fig. 2 and Fig. 3, Fig. 1 are the structural schematic diagrams of one embodiment of the application carrier；Fig. 2 is Fig. 1
The structural schematic diagram of one specific embodiment of carrier；Schematic diagram when Fig. 3 is Fig. 2 carrier acquisition wheel information.
In conjunction with Fig. 1, Fig. 2 and Fig. 3, carrier 10 includes processor 11 and the acquisition device 13 with the coupling of processor 11
With memory 16.Acquisition device 13 for acquiring data, memory 16 for computer program that storage processor 11 executes with
And the generated intermediate data when executing computer program.Processor 11 execute computer program when, realize: obtain respectively to
First wheel 191 of carrying vehicle 19, the center of the second wheel 192 and third wheel 193 level coordinates, wherein
One wheel 191 and the second wheel 192 are coaxially disposed；According in the first wheel 191, the second wheel 192 and third wheel 193
The level coordinates of the heart determine the level coordinates of the 4th wheel 194 of vehicle 19 to be handled, wherein the 4th wheel 194 and
The coaxial arrangement of three wheels 193；According to the water of the first wheel 191, the second wheel 192, third wheel 193 and the 4th wheel 194
Plane coordinates controls carrier 10 and moves, to carry vehicle 19 to be handled.
In present embodiment, carrier 10 includes carrier main body 14 and clamping device 15, clamping device 15 and carrier
Main body 14 is flexibly connected.The both ends of first clamping part 141 are hinged in carrier main body 14, one end hinge of the second clamping part 151
It connects on clamping device 15.Acquisition device 13 is fixed on one jiao of carrier 10, and acquisition device 13 is from vehicle 19 to be handled
Side acquires data.Acquisition device 13 be ultrasonic distance-measuring sensor, laser range sensor, infrared distance measuring sensor and
Any one of radar sensor.Carrier 10 includes two symmetrical clamping devices, therefore the setting of carrier 10 clamps
The two sides of device are equipped with an acquisition device 13, and the position entered according to vehicle 19 to be handled determines that the acquisition for needing to enable fills
Set 13.Present embodiment is only provided only with an acquisition device 13 with 10 one end of carrier and is illustrated, to acquisition device 13
Quantity with no restriction, acquisition device 13 can be 2 or more, counting accuracy can be increased.Acquisition device 13 is installed
In any corner in the front and back of carrier 10, acquisition device 13 is by the obstacle in scanning setting regions, to obtain in region
Regional cross section information where wheel.
It is Z with the direction on horizontal plane perpendicular to X-axis using the direction of advance of carrier 10 as X-axis in present embodiment
Axis, using the direction perpendicular to X-axis and Z axis as Y-axis.Carrier 10 is along the x axis close to vehicle 19 to be handled, vehicle 19 to be handled
Including 4 wheels, respectively the first wheel 191, the second wheel 192, third wheel 193 and the 4th wheel 194.Wherein,
One wheel 191 and the second wheel 192 are coaxially disposed, and the 4th wheel 194 is coaxially disposed with third wheel 193.In other embodiment party
In formula, the wheel of vehicle 19 to be handled can have 6,8 or more, the application is not construed as limiting this.
Fig. 4 is further combined, Fig. 4 is the structural schematic diagram in Fig. 2 carrier at acquisition device.
In present embodiment, the two sides of carrier main body 14 are equipped with rib 142, and the end of rib 142 is equipped with steering engine 12.Rudder
Machine 12 includes steering engine pedestal 121, steering wheel 123 and first driving device 122.The end bolt of steering engine pedestal 121 and rib 142
Connection.Steering wheel 123 is located at the lower part of steering engine pedestal 121, specifically, steering wheel 123 is universal wheel or can turn in predetermined angle
Idler wheel.First driving device 122 is located at the top of steering engine pedestal 121, and first driving device 122 drives steering wheel 123 to turn to, with
Control the direction of motion of carrier 10.Steering engine 12 is equipped with sighting device 17, and sighting device 17 is used to acquire the outer of carrier 10
Portion's environmental information.Steering engine 12 is used to control the direction of motion of carrier 10 according to external environmental information.Processor 11 receives vision
The external environmental information that device 17 acquires controls the direction of motion of carrier 10 by control steering engine 12.Sighting device 17
Positioned at the top of steering engine pedestal 121, sighting device 17 is fixed on steering engine pedestal 121 by dismountable mode such as being spirally connected, being clamped
Top.The first driving device 122 of the application is used only for driving steering wheel 123 and turns to, and does not provide the drive for rolling steering wheel 123
Power.Compared with the existing technology middle steering engine 12 should provide power make steering wheel 123 turn to again provide power make steering wheel 123 roll
For dynamic, 122 power of first driving device in the application is smaller, and the top for being placed on steering engine pedestal 121 not will cause steering engine
It is unstable when 12 work, and can be avoided first driving device 122 and sighting device 17 when carrier 10 is run and be too near to ground
And it is contaminated and damages.In other embodiments, steering engine pedestal 121 can also pass through the sides such as clamping, welding or tenon conjunction
Formula is fixed on the end of rib 142.
