CN109870951B - Method for controlling carrier, and device having storage function - Google Patents
Method for controlling carrier, and device having storage function Download PDFInfo
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- CN109870951B CN109870951B CN201910041689.5A CN201910041689A CN109870951B CN 109870951 B CN109870951 B CN 109870951B CN 201910041689 A CN201910041689 A CN 201910041689A CN 109870951 B CN109870951 B CN 109870951B
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Abstract
The application discloses a control method of a carrier, the carrier and a device with a storage function. The control method of the carrier comprises the following steps: respectively acquiring horizontal plane coordinates of centers of a first wheel, a second wheel and a third wheel of a vehicle to be carried, wherein the first wheel and the second wheel are coaxially arranged; determining horizontal plane coordinates of a fourth wheel of the vehicle to be carried according to the horizontal plane coordinates of the centers of the first wheel, the second wheel and the third wheel, wherein the fourth wheel and the third wheel are coaxially arranged; and controlling the carrier to move according to the horizontal plane coordinates of the first wheel, the second wheel, the third wheel and the fourth wheel so as to carry the vehicle to be carried. The position of the vehicle to be carried is monitored in real time, and then the motion of the carrier is adjusted in real time, so that the carrying efficiency of the carrier can be improved, and the safety of the carrier is improved.
Description
Technical Field
The present disclosure relates to the field of carriers, and particularly to a method for controlling a carrier, and a device with a storage function.
Background
The problem of ubiquitous parking of vehicles is the result of social, economic and traffic development of cities to a certain extent, and the development of three-dimensional parking equipment is abroad, especially has 30-40 years of history in Japan, and has been successful technically and empirically. In order to solve the contradiction between the floor space of the parking space and the commercial floor space of the residents, the mechanical three-dimensional parking equipment is accepted by the majority of the users due to the unique characteristic that the average single-vehicle floor space is small. With the rapid increase of the quantity of motor vehicles, the vehicle parking and taking becomes an important factor restricting the development of the stereo garage, and the performance of the intelligent vehicle carrier determines the vehicle parking and taking efficiency.
When the existing clamping and holding type automobile carrier is used for taking a vehicle, if the carrier cannot acquire accurate position information of wheels of the vehicle to be carried, the carrier can be misaligned to cause carrying failure, so that carrying efficiency is influenced.
That is, the carrier of the prior art has low carrying efficiency and low safety.
Disclosure of Invention
The application provides a control method of a carrier, a carrier and a device with a storage function, which can improve the carrying efficiency of the carrier and the safety of the carrier.
In order to solve the above technical problem, the first technical solution adopted by the present application is: there is provided a control method of a carrier, the control method including: respectively acquiring horizontal plane coordinates of centers of a first wheel, a second wheel and a third wheel of a vehicle to be carried, wherein the first wheel and the second wheel are coaxially arranged; determining horizontal plane coordinates of a fourth wheel of the vehicle to be carried according to the horizontal plane coordinates of the centers of the first wheel, the second wheel and the third wheel, wherein the fourth wheel is arranged coaxially with the third wheel; and controlling the carrier to move according to the horizontal plane coordinates of the first wheel, the second wheel, the third wheel and the fourth wheel so as to carry the vehicle to be carried.
Wherein the step of respectively obtaining horizontal plane coordinates of the centers of the first wheel, the second wheel and the third wheel of the vehicle to be carried comprises: scanning the first wheel, the second wheel and the third wheel along a horizontal plane through an acquisition device to obtain horizontal plane coordinates of three end points of a first rectangle, a second rectangle and a third rectangle formed by cutting the first wheel, the second wheel and the third wheel on the scanning horizontal plane; determining the horizontal plane coordinates of the centers of the first rectangle, the second rectangle and the third rectangle according to the horizontal plane coordinates of the three end points of the first rectangle, the second rectangle and the third rectangle close to the acquisition device, so as to obtain the horizontal plane coordinates of the centers of the first wheel, the second wheel and the third wheel.
Wherein the step of determining the horizontal plane coordinates of the fourth wheel of the vehicle to be transported according to the horizontal plane coordinates of the centers of the first wheel, the second wheel, and the third wheel specifically includes: determining a curve equation of a symmetry axis of the vehicle to be carried on the scanning horizontal plane according to horizontal plane coordinates of centers of the first wheel and the second wheel; and determining the horizontal plane coordinate of the center of the third wheel according to the symmetry axis of the vehicle to be carried on the scanning horizontal plane and the horizontal plane coordinate of the center of the third wheel.
Wherein the curve equation of the symmetry axis of the vehicle to be carried on the scanning horizontal plane is the formula shown in the formula (1),
Z＝kX+c (1)
the curve equation of the horizontal plane coordinates of the centers of the first wheel and the second wheel and the symmetry axis of the vehicle to be carried on the scanning horizontal plane satisfies the relationship shown in the formula (2),
wherein (X)a0,Za0) (X) is a horizontal plane coordinate of the center of the first wheelb0,Zb0) Is a horizontal plane coordinate of the center of the second wheel.
Wherein the step of controlling the movement of the carrier according to the horizontal plane coordinates of the first wheel, the second wheel, the third wheel and the fourth wheel specifically comprises: obtaining a radius of the first wheel; and controlling the carrier to move according to the horizontal plane coordinates of the first wheel, the second wheel, the third wheel and the fourth wheel according to the radius of the first wheel so as to carry the vehicle to be carried.
Wherein the step of obtaining the radius of the first wheel specifically comprises: and determining the radius of the first wheel according to the horizontal plane coordinates of the three end points of the first rectangle and the height of the acquisition device from the ground.
The step of scanning the first wheel, the second wheel and the third wheel along a horizontal plane by the acquisition device to obtain horizontal plane coordinates of three end points of a first rectangle, a second rectangle and a third rectangle formed by cutting the first wheel, the second wheel and the third wheel on the scanning horizontal plane specifically includes: acquiring relative position information of three end points of the first rectangle, the second rectangle and the third rectangle close to the acquisition device through the acquisition device; and determining the horizontal plane coordinates of the three end points of the first rectangle, the second rectangle and the third rectangle close to the acquisition device according to the relative position information of the acquisition device and the three end points of the first rectangle, the second rectangle and the third rectangle close to the acquisition device and the horizontal plane coordinates of the acquisition device.
In order to solve the above technical problem, the second technical solution adopted by the present application is: providing a carrier comprising a processor and an acquisition device and a memory coupled to the processor; the acquisition device is used for acquiring data, and the memory is used for storing a computer program executed by the processor and intermediate data generated when the computer program is executed; the processor, when executing the computer program, implements the method of any of the first aspects.
Wherein, collection system fixes on the one corner of carrier, collection system gathers data from the side of treating the haulage vehicle, collection system is any one of ultrasonic ranging sensor, laser ranging sensor, infrared ray range finding sensor and radar sensor.
In order to solve the above technical problem, the third technical solution adopted by the present application is: there is provided a storage-enabled device having stored thereon program data executable to implement the method of any one of the first aspects.
The beneficial effect of this application is: different from the prior art, the control method of the carrier comprises the following steps: respectively acquiring horizontal plane coordinates of centers of a first wheel, a second wheel and a third wheel of a vehicle to be carried, wherein the first wheel and the second wheel are coaxially arranged; determining horizontal plane coordinates of a fourth wheel of the vehicle to be carried according to the horizontal plane coordinates of the centers of the first wheel, the second wheel and the third wheel, wherein the fourth wheel and the third wheel are coaxially arranged; and controlling the carrier to move according to the horizontal plane coordinates of the first wheel, the second wheel, the third wheel and the fourth wheel so as to carry the vehicle to be carried. This application passes through the information of 3 wheels of collection system collection, and then obtains the information of 4 th wheel and treats the haulage vehicle for the deflection angle of carrier according to the information of 3 wheels, and the position of haulage vehicle is treated in real time monitoring, and then the motion of real-time adjustment carrier can improve the handling efficiency of carrier and improve the security of carrier.
Drawings
FIG. 1 is a schematic structural view of an embodiment of a carrier according to the present application;
FIG. 2 is a schematic block diagram of one embodiment of the carrier of FIG. 1;
FIG. 3 is a schematic view of the carrier of FIG. 2 during wheel information acquisition;
FIG. 4 is a schematic view of the arrangement at the acquisition device in the carrier of FIG. 2;
FIG. 5 is a schematic view of the carrier of FIG. 2 with the clamping devices fully retracted;
FIG. 6 is a schematic view of the carrier of FIG. 2 with the clamping device partially extended;
FIG. 7 is a schematic view of the carrier of FIG. 2 with the clamping device fully extended;
fig. 8 is a schematic flow chart illustrating an embodiment of a control method for a carrier according to the present application;
FIG. 9 is a schematic view of the carrier of FIG. 8 during wheel information acquisition;
FIG. 10 is a schematic diagram of the carrier of FIG. 8 acquiring wheel center level coordinates;
FIG. 11 is a schematic illustration of the carrier of FIG. 8 acquiring a first wheel center vertical coordinate;
FIG. 12 is a schematic illustration of the carrier of FIG. 8 carrying a vehicle to be carried;
fig. 13 is a schematic structural diagram of an embodiment of the device with a storage function according to the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, fig. 2 and fig. 3, fig. 1 is a schematic structural diagram of an embodiment of a carrier of the present application; FIG. 2 is a schematic block diagram of one embodiment of the carrier of FIG. 1; fig. 3 is a schematic view of the carrier of fig. 2 during wheel information acquisition.
With reference to fig. 1, 2 and 3, the carrier 10 includes a processor 11, and an acquisition device 13 and a memory 16 coupled to the processor 11. The acquisition means 13 are adapted to acquire data and the memory 16 is adapted to store a computer program to be executed by the processor 11 and intermediate data generated when executing the computer program. The processor 11, when executing the computer program, implements: acquiring horizontal plane coordinates of centers of a first wheel 191, a second wheel 192 and a third wheel 193 of the vehicle 19 to be carried, wherein the first wheel 191 and the second wheel 192 are coaxially arranged; determining horizontal plane coordinates of a fourth wheel 194 of the vehicle 19 to be carried from horizontal plane coordinates of centers of the first wheel 191, the second wheel 192, and the third wheel 193, wherein the fourth wheel 194 is disposed coaxially with the third wheel 193; the carrier 10 is controlled to move according to the horizontal coordinates of the first wheel 191, the second wheel 192, the third wheel 193 and the fourth wheel 194 to carry the vehicle 19 to be carried.