In present embodiment, bottom that acquisition device 13 is fixed on steering engine pedestal 121 by the modes such as being spirally connected, being clamped or weld
Portion, to acquire wheel information.In other embodiments, acquisition device 13 can also be located at steering engine pedestal 121 top or
It is directly connect with the end bolt of rib 142, only need to guarantee that acquisition device 13 can collect wheel information, the application couple
This is not construed as limiting.
Fig. 5-Fig. 7 is further regarded to, Fig. 5 is status diagram when clamping device is withdrawn completely in Fig. 2 carrier；Fig. 6
It is status diagram when clamping device part is stretched out in Fig. 2 carrier；Fig. 7 is that clamping device is fully extended in Fig. 2 carrier
When status diagram.
In present embodiment, clamping device 15 can realize the movement of stretching and withdrawal.One end of first clamping part 151 is hinged
On clamping device 15.According to structure and functional requirement, clamping device 15 can be divided for three states shown in Fig. 7-9, difference
To withdraw completely, part stretch out, it is fully extended, under these three states, the corresponding state of the second clamping part 151 be completely receive
It returns, the partially unfolded, fully unfolded position.
In present embodiment, the second clamping part 151 is in complete retracted state in initial position.Carrier main body 10 and folder
Hold device 15 simultaneously to close to the first wheel 191 when, drive the first clamping part 141 and the second clamping part 151 simultaneously from initial bit
Set setting in motion.Wherein, the second clamping part 151 is expanded to fully unfolded position first so that the first wheel 191 opposite can be removed
Fortune device 10 enters between the first clamping part 141 and the second clamping part 151.Carrier main body 10 and clamping device 15 continue simultaneously
Close to the first wheel 191, the first clamping part 141 and the second clamping part 151 is driven to continue close to the first wheel 191, so that first
First side contacts of clamping part 141 and the first wheel 191 move to the mistake contacted with the first wheel 191 in the first clamping part 141
Cheng Zhong, the second clamping part 151 are folded to the partially unfolded state by translating across the first wheel 191 with from the first wheel 191
Second side contacted with the first wheel 191, the first clamping part 141 and the second clamping part 151 are after completing respective movement, same
One time is respectively from two the first wheels of side contacts 191 of wheel.So far, the crawl to the first wheel 191 is completed.Similarly, two sides
The first clamping part 141 and the second clamping part 151 clamp the first wheel 191 and the second wheel 192 simultaneously respectively.
It is different from the prior art, the control method of the application carrier includes: the first vehicle for obtaining vehicle to be handled respectively
The level coordinates at the center of wheel, the second wheel and third wheel, wherein the first wheel and the second wheel are coaxially disposed；Root
The water of the 4th wheel of vehicle to be handled is determined according to the level coordinates at the center of the first wheel, the second wheel and third wheel
Plane coordinates, wherein the 4th wheel and third wheel are coaxially disposed；According to the first wheel, the second wheel, third wheel and
The level coordinates control carrier movement of four wheels, to carry vehicle to be handled.The application acquires 3 vehicles by acquisition device
The information of wheel, so it is opposite with carrier according to the information of the 4th wheel of the acquisition of information of 3 wheels and vehicle to be handled
Deflection angle monitors the position of vehicle to be handled in real time, and then adjusts the movement of carrier in real time, can be improved removing for carrier
It transports efficiency and improves the safety of carrier.
It is the application carrier refering to Fig. 8-Figure 11, Fig. 8 to illustrate the control method of the application carrier 10
The flow diagram of one embodiment of control method；Schematic diagram when Fig. 9 is Fig. 8 carrier acquisition wheel information；Figure 10 is that Fig. 8 is removed
Transport the schematic illustration that device obtains wheel center level coordinates；Figure 11 is that Fig. 8 carrier obtains the first wheel center ordinate
Schematic illustration.For convenience of explanation, the application is illustrated with the carrier 10 in Fig. 1-Fig. 7.In present embodiment, remove
Transport device 10 control method the following steps are included:
Step 801: obtaining the level of the first wheel of vehicle to be handled, the center of the second wheel and third wheel respectively
Areal coordinate, wherein the first wheel and the second wheel are coaxially disposed.
In present embodiment, three-dimensional system of coordinate is established using 13 position of acquisition device as coordinate origin.With carrier 10
Direction of advance be X-axis, using in horizontal direction perpendicular to the direction of X-axis as Z axis, using the direction perpendicular to X-axis and Z axis as Y-axis.