In the present embodiment, the carrier 10 includes a carrier main body 14 and a clamping device 15, and the clamping device 15 is movably connected to the carrier main body 14. Both ends of the first clamping portion 141 are hinged to the carrier body 14, and one end of the second clamping portion 151 is hinged to the clamping device 15. The pickup device 13 is fixed to a corner of the carrier 10, and the pickup device 13 picks up data from the side of the vehicle 19 to be carried. The acquisition device 13 is any one of an ultrasonic ranging sensor, a laser ranging sensor, an infrared ranging sensor, and a radar sensor. The carrier 10 includes two clamping devices which are symmetrical to each other, so that the two sides of the carrier 10, which are provided with the clamping devices, are provided with one collecting device 13, and the collecting device 13 to be started is determined according to the position where the vehicle 19 to be carried enters. In the present embodiment, only one acquisition device 13 is provided at one end of the carrier 10, the number of the acquisition devices 13 is not limited, and the number of the acquisition devices 13 may be 2 or more, which may increase the calculation accuracy. The pickup device 13 is attached to any one of the front and rear corners of the carrier 10, and the pickup device 13 scans the obstacle in the set area to acquire the area cross-sectional information of the wheel in the area.
In the present embodiment, the direction in which the carrier 10 moves is defined as the X axis, the direction perpendicular to the X axis on the horizontal plane is defined as the Z axis, and the directions perpendicular to the X axis and the Z axis are defined as the Y axis. The carrier 10 is close to the vehicle 19 to be carried along the X-axis direction, and the vehicle 19 to be carried includes 4 wheels, namely a first wheel 191, a second wheel 192, a third wheel 193 and a fourth wheel 194. The first wheel 191 and the second wheel 192 are coaxially disposed, and the fourth wheel 194 and the third wheel 193 are coaxially disposed. In other embodiments, the wheels of the vehicle 19 to be handled may be 6, 8 or more, which is not limited in this application.
With further reference to fig. 4, fig. 4 is a schematic view of the structure of the carrier of fig. 2 at the collection device.
In this embodiment, the carrier body 14 is provided with flanges 142 on both sides thereof, and the steering engine 12 is provided at the end of the flange 142. The steering engine 12 includes a steering engine base 121, a steering wheel 123, and a first drive device 122. The steering engine base 121 is connected with the end part of the flange 142 through a bolt. The steering wheel 123 is located at the lower part of the steering engine base 121, and specifically, the steering wheel 123 is a universal wheel or a roller capable of steering at a preset angle. The first driving device 122 is located on the upper portion of the steering engine base 121, and the first driving device 122 drives the steering wheel 123 to turn, so as to control the moving direction of the carrier 10. The steering engine 12 is provided with a visual device 17, and the visual device 17 is used for acquiring external environment information of the carrier 10. The steering engine 12 is used to control the movement direction of the carrier 10 according to external environment information. The processor 11 receives the external environment information collected by the vision device 17, and controls the steering engine 12 to further control the movement direction of the carrier 10. The vision device 17 is located on the upper portion of the steering engine base 121, and the vision device 17 is fixed on the upper portion of the steering engine base 121 in a detachable mode such as threaded connection and clamping connection. The first driving device 122 of the present application is used only to drive the steering wheel 123 to steer, and does not provide a driving force to roll the steering wheel 123. Compared with the prior art that the steering engine 12 needs to provide power to enable the steering wheel 123 to steer and also needs to provide power to enable the steering wheel 123 to roll, the first driving device 122 in the application has smaller power, is placed on the upper portion of the steering engine base 121 and cannot cause instability of the steering engine 12 in work, and can avoid pollution and damage caused by the fact that the first driving device 122 and the vision device 17 are too close to the ground when the carrier 10 runs. In other embodiments, the steering engine base 121 may also be fixed to the end of the rib 142 by clamping, welding, or joggling.
In this embodiment, the collecting device 13 is fixed at the bottom of the steering engine base 121 by screwing, clamping, welding or the like to collect the wheel information. In other embodiments, the acquisition device 13 may also be located on the upper portion of the steering engine base 121 or directly connected to the end of the flange 142 by bolts, and it is only necessary to ensure that the acquisition device 13 can acquire the wheel information, which is not limited in this application.
With further reference to fig. 5-7, fig. 5 is a schematic view of the carrier of fig. 2 with the clamping device fully retracted; FIG. 6 is a schematic view of the carrier of FIG. 2 with the clamping device partially extended; fig. 7 is a schematic view of the carrier of fig. 2 with the clamping device fully extended.
In this embodiment, the holding device 15 can perform the extending and retracting actions. One end of the first clamping portion 151 is hinged to the clamping device 15. According to the structure and function requirements, the holding device 15 can be divided into three states as shown in fig. 5-7, i.e. fully retracted, partially extended, and fully extended, and the states of the second holding portion 151 are fully retracted, partially extended, and fully extended, respectively.
In the present embodiment, the second clamping portion 151 is in a fully retracted state at an initial position. When the carrier body 10 and the gripping device 15 simultaneously approach the first wheel 191, the first gripping portion 141 and the second gripping portion 151 are simultaneously moved from the initial positions. Here, the second clamping portion 151 is first unfolded to a fully unfolded state so that the first wheel 191 can enter between the first clamping portion 141 and the second clamping portion 151 with respect to the carrier 10. The carrier body 10 and the holding device 15 continue to approach the first wheel 191 at the same time, and the first holding portion 141 and the second holding portion 151 are driven to continue to approach the first wheel 191, so that the first holding portion 141 contacts the first side of the first wheel 191, and in the process that the first holding portion 141 moves to contact the first wheel 191, the second holding portion 151 crosses the first wheel 191 by translating, and is folded to a partially unfolded state to contact the first wheel 191 from the second side of the first wheel 191, and the first holding portion 141 and the second holding portion 151 contact the first wheel 191 from both sides of the wheel at the same time after completing the respective movements. At this point, the gripping of the first wheel 191 is completed. Similarly, the first clamping portion 141 and the second clamping portion 151 on both sides clamp the first wheel 191 and the second wheel 192, respectively, simultaneously.
Different from the prior art, the control method of the carrier comprises the following steps: respectively acquiring horizontal plane coordinates of centers of a first wheel, a second wheel and a third wheel of a vehicle to be carried, wherein the first wheel and the second wheel are coaxially arranged; determining horizontal plane coordinates of a fourth wheel of the vehicle to be carried according to the horizontal plane coordinates of the centers of the first wheel, the second wheel and the third wheel, wherein the fourth wheel and the third wheel are coaxially arranged; and controlling the carrier to move according to the horizontal plane coordinates of the first wheel, the second wheel, the third wheel and the fourth wheel so as to carry the vehicle to be carried. This application passes through the information of 3 wheels of collection system collection, and then obtains the information of 4 th wheel and treats the haulage vehicle for the deflection angle of carrier according to the information of 3 wheels, and the position of haulage vehicle is treated in real time monitoring, and then the motion of real-time adjustment carrier can improve the handling efficiency of carrier and improve the security of carrier.
To specifically describe the control method of the carrier 10 of the present application, referring to fig. 8-11, fig. 8 is a schematic flow chart of an embodiment of the control method of the carrier of the present application; FIG. 9 is a schematic view of the carrier of FIG. 8 during wheel information acquisition; FIG. 10 is a schematic diagram of the carrier of FIG. 8 acquiring wheel center level coordinates; fig. 11 is a schematic diagram of the carrier of fig. 8 acquiring a first wheel center vertical coordinate. For convenience of explanation, the present application is described with reference to the carrier 10 of fig. 1-7. In the present embodiment, the method for controlling the carrier 10 includes the steps of:
step 801: the horizontal plane coordinates of the centers of a first wheel, a second wheel and a third wheel of the vehicle to be carried are respectively obtained, wherein the first wheel and the second wheel are coaxially arranged.
In the present embodiment, a three-dimensional coordinate system is established with the position of the acquisition device 13 as the origin of coordinates. The direction in which the carrier 10 moves is defined as an X-axis, a direction perpendicular to the X-axis in the horizontal direction is defined as a Z-axis, and a direction perpendicular to the X-axis and the Z-axis is defined as a Y-axis. Therefore, when the ground is horizontal, the XZ plane is the horizontal plane. The X-axis coordinate is a horizontal coordinate, the Y-axis coordinate is a vertical coordinate, and the Z-axis coordinate is a vertical coordinate.
In the present embodiment, the first wheel 191, the second wheel 192, and the third wheel 193 are scanned along the horizontal plane (i.e., the XZ plane) by the acquisition device 13 to acquire the horizontal plane coordinates of the three end points of the first rectangle 195, the second rectangle 196, and the third rectangle 197 formed by cutting the first wheel 191, the second wheel 192, and the third wheel 193 along the scanning horizontal plane. The horizontal plane coordinates of the centers of the first rectangle 195, the second rectangle 196, and the third rectangle 197 are determined from the horizontal plane coordinates of the respective three end points of the first rectangle 195, the second rectangle 196, and the third rectangle 197 near the capturing device 13, thereby acquiring the horizontal plane coordinates of the centers of the first wheel 191, the second wheel 192, and the third wheel 193. Obviously, the wheel is a cylinder, the interface of the scanned horizontal plane after cutting the cylinder is necessarily a rectangle, and the horizontal plane coordinate of the center of the rectangle is the horizontal plane coordinate of the center of the wheel.
In the present embodiment, the acquisition device 13 acquires the relative position information of the first rectangle 195, the second rectangle 196, and the third rectangle 197 near the three end points of the acquisition device 13; the horizontal plane coordinates of the three end points of the first rectangle 195, the second rectangle 196 and the third rectangle 197 close to the acquisition device 13 are determined according to the relative position information of the acquisition device 13 and the three end points of the first rectangle 195, the second rectangle 196 and the third rectangle 197 close to the acquisition device 13 and the horizontal plane coordinates of the acquisition device 13.