Therefore, when ground is horizontal plane, XZ plane is horizontal plane.X axis coordinate is abscissa, and Y axis coordinate is ordinate, and Z axis is sat
It is designated as ordinate.
In present embodiment, the first wheel 191, the second wheel are scanned along the horizontal plane (i.e. XZ plane) by acquisition device 13
192 and third wheel 193, the first wheel 191, the second wheel 192 and third wheel 193 are cut to obtain horizontal scan face
It is formed by the level coordinates of each three endpoints of the first rectangle 195, the second rectangle 196 and third rectangle 197.According to
One rectangle 195, the second rectangle 196 and third rectangle 197 are true close to the level coordinates of each three endpoints of acquisition device 13
The level coordinates at the center of fixed first rectangle 195, the second rectangle 196 and third rectangle 197, to obtain the first wheel
191, the level coordinates at the center of the second wheel 192 and third wheel 193.Obviously, wheel is a cylindrical body, horizontal scan
Interface after face cutting cylindrical body is necessarily a rectangle, and the level coordinates at the center of rectangle are the level of wheel center
Areal coordinate.
In present embodiment, the first rectangle 195, the second rectangle 196 and third rectangle 197 are obtained by acquisition device 13
Close to the relative position information of each three endpoints of acquisition device 13；According to acquisition device 13 and the first rectangle 195, the second rectangle
196 and third rectangle 197 close to the relative position information of each three endpoints of acquisition device 13 and the water of acquisition device 13
Plane coordinates determines each three endpoints of the first rectangle 195, the second rectangle 196 and third rectangle 197 close to acquisition device 13
Level coordinates.
It is illustrated for three endpoint level coordinates of acquisition device 13 on the first rectangle 195 by obtaining.It is false
If three endpoints of the first rectangle 195 are respectively a1, a2 and a3.The length and line of line segment Oa1 are obtained by acquisition device 13
Angle of the section Oa1 relative to X-axis.It is sat according to the X-axis that the length of section Oa1 and line segment Oa1 can find out a1 relative to the angle of X-axis
It is designated as Xa1And Z axis coordinate is Za1.I.e. the level coordinates of a1 are (Xa1,Za1).Similarly, the level coordinates that can obtain a2 are
(Xa2,Za2), the level coordinates of a3 are (Xa3,Za3)。
In a specific embodiment, since the center a0 of the first rectangle 195 is the midpoint of line segment a2a3,
Level coordinates (the X of a0a0,Za0) with the level coordinates (X of a2a2,Za2), the level coordinates (X of a3a3,Za3) meet as public
Relationship shown in formula (3),
In another particular embodiment of the invention, since line segment a2a0, line segment a1a0 and line segment a3a0 are equal, and it is
The radius R of the circumscribed circle of first rectangle 1951.Therefore, the level coordinates (X of a0a0,Za0) with the level coordinates (X of a1a1,
Za1), the level coordinates (X of a2a2,Za2), the level coordinates of a3 be (Xa3,Za3) and first rectangle 195 circumscribed circle
Radius R3The relationship as shown in formula (4) of satisfaction,
Based on same calculation method, the level coordinates (X of the center a0 of the first rectangle 195 can be obtained respectivelya0,
Za0), the level coordinates (X of the center b0 of the second rectangle 196b0,Zb0), the level coordinates of the center c0 of third rectangle 197
(Xc0,Zc0)。
Step 802: being determined according to the level coordinates at the center of the first wheel, the second wheel and third wheel to be handled
The level coordinates of 4th wheel of vehicle, wherein the 4th wheel and third wheel are coaxially disposed.
In present embodiment, determined according to the level coordinates at the center of the first wheel 191 and the second wheel 192 to be handled
The curvilinear equation of the axis of symmetry of the vehicle 19 on horizontal scan face.It is symmetrical on horizontal scan face according to vehicle 19 to be handled
The level coordinates at the center of axis HI and third wheel 193 determine the level coordinates at the center of third wheel 193.Obviously,
Due to the blocking of the barriers such as vehicle chassis, the information of the 4th wheel 194 can not be acquired directly, according to the first wheel 191, second
The level coordinates at the center of wheel 192 and third wheel 193 determine the horizontal plane of the 4th wheel 194 of vehicle 19 to be handled
Coordinate can treat carrying vehicle 19 and is accurately positioned.By the position for obtaining four wheels in real time, it can be ensured that carrier
10 being capable of accurate carrying vehicle.