The acquisition of the coordinates of the three end points on the first rectangle 195 close to the acquisition device 13 is described as an example. Assume that the three endpoints of the first rectangle 195 are a1, a2, and a3, respectively. The length of the line segment Oa1 and the angle of the line segment Oa1 with respect to the X-axis are acquired by the acquisition device 13. The X-axis coordinate of a1 is obtained as X according to the length of the section Oa1 and the angle of the section Oa1 relative to the X-axisa1And Z-axis coordinate is Za1. I.e. a1 with a horizontal plane coordinate of (X)a1,Za1). Similarly, the horizontal plane coordinate of a2 is obtained as (X)a2,Za2) The horizontal plane coordinate of a3 is (X)a3,Za3)。
In one particular embodiment, the horizontal plane coordinate (X0) is the midpoint of the line segment a2a3 since the center a0 of the first rectangle 195 is the midpointa0,Za0) And the horizontal plane coordinate (X) of a2a2,Za2) A3 horizontal plane coordinate (X)a3,Za3) Satisfies the relationship shown in the formula (3),
in another specific embodiment, the line segment a2a0, the line segment a1a0, and the line segment a3a0 are equal and all have the radius R of the circle circumscribing the first rectangle 1951. Therefore, the horizontal plane coordinate (X) of a0a0,Za0) And the horizontal plane coordinate (X) of a1a1,Za1) A2 horizontal plane coordinate (X)a2,Za2) And a3 has a horizontal plane coordinate of (X)a3,Za3) And radius R of the circumscribed circle of the first rectangle 1953Satisfies the relationship shown in the formula (4),
based on the same calculation method, the horizontal plane coordinates (X) of the center a0 of the first rectangle 195 can be acquired respectivelya0,Za0) The horizontal plane coordinate (X) of the center b0 of the second rectangle 196b0,Zb0) And the horizontal plane coordinate (X) of the center c0 of the third rectangle 197c0,Zc0)。
Step 802: and determining the horizontal plane coordinates of a fourth wheel of the vehicle to be conveyed according to the horizontal plane coordinates of the centers of the first wheel, the second wheel and the third wheel, wherein the fourth wheel and the third wheel are coaxially arranged.
In the present embodiment, the curve equation of the symmetry axis of the vehicle 19 to be carried on the scanning horizontal plane is determined from the horizontal plane coordinates of the centers of the first wheel 191 and the second wheel 192. The horizontal plane coordinates of the center of the third wheel 193 are determined from the axis of symmetry HI of the vehicle 19 to be carried on the scanning horizontal plane and the horizontal plane coordinates of the center of the third wheel 193. Obviously, due to the obstruction of obstacles such as the vehicle chassis, the information of the fourth wheel 194 cannot be directly collected, and the horizontal coordinates of the fourth wheel 194 of the vehicle 19 to be transported are determined according to the horizontal coordinates of the centers of the first wheel 191, the second wheel 192, and the third wheel 193, so that the vehicle 19 to be transported can be accurately positioned. By acquiring the positions of the four wheels in real time, it is possible to ensure that the carrier 10 can accurately carry the vehicle.
In a specific embodiment, the axis of symmetry of the vehicle 19 to be transported on the scanning horizontal plane is HI, where H is the midpoint of a0b0 and I is the midpoint of c0d0, and the vehicle 19 to be transported is symmetric about the HI axis. The equation of the curve of the symmetry axis of the vehicle to be carried 19 on the scanning horizontal plane is the equation shown in equation (1),
Z＝kX+c (1)
the curve equation of the horizontal plane coordinates of the centers of the first wheel 191 and the second wheel 192 and the symmetry axis of the vehicle on the scanning horizontal plane satisfies the relationship as shown in equation (2),
wherein (X)a0,Za0) Is a horizontal plane coordinate of the center of the first wheel 191, (X)b0,Zb0) Is the horizontal plane coordinate of the center of the second wheel 192.
Obviously, the inclination angle of the vehicle 19 to be transported relative to the carrier 10 can be obtained according to the slope k of the symmetry axis HI, and the processor 11 adjusts the position of the carrier 10 according to the inclination angle of the vehicle 19 to be transported relative to the carrier 10, so that the vehicle 19 to be transported can enter the carrier 10 just right, thereby avoiding transportation failure caused by inaccurate alignment of the vehicle 19 to be transported and the carrier 10, improving the transportation success rate and the transportation safety degree, and improving the efficiency.
Step 803: and controlling the carrier to move according to the horizontal plane coordinates of the first wheel, the second wheel, the third wheel and the fourth wheel so as to carry the vehicle to be carried.
In the present embodiment, the radius of the first wheel 191 is acquired. The horizontal coordinates of the first wheel 191, the second wheel 192, the third wheel 193, and the fourth wheel 194 control the movement of the carrier 10 to carry the vehicle 19 to be carried according to the radius of the first wheel 191.
In one embodiment, the radius of the first wheel 191 is determined based on the horizontal plane coordinates of the three endpoints of the first rectangle 195 and the height of the acquisition device 13 from the ground.
a1 has a horizontal plane coordinate of (X)a1,Za1) And a2 has a horizontal plane coordinate of (X)a2,Za2) The height h of the pickup device 13 and the radius R of the first wheel 191 satisfy the relationship shown in the formula (5),
further, the coordinate (X) of the center M of the first wheel 191 on the vertical plane (XY plane) can be obtained according to the radius of the first wheel 191M,YM)，(XM,YM) Satisfies the following formula (6)The relationship shown in the figure is that,
similarly, vertical plane coordinates of the radii and centers of the second wheel 192, the third wheel 193, and the fourth wheel 194 can be obtained.
In the present embodiment, the movement of the carrier 10 is controlled according to the positions of the 4 wheels so that the symmetry axis of the carrier 10 is parallel to the symmetry axis of the vehicle 19 to be carried, and preferably, the symmetry axis of the carrier 10 coincides with the symmetry axis of the vehicle 19 to be carried.
With further reference to fig. 12, fig. 12 is a schematic view of the carrier of fig. 8 carrying a vehicle to be carried.
In the present embodiment, after controlling the movement of the carrier 10 so that the axis of symmetry of the carrier 10 is parallel to the axis of symmetry of the vehicle 19 to be conveyed, the second movement information of the second grip portion 151 is determined based on the center coordinates of the first wheel 191, the radius of the first wheel 191, the initial position information of the first grip portion 141, the first movement information of the first grip portion 141, and the initial position information of the second grip portion 151.
In this embodiment, the first clamping portion 141 and the second clamping portion 151 are both circular rollers, the first movement information includes a first horizontal movement distance, and the second movement information includes a second horizontal movement distance.
In the present embodiment, when the first clamping portion 141 is at the initial position, the center of the first clamping portion 141 is the point Q. Accordingly, the initial position information of the first clamping portion 141 at the initial position is: the initial coordinate of the central Q point is (X)4,Y4),Y4An initial vertical coordinate, X, which is the center of the first clamping portion 1414Which is an initial abscissa of the center of the first clamping portion 141. The position of the second clamping portion 151 relative to the first clamping portion 141 at the initial position is fixed and known. Accordingly, the center initial coordinate of the second clamping portion 151 is acquired according to the center initial coordinate of the first clamping portion 141 and the relative positions of the first clamping portion 141 and the second clamping portion 151. Accordingly, the initial position of the second clamping portion 151 at the initial positionThe setting information is as follows: the initial coordinate of the center is (X)5,Y5),Y5An initial vertical coordinate, X, of the center of the second clamping portion 1515Which is an initial abscissa of the center of the second clamping part 151. The relative positions of the first clamping portion 141 and the second clamping portion 151 depend on the specific design of the carrier 10, which is not limited in the present application.
In order for the first and second grip portions 141 and 151 to grip the tire from both sides of the first wheel 191 at the same time, the first and second grip portions 141 and 151 need to reach both sides of the first wheel 191 at the same time, and it is first necessary to calculate the distance that the first and second grip portions 141 and 151 need to move. Assuming that the first clamping portion 141 reaches a first side of the first wheel 191 after moving for a first horizontal movement distance, and the second clamping portion 151 reaches a second side of the first wheel 191 after moving for a second horizontal movement distance, the first side of the first wheel 191 is located at a side of the first wheel 191 close to the carrier 10.
The first clamping part 141 reaches the first side of the first wheel 191 after moving a first horizontal movement distance L, namely, the center of the first clamping part 141 moves from a point Q to a point G1For the length of QG, the first clamping portion 141 is tangent to the first wheel 191. Because the translation is carried out, the vertical coordinates of the point Q and the point G are the same; the first clamping portion 141 is tangent to the first wheel 191, and the length of the MG is the sum of the radii of the first clamping portion 141 and the first wheel 191. A first horizontal movement distance L of the first clamping part 141 is determined according to an initial vertical coordinate of the center of the first clamping part 141, an initial horizontal coordinate of the center of the first clamping part 141, and a radius of the first clamping part 1411Satisfies the relationship shown in the formula (7),
wherein, XMIs the center abscissa of the first wheel 191, R is the radius of the first wheel 191, Y4An initial vertical coordinate, X, which is the center of the first clamping portion 1414An initial abscissa, R, of the center of the first clamping portion 1411Is the radius of the first clamping portion 141, L1Is a first horizontal movement distance.
Similarly, the second clamping portion 151 moves a second horizontal movement distance to reach the second side of the first wheel 191, the center of the second clamping portion 151 moves from the initial position to a point W, the vertical coordinate of the point W is the same as the initial vertical coordinate of the center of the second clamping portion 151, and the second clamping portion 151 is tangent to the first wheel 191. The length MW is the sum of the radii of the second clamping portion 151 and the first wheel 191. A second horizontal movement distance of the second clamping portion 151 is determined according to the center coordinate of the first wheel 191, the radius of the first wheel 191, the initial vertical coordinate of the center of the second clamping portion 151, the initial horizontal coordinate of the center of the second clamping portion 151, and the radius of the second clamping portion 151, and the second horizontal movement distance L2Satisfies the relationship shown in the formula (8),
wherein XMIs the center abscissa of the first wheel 191, R is the radius of the first wheel 191, Y5An initial vertical coordinate, X, of the center of the second clamping portion 1515An initial abscissa, R, of the center of the second clamping portion 1512Is the radius of the second clamping portion 151, L2A second horizontal movement distance.