In a specific embodiment, the axis of symmetry of the vehicle 19 to be handled on horizontal scan face is HI, wherein
H is the midpoint of a0b0, and I is the midpoint of c0dc, and vehicle 19 to be handled is about HI axial symmetry.Vehicle 19 to be handled is in horizontal scan face
On the axis of symmetry curvilinear equation be the formula as shown in formula (1),
Z=kX+c (1)
The level coordinates and vehicle at the center of the first wheel 191 and the second wheel 192 are symmetrical on horizontal scan face
The curvilinear equation of axis meets the relationship as shown in formula (2),
Wherein, (Xa0,Za0) be the first wheel 191 center level coordinates, (Xb0,Zb0) it is in the second wheel 192
The level coordinates of the heart.
Obviously, according to the slope k of axis of symmetry HI, the angle of deviation of the opposite carrier 10 of vehicle 19 to be handled can be obtained
Degree, processor 11 according to the position of the angle excursion adjustment carrier 10 of the opposite carrier 10 of vehicle to be handled 19, can make to
19 face carrier 10 of carrying vehicle enters, and avoids vehicle 19 to be handled from aligning with carrier 10 and carries mistake caused by inaccuracy
It loses, improves and carry success rate and carry degree of safety, while also improving efficiency.
Step 803: being removed according to the control of the level coordinates of the first wheel, the second wheel, third wheel and the 4th wheel
Device movement is transported, to carry vehicle to be handled.
In present embodiment, the radius of the first wheel 191 is obtained.According to the radius of the first wheel 191, the first wheel 191,
The level coordinates control carrier 10 of second wheel 192, third wheel 193 and the 4th wheel 194 moves, to carry wait remove
Transport vehicle 19.
In a specific embodiment, it is filled according to the level coordinates of three endpoints of the first rectangle 195 and acquisition
Set the radius that 13 height apart from ground determines the first wheel 191.
The level coordinates of a1 are (Xa1,Za1), the level coordinates of a2 be (Xa2,Za2), the height h of acquisition device 13 with
And first wheel 191 radius R meet the relationship as shown in formula (5),
Further, the center M of the first wheel 191 can be obtained according to the radius of the first wheel 191, and in upright plane, (XY is flat
Face) coordinate (XM,YM), (XM,YM) meet the relationship as shown in formula (6),
Similarly, the radius of the second wheel 192, third wheel 193 and the 4th wheel 194 and the upright plane at center can be found out
Coordinate.
In present embodiment, moved according to the position control carrier 10 of 4 wheels, so that the axis of symmetry of carrier 10
It is parallel with the axis of symmetry of vehicle 19 to be handled, it is preferable that carrier 10 is overlapped with the axis of symmetry of vehicle 19 to be handled.
Further 2, Figure 12 refering to fig. 1 is the schematic illustration that Fig. 8 carrier carries vehicle to be handled.
In present embodiment, moved in control carrier 10, so that the axis of symmetry of carrier 10 and vehicle 19 to be handled
The axis of symmetry it is parallel after, according to the centre coordinate of the first wheel 191, the radius of the first wheel 191, the first clamping part 141
Initial position message, the initial position message of the first motion information of the first clamping part 141 and the second clamping part 151 determines
Second motion information of the second clamping part 151.
In present embodiment, the first clamping part 141 and the second clamping part 151 are circular drum, the first motion information packet
First level move distance is included, the second motion information includes the second horizontal displacement distance.
In present embodiment, for the first clamping part 141 in initial position, the center of the first clamping part 141 is Q point.Therefore,
Initial position message of first clamping part 141 in initial position are as follows: the initial coordinate of center Q point is (X4,Y4),Y4It is first
Initial ordinate, the X at the center of clamping part 1414For the initial abscissa at the center of the first clamping part 141.Second clamping part 151
Position in initial position relative to the first clamping part 141 is fixed and known.Therefore, according to the center of the first clamping part 141
The relative position of initial coordinate and the first clamping part 141 and the second clamping part 151 obtains 151 center of the second clamping part and initially sits
Mark.Therefore, initial position message of second clamping part 151 in initial position are as follows: center initial coordinate is (X5,Y5),Y5It is
Initial ordinate, the X at the center of two clamping parts 1515For the initial abscissa at the center of the second clamping part 151.First clamping part
141 and second clamping part 151 relative position according to carrier 10 it is specific design depending on, the application does not limit this.
In order to allow the first clamping part 141 and the second clamping part 151 to grab tire from the two sides of the first wheel 191 simultaneously, need
The first clamping part 141 and the second clamping part 151 is allowed to arrive separately at the two sides of the first wheel 191 in the same time, it is necessary first to
Calculate the distance that the first clamping part 141 and the second clamping part 151 need to move.Assuming that the first clamping part 141 moves the first water
Reach the first side of the first wheel 191 after flat move distance, the second clamping part 151, which moves, reaches the after the second horizontal displacement distance
Second side of one wheel 191, the first side of the first wheel 191 are located at the first wheel 191 close to the side of carrier 10.