In the present embodiment, after the first horizontal movement distance and the second horizontal movement distance are acquired, the horizontal movement time of the first clamping part 141 is determined according to the first horizontal movement distance and the first horizontal movement speed of the first clamping part 141, and the horizontal movement time of the second clamping part 151 and the horizontal movement speed of the second clamping part 151 are determined according to the horizontal movement time of the first clamping part 141 and the second horizontal movement distance.
In the present embodiment, the processor 11 controls the first clamping portion 141 to move at the first horizontal movement speed V1Uniform motion is carried out, namely the first horizontal motion distance and the first horizontal motion speed V1Is the horizontal movement time T of the first clamping part 1411. In other embodiments, the processor 11 may alsoTo control the first clamping part 141 to move at variable speeds, and calculate the horizontal movement time T of the first clamping part 141 according to the first horizontal movement distance and the acceleration and speed of the first clamping part 1411That is, the present application does not limit this.
In one embodiment, the second clamping portion 151 translates from the initial position to be flush with the first wheel 191 and expands and contracts during the translation to be flush with the first wheel 191. Therefore, the horizontal movement time of the first clamping part 141 and the horizontal movement time of the second clamping part 151 are the same.
The horizontal movement time of the first clamping part 141, the second horizontal movement distance, the horizontal movement time of the second clamping part 151, and the horizontal movement speed of the second clamping part 151 satisfy the relationship shown in equation (9),
wherein, T1Is the horizontal movement time, T, of the first clamping part 1412Is the horizontal movement time, L, of the second clamping part 1512For the second horizontal movement distance, V2Is the horizontal movement speed of the second clamping part 151.
In another embodiment, the second clamping portion 151 is initially deployed for an initial time T, then translated to be flush with the first wheel 191, and then retracted during translation to be flush with the tire. Wherein the deployment time T depends on the performance of the carrier 10, such as 1s, 2s, etc. Therefore, the sum of the horizontal movement time of the second clamping part 151 and the development time of the second clamping part 151 is the same as the horizontal movement time of the first clamping part 141.
The horizontal movement time of the first clamping part 141, the second horizontal movement distance, the horizontal movement time of the second clamping part 151 and the horizontal movement speed of the second clamping part 151 satisfy the relationship as shown in formula (10),
wherein, T1Is the horizontal movement time of the first clamping part 141, T is the unfolding time of the second clamping part 151, T2Is the horizontal movement time, L, of the second clamping part 1512For the second horizontal movement distance, V2Is the horizontal movement speed of the second clamping part 151.
In the present embodiment, the second motion information is determined. The first clamping part 141 is controlled to move according to the first movement information, and the second clamping part 151 is controlled to move according to the second movement information, so that the first clamping part 141 and the second clamping part 151 simultaneously contact different positions of the first wheel 191 of the vehicle 19 to be carried, and the first wheel 191 is grabbed.
In a specific embodiment, the processor 11 controls the first and second clamping portions 141 and 151 to move from the initial positions simultaneously. The processor 11 controls the first clamping part 141 to rotate at a speed V2And simultaneously controls the second clamping part 151 to translate from the initial position to be flush with the first wheel 191 at the speed V1, and to expand and contract during the translation to be flush with the wheel. The horizontal movement time T of the first and second clamping parts 141 and 151 in moving the first clamping part 1411And then simultaneously contact the first wheel 191 from both sides, respectively, to complete the grasping of the first wheel 191.
In a specific embodiment, the processor 11 controls the first and second clamping portions 141 and 151 to move from the initial positions simultaneously. Wherein the processor 11 controls the first clamping part 141 to rotate at a speed V2And meanwhile, the second clamping portion 151 is controlled to be unfolded within the unfolding time T at the initial position, then translated to be flush with the first wheel 191, and folded in the process of translating to be flush with the first wheel 191. The horizontal movement time T of the first and second clamping parts 141 and 151 in moving the first clamping part 1411And then simultaneously contact the first wheel 191 from both sides, respectively, to complete the grasping of the first wheel 191.
Further, after the first wheel 191 and the second wheel 192 are conveyed to the carrier 10 by the gripping device 15, the third wheel 193 and the fourth wheel 194 are conveyed to the carrier 10 in the same manner, and the conveyance of the vehicle 19 to be conveyed is completed.
Different from the prior art, the application provides a control method of a carrier, the carrier comprises a first clamping part and a second clamping part, and the control method comprises the following steps: acquiring wheel information of a vehicle to be carried; determining second motion information of the second clamping part according to the wheel information, the initial position information of the first clamping part, the first motion information of the first clamping part and the initial position information of the second clamping part; and controlling the first clamping part to move according to the first motion information and simultaneously controlling the second clamping part to move according to the second motion information so that the first clamping part and the second clamping part simultaneously contact different positions of the wheels of the vehicle to be carried to complete the grabbing of the wheels. This application can control first clamping part and second clamping part and contact the different positions of treating the wheel of haulage vehicle simultaneously, accomplishes snatching the wheel, has improved the handling efficiency of carrier.
Referring to fig. 13, fig. 13 is a schematic structural diagram of an embodiment of a device with a storage function according to the present application. The storage function of the device 30 stores at least one program or instruction 31, and the program or instruction 31 is used for implementing any one of the above methods. In one embodiment, an apparatus having a storage function includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
This application passes through the information of 3 wheels of collection system collection, and then obtains the information of 4 th wheel and treats the haulage vehicle for the deflection angle of carrier according to the information of 3 wheels, and the position of haulage vehicle is treated in real time monitoring, and then the motion of real-time adjustment carrier can improve the handling efficiency of carrier and improve the security of carrier.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a module or a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application.
The above embodiments are merely examples and are not intended to limit the scope of the present disclosure, and all modifications, equivalents, and flow charts using the contents of the specification and drawings of the present disclosure or those directly or indirectly applied to other related technical fields are intended to be included in the scope of the present disclosure.
Claims (8)
1. A control method for a carrier, characterized by comprising:
scanning a first wheel, a second wheel and a third wheel along a horizontal plane through a collecting device to obtain horizontal plane coordinates of three end points of a first rectangle, a second rectangle and a third rectangle formed by cutting the first wheel, the second wheel and the third wheel on the scanning horizontal plane;
determining horizontal plane coordinates of centers of the first rectangle, the second rectangle and the third rectangle according to horizontal plane coordinates of three end points of the first rectangle, the second rectangle and the third rectangle close to the acquisition device, so as to obtain horizontal plane coordinates of centers of the first wheel, the second wheel and the third wheel, wherein the first wheel and the second wheel are coaxially arranged;
determining a curve equation of a symmetry axis of the vehicle to be carried on the scanning horizontal plane according to the horizontal plane coordinates of the centers of the first wheel and the second wheel; determining horizontal plane coordinates of the center of a fourth wheel according to the symmetry axis of the vehicle to be carried on the scanning horizontal plane and the horizontal plane coordinates of the center of the third wheel, wherein the fourth wheel and the third wheel are coaxially arranged;
and controlling the carrier to move according to the horizontal plane coordinates of the first wheel, the second wheel, the third wheel and the fourth wheel so as to carry the vehicle to be carried.
2. The control method according to claim 1, wherein the curve equation of the symmetry axis of the vehicle to be handled on the scanning horizontal plane is an equation shown in equation (1),
Z＝kX+c (1)
the curve equation of the horizontal plane coordinates of the centers of the first wheel and the second wheel and the symmetry axis of the vehicle to be carried on the scanning horizontal plane satisfies the relationship shown in the formula (2),
wherein (X)a0,Za0) (X) is a horizontal plane coordinate of the center of the first wheelb0,Zb0) (X) is a horizontal plane coordinate of the center of the second wheelH,ZH) C is a horizontal plane coordinate of a midpoint of a line segment formed by the center of the first wheel and the center of the second wheel, and c is a deflection angle of the vehicle to be carried relative to the carrier.
3. The control method according to claim 1, wherein the step of controlling the movement of the carrier based on the horizontal plane coordinates of the first wheel, the second wheel, the third wheel, and the fourth wheel specifically includes:
obtaining a radius of the first wheel;
and controlling the carrier to move according to the horizontal plane coordinates of the first wheel, the second wheel, the third wheel and the fourth wheel according to the radius of the first wheel so as to carry the vehicle to be carried.
4. The control method according to claim 3, characterized in that the step of obtaining the radius of the first wheel comprises in particular:
and determining the radius of the first wheel according to the horizontal plane coordinates of the three end points of the first rectangle and the height of the acquisition device from the ground.
5. The control method according to claim 1, wherein the step of scanning the first wheel, the second wheel and the third wheel along a horizontal plane by the acquisition device to obtain horizontal plane coordinates of three end points of a first rectangle, a second rectangle and a third rectangle formed by cutting the first wheel, the second wheel and the third wheel along the horizontal plane by scanning comprises:
acquiring relative position information of three end points of the first rectangle, the second rectangle and the third rectangle close to the acquisition device through the acquisition device;
and determining the horizontal plane coordinates of the three end points of the first rectangle, the second rectangle and the third rectangle close to the acquisition device according to the relative position information of the acquisition device and the three end points of the first rectangle, the second rectangle and the third rectangle close to the acquisition device and the horizontal plane coordinates of the acquisition device.
6. A carrier comprising a processor and an acquisition device and memory coupled to the processor; the acquisition device is used for acquiring data, and the memory is used for storing a computer program executed by the processor and intermediate data generated when the computer program is executed; the processor, when executing the computer program, implementing the method of any of claims 1-5.
7. The carrier as claimed in claim 6, wherein the collecting device is fixed to a corner of the carrier, the collecting device collects data from a side of a vehicle to be carried, and the collecting device is any one of an ultrasonic ranging sensor, a laser ranging sensor, an infrared ranging sensor, and a radar sensor.
8. An apparatus having a storage function, characterized in that the apparatus having a storage function stores program data executable to implement the method of any one of claims 1-5.
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| CN201910041689.5A CN109870951B (en) | 2019-01-16 | 2019-01-16 | Method for controlling carrier, and device having storage function |
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