The first side of the first wheel 191, i.e., the first clamping are reached after first clamping part 141 movement first level move distance
The center in portion 141 moves to G point, first level move distance L from Q point1For the length of QG, the first clamping part 141 and the first vehicle
It is tangent to take turns 191.Due to being to translate, Q point is identical as the ordinate of G point；First clamping part 141 and the first wheel 191 are tangent, MG's
Length is the sum of the radius of the first clamping part 141 and the first wheel 191.According to the initial perpendicular seat at the center of the first clamping part 141
Mark, the initial abscissa at center of the first clamping part 141 and the radius of the first clamping part 141 determine the first clamping part 141
First level move distance, first level move distance L1The relationship as shown in formula (7) of satisfaction,
Wherein, XMFor the center abscissa of the first wheel 191, R is radius, the Y of the first wheel 1914For the first clamping part
Initial ordinate, the X at 141 center4For initial abscissa, the R at the center of the first clamping part 1411For the first clamping part 141
Radius, L1For first level move distance.
Similarly, the second clamping part 151, which moves, reaches second side of the first wheel 191 after the second horizontal displacement distance, and second
The center of clamping part 151 moves to W point from initial position, and the initial of the center of the ordinate of W point and the second clamping part 151 perpendicular sits
Mark identical, the second clamping part 151 and the first wheel 191 are tangent.The length of MW is the second clamping part 151 and the first wheel 191
The sum of radius.According to the first of the center of the centre coordinate of the first wheel 191, the radius of the first wheel 191, the second clamping part 151
The radius of the initial abscissa at the center of beginning ordinate, the second clamping part 151 and the second clamping part 151 determines the second clamping part
151 the second horizontal displacement distance, the second horizontal displacement distance L2The relationship as shown in formula (8) of satisfaction,
Wherein XMFor the center abscissa of the first wheel 191, R is radius, the Y of the first wheel 1915For the second clamping part 151
Center initial ordinate, X5For initial abscissa, the R at the center of the second clamping part 1512It is the half of the second clamping part 151
Diameter, L2For the second horizontal displacement distance.
In present embodiment, after obtaining first level move distance and the second horizontal displacement distance, according to the first water
The first level movement velocity of flat move distance and the first clamping part 141 determines the horizontal movement time of the first clamping part 141, root
The horizontal movement of the second clamping part 151 is determined according to the horizontal movement time and the second horizontal displacement distance of the first clamping part 141
The horizontal movement speed of time and the second clamping part 151.
In present embodiment, processor 11 controls the first clamping part 141 with first level movement velocity V1Uniform motion, then
First level move distance and first level movement velocity V1Ratio be the first clamping part 141 horizontal movement time T1.?
In other embodiments, processor 11 also can control the first clamping part 141 and make variable motion, according to first level move distance
The horizontal movement time T of the first clamping part 141 is calculated with the acceleration and speed of the first clamping part 1411, the application is to this
Without limitation.
In a specific embodiment, the second clamping part 151 is moved to flat with the first wheel 191 from initial position
Together, and during being moved to concordant with the first wheel 191 it is unfolded and is folded.Therefore, the level of the first clamping part 141
Run duration is identical with the horizontal movement time of the second clamping part 151.
The horizontal movement of the horizontal movement time, the second horizontal displacement distance, the second clamping part 151 of first clamping part 141
The horizontal movement speed of time and the second clamping part 151 meets the relationship as shown in formula (9),
Wherein, T1Horizontal movement time, T for the first clamping part 1412For the second clamping part 151 the horizontal movement time,
L2For the second horizontal displacement distance, V2For the horizontal movement speed of the second clamping part 151.
In another particular embodiment of the invention, the second clamping part 151 in initial position first upon deployment between open up in T
It opens, is then moved to again concordant with the first wheel 191, and folded during being moved to concordant with tire.When being wherein unfolded
Between T depending on the performance of carrier 10, such as 1s, 2s etc..Therefore, the horizontal movement time and second of the second clamping part 151
The sum of duration of run of clamping part 151 is identical as the horizontal movement time of the first clamping part 141.
The horizontal movement of the horizontal movement time, the second horizontal displacement distance, the second clamping part 151 of first clamping part 141
The horizontal movement speed of time and the second clamping part 151 meets the relationship as shown in formula (10),
Wherein, T1For the horizontal movement time of the first clamping part 141, T is the duration of run of the second clamping part 151, T2It is
The horizontal movement time of two clamping parts 151, L2For the second horizontal displacement distance, V2For the horizontal movement speed of the second clamping part 151
Degree.
In present embodiment, after determining the second motion information.The first clamping part 141 is controlled to be transported according to the first motion information
It is dynamic, while controlling the second clamping part 151 and being moved according to the second motion information, so that the first clamping part 141 and the second clamping part 151
The different location of the first wheel 191 of vehicle 19 to be handled is contacted simultaneously, completes the crawl to the first wheel 191.
In a specific embodiment, processor 11 control the first clamping part 141 and the second clamping part 151 simultaneously from
Initial position movement.Processor 11 controls the first clamping part 141 with speed V2Movement, while the second clamping part 151 is controlled from first
Beginning position be moved to speed V1 it is concordant with the first wheel 191, and carry out during being moved to concordant with wheel expansion and
It folds.First clamping part 141 and the second clamping part 151 are in the horizontal movement time T for moving the first clamping part 1411The same time-division afterwards
Not from two the first wheels of side contacts 191, to complete the crawl to the first wheel 191.
In a specific embodiment, processor 11 control the first clamping part 141 and the second clamping part 151 simultaneously from
Initial position movement.Wherein, processor 11 controls the first clamping part 141 with speed V2Movement, while controlling the second clamping part 151
In initial position first upon deployment between be unfolded in T, be then moved to concordant with the first wheel 191, and be moved to and the again
It is folded during one wheel 191 is concordant.First clamping part 141 and the second clamping part 151 are in the water for moving the first clamping part 141
Flat run duration T1Afterwards while respectively from two the first wheels of side contacts 191, to complete the crawl to the first wheel 191.
Further, after the first wheel 191 and the second wheel 192 are carried to carrier 10 by clamping device 15, pass through
Third wheel 193 and the 4th wheel 194 are carried upper carrier 10 by same mode, complete the carrying for treating carrying vehicle 19.
Be different from the prior art, the application provides a kind of control method of carrier, carrier include the first clamping part and
Second clamping part, control method include: to obtain the wheel information of vehicle to be handled；According to wheel information, the first clamping part just
The initial position message of beginning location information, the first motion information of the first clamping part and the second clamping part determines the second clamping part
The second motion information；It controls the first clamping part to be moved according to the first motion information, while controlling the second clamping part according to second
Motion information movement, so that the first clamping part contacts the different location of the wheel of vehicle to be handled with the second clamping part simultaneously, it is complete
The crawl of pairs of wheel.The application can control the first clamping part and the second clamping part while contact the wheel of vehicle to be handled
Different location completes the crawl to wheel, improves the handling efficiency of carrier.
3, Figure 13 is the structural schematic diagram for one embodiment of device that the application has store function refering to fig. 1.With depositing
It stores up and is stored at least one program or instruction 31 in the device 30 of function, program or instruction 31 are for realizing any of the above-described method.
In one embodiment, the device with store function includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can store journey
The medium of sequence code.
The application acquires the information of 3 wheels by acquisition device, and then according to the 4th vehicle of the acquisition of information of 3 wheels
The information of wheel and the opposite deflection angle with carrier of vehicle to be handled, monitor the position of vehicle to be handled, Jin Ershi in real time
When adjust carrier movement, can be improved the handling efficiency of carrier and improve carrier safety.
In several embodiments provided herein, it should be understood that disclosed method and apparatus can pass through it
Its mode is realized.For example, device embodiments described above are only schematical, for example, stroke of module or unit
Point, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can
To combine or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or beg for
The mutual coupling, direct-coupling or communication connection of opinion can be through some interfaces, the INDIRECT COUPLING of device or unit
Or communication connection, it can be electrical property, mechanical or other forms.
Unit may or may not be physically separated as illustrated by the separation member, shown as a unit
Component may or may not be physical unit, it can and it is in one place, or may be distributed over multiple networks
On unit.It can select some or all of unit therein according to the actual needs to realize the mesh of present embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
It, can if integrated unit is realized in the form of SFU software functional unit and when sold or used as an independent product
To be stored in a computer readable storage medium.Based on this understanding, the technical solution of the application substantially or
Say that all or part of the part that contributes to existing technology or the technical solution can embody in the form of software products
Out, which is stored in a storage medium, including some instructions are used so that a computer equipment
(can be personal computer, server or the network equipment etc.) or processor (processor) execute each implementation of the application
The all or part of the steps of methods.
The above is only presently filed embodiments, are not intended to limit the scope of the patents of the application, all to utilize the application
Equivalent structure or equivalent flow shift made by specification and accompanying drawing content is applied directly or indirectly in other relevant technologies
Field similarly includes in the scope of patent protection of the application.
Claims (10)
1. a kind of control method of carrier, which is characterized in that the control method includes:
The level coordinates of the first wheel of vehicle to be handled, the center of the second wheel and third wheel are obtained respectively, wherein
First wheel and second wheel are coaxially disposed；
According to the level coordinates at the center of first wheel, second wheel and the third wheel determine it is described to
The level coordinates of 4th wheel of carrying vehicle, wherein the 4th wheel and the third wheel are coaxially disposed；
According to the level coordinates control of first wheel, second wheel, the third wheel and the 4th wheel
The carrier movement is made, to carry the vehicle to be handled.
2. control method according to claim 1, which is characterized in that first vehicle for obtaining vehicle to be handled respectively
Wheel, the second wheel and third wheel center level coordinates the step of include:
First wheel, second wheel and the third wheel are scanned, along the horizontal plane by acquisition device to obtain
It cuts first wheel, second wheel and the third wheel and is formed by the first rectangle, second in horizontal scan face
The level coordinates of each three endpoints of rectangle and third rectangle；
According to first rectangle, second rectangle and the third rectangle close to each three endpoints of the acquisition device
Level coordinates determine first rectangle, second rectangle and the third rectangle center level coordinates,
To obtain the level coordinates at the center of first wheel, second wheel and the third wheel.
3. control method according to claim 2, which is characterized in that described according to first wheel, second vehicle
The level coordinates at the center of wheel and the third wheel determine the level coordinates of the 4th wheel of the vehicle to be handled
The step of specifically include:
Determine the vehicle to be handled described according to the level coordinates at the center of first wheel and second wheel
The curvilinear equation of the axis of symmetry on horizontal scan face；
According to the level at the center of the axis of symmetry and the third wheel of the vehicle to be handled on the horizontal scan face
Areal coordinate determines the level coordinates at the center of the third wheel.
4. control method according to claim 3, which is characterized in that the vehicle to be handled is on the horizontal scan face
The axis of symmetry curvilinear equation be the formula as shown in formula (1), Z=kX+c (1)
The level coordinates at the center of first wheel and second wheel and the vehicle to be handled are in the scanning water
The curvilinear equation of the axis of symmetry in plane meets the relationship as shown in formula (2),
Wherein, (Xa0,Za0) be first wheel center level coordinates, (Xb0,Zb0) be second wheel center
Level coordinates.
5. control method according to claim 3, which is characterized in that described according to first wheel, second vehicle
The step of level coordinates control carrier movement of wheel, the third wheel and the 4th wheel, specifically includes:
Obtain the radius of first wheel；
According to the radius of first wheel, first wheel, second wheel, the third wheel and the described 4th
The level coordinates of wheel control the carrier movement, to carry the vehicle to be handled.
6. control method according to claim 5, which is characterized in that the step of the radius for obtaining first wheel
It specifically includes:
Institute is determined according to the level coordinates of three endpoints of first rectangle and height of the acquisition device apart from ground
State the radius of the first wheel.
7. control method according to claim 2, which is characterized in that it is described scanned along the horizontal plane by acquisition device described in
First wheel, second wheel and the third wheel cut first wheel, described the to obtain horizontal scan face
Two wheels and the third wheel are formed by the level of each three endpoints of the first rectangle, the second rectangle and third rectangle
The step of areal coordinate, specifically includes:
First rectangle, second rectangle and the third rectangle are obtained close to the acquisition by the acquisition device
The relative position information of each three endpoints of device；
It is filled according to the acquisition device and first rectangle, second rectangle and the third rectangle close to the acquisition
The relative position information of each three endpoints and the level coordinates of the acquisition device set determine first rectangle, described
The level coordinates of second rectangle and the third rectangle close to each three endpoints of the acquisition device.
8. a kind of carrier, which is characterized in that acquisition device and memory including processor and with processor coupling；
The acquisition device is used to store the computer program and holding that the processor executes for acquiring data, the memory
Generated intermediate data when row computer program；When the processor executes computer program, realize that claim 1-7 is any
Method described in.
9. carrier according to claim 8, which is characterized in that the acquisition device is fixed on one jiao of the carrier
On, the acquisition device acquires data from the side of vehicle to be handled, and the acquisition device is ultrasonic distance-measuring sensor, laser
Any one of distance measuring sensor, infrared distance measuring sensor and radar sensor.
10. a kind of device with store function, which is characterized in that the device with store function is stored with program number
According to described program data can be performed to realize the described in any item methods of claim 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910041689.5A CN109870951B (en) | 2019-01-16 | 2019-01-16 | Method for controlling carrier, and device having storage function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910041689.5A CN109870951B (en) | 2019-01-16 | 2019-01-16 | Method for controlling carrier, and device having storage function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109870951A true CN109870951A (en) | 2019-06-11 |
| CN109870951B CN109870951B (en) | 2021-02-26 |
Family
ID=66917833
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910041689.5A Active CN109870951B (en) | 2019-01-16 | 2019-01-16 | Method for controlling carrier, and device having storage function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109870951B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112946659A (en) * | 2021-02-07 | 2021-06-11 | 桂林电子科技大学 | High-precision vehicle position confirmation device and method based on ultrasonic distance meter |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0760411A1 (en) * | 1995-02-28 | 1997-03-05 | Romero Santiago, Maria Paz | Modular storage system with movable rack, specially applicable to motor vehicles |
| GB2438184A (en) * | 2006-04-25 | 2007-11-21 | Gkn Autostructures Ltd | Hybrid electric vehicle |
| CN104266627A (en) * | 2014-09-29 | 2015-01-07 | 沈阳远大科技园有限公司 | Device and method for measuring wheel base under vehicle stationary state |
| CN105888338A (en) * | 2016-05-26 | 2016-08-24 | 山东建筑大学 | UWB-positioning-based intelligent automobile transfer robot and control method thereof |
| CN106677579A (en) * | 2017-03-01 | 2017-05-17 | 上海汇聚自动化科技有限公司 | Intelligent parking robot with omni-directional moving and transferring platform and control method thereof |
| CN107338988A (en) * | 2017-07-18 | 2017-11-10 | 武汉智象机器人有限公司 | A kind of intelligent parking library structure and its parking method |
-
2019
- 2019-01-16 CN CN201910041689.5A patent/CN109870951B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0760411A1 (en) * | 1995-02-28 | 1997-03-05 | Romero Santiago, Maria Paz | Modular storage system with movable rack, specially applicable to motor vehicles |
| GB2438184A (en) * | 2006-04-25 | 2007-11-21 | Gkn Autostructures Ltd | Hybrid electric vehicle |
| CN104266627A (en) * | 2014-09-29 | 2015-01-07 | 沈阳远大科技园有限公司 | Device and method for measuring wheel base under vehicle stationary state |
| CN105888338A (en) * | 2016-05-26 | 2016-08-24 | 山东建筑大学 | UWB-positioning-based intelligent automobile transfer robot and control method thereof |
| CN106677579A (en) * | 2017-03-01 | 2017-05-17 | 上海汇聚自动化科技有限公司 | Intelligent parking robot with omni-directional moving and transferring platform and control method thereof |
| CN107338988A (en) * | 2017-07-18 | 2017-11-10 | 武汉智象机器人有限公司 | A kind of intelligent parking library structure and its parking method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112946659A (en) * | 2021-02-07 | 2021-06-11 | 桂林电子科技大学 | High-precision vehicle position confirmation device and method based on ultrasonic distance meter |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109870951B (en) | 2021-02-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP1844420B1 (en) | A path planner and method for planning a path plan having a spiral-shape component | |
| CN103963782B (en) | Tractor-trailer mobile robot Parallel parking method | |
| US7658245B2 (en) | Mobile robot | |
| CN103754219A (en) | Automatic parking system of information fusion of multiple sensors | |
| CN101045465B (en) | Flow guiding device for automobile | |
| CN105081524B (en) | In welding process, the online dynamic programming of track follows the tracks of collaborative control method with welding bead | |
| CN106610664A (en) | Movement obstacle avoidance device and control method | |
| WO2008133837A1 (en) | Machine with automated blade positioning system | |
| CN1394771A (en) | Parking auxiliary device | |
| EP3663486B1 (en) | Parking robot for a motor vehicle and method for operating the same | |
| CN109870951A (en) | Control method, carrier and the device with store function of carrier | |
| CN106670797B (en) | DCT gearboxes shafting automatic assembling device and automatic assembling method | |
| CN108661388A (en) | A kind of tire clamping limb self-locking device and carrier | |
| CN106382916B (en) | The double hexapod robot complicated landform 3 D stereo mapping systems and method of self-built referential | |
| CN205393786U (en) | Laser beam machining head, laser beam machining device | |
| CN115903828A (en) | Automatic parking path planning method based on four-wheel steering of vehicle | |
| CN105785971B (en) | A kind of caliberating device and method of automobile Lane Departure Warning System | |
| CN110002217A (en) | Control device and control method are carried in a kind of heating extraction of pedotheque | |
| CN205589200U (en) | Automatic turn to and move car device and car | |
| DE102018221172A1 (en) | Parking robots for a motor vehicle and method for operating such a parking robot | |
| CN211468613U (en) | Omnidirectional wheel chassis assisting camera in inspection | |
| JP4912402B2 (en) | Real-time parking support method for automobile and corresponding device | |
| CN106054894A (en) | Robot accompanying system, robot accompanying method and robot trolley | |
| CN109681015B (en) | Method for controlling carrier, and device having storage function | |
| CN208085851U (en) | Running gear chassis and robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |