CN109930888A - A kind of cooperating type autonomous parking robot and control method - Google Patents
A kind of cooperating type autonomous parking robot and control method Download PDFInfo
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- CN109930888A CN109930888A CN201910271324.1A CN201910271324A CN109930888A CN 109930888 A CN109930888 A CN 109930888A CN 201910271324 A CN201910271324 A CN 201910271324A CN 109930888 A CN109930888 A CN 109930888A
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Abstract
The invention discloses a kind of cooperating type autonomous parking robot and control methods, it is transported using the collaboration of four self-control robots wait stop, each independent robot erects automotive wheel using feed screw nut tightening system, robot chassis uses Mecanum train chassis, and four robot cooperated to be transferred to parking stall wait stop.Compared with other park mode, area of parking needed for scheme proposed by the present invention is less, which has the characteristics that movement is flexible, it is high-efficient, high to parking lot space utilization efficiency to park, and parking pressure can be effectively relieved；The present invention is erected using leadscrew-nut mechanism wait stop, and is connected using that will lift sweep by the way of welding with forward and backward carrier frame, can improve the load-carrying of autonomous parking robot to a certain extent.
Description
Technical field
The invention belongs to mobile robot technology fields, and in particular to a kind of cooperating type autonomous parking robot and controlling party
Method.
Background technique
With the growth of national per capita income, the consuming capacity of Chinese ordinary populace is significantly improved, and possesses family-sized car
Family is more and more, and resulting in private car quantity among city is in explosive growth, and the demand on parking stall is also greatly increased.
However due to a line urban land resource high-pressure, supply falls short of demand on the parking stall for causing in city, and part car owner is forced will be private
Family's vehicle is parked on the subsidiary road of city, causes localized road colleague in city difficult, so that crowded urban transportation further deteriorates；
Residential neighborhoods parking stall is insufficient, causes Residents that private car is parked in both sides of the road or corridor doorway, leads to other
Resident trip is difficult, or even blocking passageway for fire apparatus, seriously affects cell order, causes security risk.
Mechanical stereo garage can be solved effectively since its occupied area is small, high degree of automation, security performance are good
Certainly public arena and the problem of residential neighborhoods parking difficulty, wherein vehicle hand-ing over be in the mechanical stereo garage course of work most
For an important step.
Summary of the invention
In view of this, may be implemented autonomous the invention proposes a kind of cooperating type autonomous parking robot and control method
The purpose parked.
A kind of cooperating type autonomous parking robot, including at least four autonomous modules；Each mobile module includes
The Mecanum train that chassis and four Mecanum wheels (8) being mounted below chassis are constituted；The chassis includes first half
Chassis (1) and later half chassis (2)；The frame that first half chassis (1) is fixed together by two forms, and is respectively defined as preceding left frame
With preceding correct frame；The frame that later half chassis (2) is also fixed together by two forms, and is respectively defined as rear left frame and rear right frame
Frame；
Between preceding left frame and preceding correct frame and rear left frame passes through support plate (20) with rear correct frame and connect；Support
Idler wheel (22) are installed on plate (20)；
It is connected between preceding left frame and rear left frame by guiding axis (12), then half chassis (1) and later half chassis (2) can edge
Guiding axis (12) relative motion.
Preferably, moving forward and backward for a side is realized by automatic control equipment in half chassis (1) and later half chassis (2).
Preferably, the automatic control equipment includes tightening motor (14), lead screw (16) and lead screw with nut (17)；It is described
Tightening motor (14) is fixed on a wherein side for preceding left frame or rear left frame；It tightens motor (14) output shaft and connects lead screw
(16) one end, lead screw (16) other end are flexibly connected with nut (17) with another party by lead screw.
Further, the end of the other end of the lead screw (16) passes through guiding shaft holder (18) and guiding axis (12)
End is fixed together.
Preferably, at least there are two the guiding axis (12) parallel to each other.
Preferably, the preceding left frame, preceding correct frame, rear left frame and rear correct frame each frame under be arranged one
Mecanum wheel (8).
Preferably, at least one of two Mecanum wheels (8) under preceding left frame and preceding correct frame use bevel gear
Mecanum wheel；At least one of two Mecanum wheels (8) under left frame and rear correct frame use bevel gear Mike afterwards
Na Mu wheel.
Preferably, the middle part of the support plate (20) is recessed；The upper surface of middle part recessed portion is at least installed by 2 idler wheels
(22)。
A kind of control method for cooperating type autonomous parking described in claim 1 robot, comprising: control first half bottom
Disk (1) or later half chassis (2) are moved to the direction far from other side, and the four wheels movement of control Mecanum train drives bottom
Disk moves near the wheel of vehicle, and the gap between preceding correct frame and rear correct frame is directed at wheel, chassis outside-in
Movement, is inserted into wheel two sides；After the idler wheel alignment car wheel covering of plate (20) to be supported, first half chassis (1) or later half bottom are controlled
Disk (2) is moved to the direction close to other side, until by wheel lift；After four wheels lift, control in four mobile modules
Four Mecanum train cooperative motions, vehicle is moved to designated position.
The invention has the following beneficial effects:
Cooperating type autonomous parking robot of the invention is transported wait stop, each using the collaboration of four self-control robots
Independent robot erects automotive wheel using feed screw nut tightening system, and robot chassis uses Mecanum train chassis,
Four robot cooperated to be transferred to parking stall wait stop.Compared with other park mode, needed for scheme proposed by the present invention
Area of parking is less, which has the characteristics that mobile flexible, high-efficient, high to parking lot space utilization efficiency, energy of parking
Parking pressure is enough effectively relieved.
The present invention is erected using leadscrew-nut mechanism wait stop, and using will lift sweep and forward and backward bottom by the way of welding
Disk frame is connected, and can improve the load-carrying of autonomous parking robot to a certain extent.
Detailed description of the invention
Fig. 1 is parking robot operation schematic diagram of the present invention；
Fig. 2 is individual machine people structural schematic diagram of the present invention；
Fig. 3 is Mecanum wheel train structure schematic diagram of the present invention；
Fig. 4 is bevel gear Mecanum wheel train structure schematic diagram of the present invention；
Fig. 5 is that feed screw nut of the present invention tightens vehicle supporting mechanism structural schematic diagram；
Fig. 6 is that vehicle of the present invention erects supporting plate structure schematic diagram；
Fig. 7 is course of work schematic diagram of the present invention.
Wherein, 1- first half chassis, the later half chassis 2-, 3- driving motor, 4- driving motor seat, 5- first shaft coupling, 6- cone
Gear-box, 7- bearing block, 8- Mecanum wheel, 9- train bearing, 10- wheel shaft, 11- guiding bracing strut, 12- guiding axis, 13- are straight
Spool is held, 14- tightening motor, 15- lead screw bearing, 16- lead screw, 17- lead screw nut, 18- are oriented to shaft holder, 19- second
Shaft coupling, 20- support plate, 21- idler wheel mounting rack, 22- idler wheel.
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The present invention provides a kind of cooperating type autonomous parking robots, and as illustrated in fig. 1 and 2, autonomous parking robot includes
Four mobile modules cooperate with mobile wait an extremely parking of stopping in such a way that four mobile modules erect four wheels of vehicle respectively
Position.The overall structure of every mobile module is as shown in Fig. 2, each mobile module includes chassis and is mounted below chassis
The Mecanum train that four Mecanum wheels are constituted；The chassis includes first half chassis 1 and later half chassis 2；First half chassis 1 by
Two frame compositions being fixed together, left frame and preceding correct frame before being respectively defined as；Later half chassis 2 is also connected in by two
Frame composition together, is respectively defined as rear left frame and rear correct frame.
As shown in figure 3, being Mecanum wheel structure chart, driving motor 3 is installed on driving motor seat 4, driving motor 3 with
By the connection transmission of shaft coupling 5 between wheel shaft 10, wheel shaft 10 is nested in train bearing 9, is mounted on bearing block 7, Mai Kena
It is connected between nurse wheel 8 and wheel shaft 10 with bolt, overall mechanism is fixed on forward and backward chassis 1,2.
As shown in figure 4, being bevel gear Mecanum wheel construction, driving motor 3 is installed on driving motor seat 4, driving electricity
By the connection transmission of first shaft coupling 5 between machine 3 and bevel gear box 6, bevel gear box 6 and wheel shaft 10, wheel shaft 10 is nested in wheel
Be to be mounted on bearing block 7 in bearing 9, between Mecanum wheel 8 and wheel shaft 10 with bolt be connected, overall mechanism be fixed on before,
On rear chassis frame 1,2.Since original linear type structure is changed to turning knot using bevel gear box 6 by bevel gear Mecanum wheel
Structure reduces the length of Mecanum wheel；The present invention is received by installing a common Mike in first half chassis 1 and later half chassis 2
Nurse wheel and a bevel gear Mecanum wheel, can reduce the width of entire pedestal, further realize miniaturization.
As shown in figure 5, guiding bracing strut 11 is mounted on front chassis frame 1, and is connected with guiding axis 12, linear bearing 13
It is mounted on rear chassis frame 2, guiding axis 12 is nested in linear bearing 13, enables linear bearing 13 and rear chassis frame 2
It is moved in a straight line along guiding axis 12,12 end of guiding axis and guiding shaft holder 18 are connected.Then first half chassis is relative to later half
Chassis can relative motion, can be controlled by automatic control equipment, the equipment using tightening motor 14 be installed on front chassis
On frame 1, transmission is connect by second shaft coupling 19 between lead screw 16, lead screw 16 is nested in lead screw bearing 15, two silks
Thick stick bearing 15 is separately mounted to front chassis frame 1, is oriented on bracing strut 18, and lead screw nut 17 is mounted on rear chassis frame 2,
Lead screw 16 is nested in lead screw nut 17, when tightening the driving rotation of lead screw 16 of motor 14, after lead screw is just driven with nut 17
Carrier frame 2 and the other mechanisms being mounted on frame are moved in a straight line along guiding axis 12, reach first half chassis relative to later half
Effect of the chassis with regard to relative motion.
As shown in fig. 6, between preceding left frame and preceding correct frame and rear left frame and rear correct frame pass through support plate 20
Connection；The middle part of support plate 20 is recessed, and 20 upper surface of support plate is equipped with idler wheel 22；The direction of motion of idler wheel 22 and first half chassis
It is parallel with regard to relative motion relative to later half chassis.Idler wheel 22 is mounted between two idler wheel mounting racks 21, fagging 20 and front chassis
1, it is connected by the way of welding between rear chassis 2.
It is illustrated in figure 7 the course of work of cooperating type autonomous parking robot.Control first half chassis 1 or later half chassis 2 to
Direction far from other side moves, and the four wheels movement of control Mecanum train drives the wheel of bobbin movement to vehicle attached
Closely, the gap between preceding correct frame and rear correct frame is directed at wheel, and outside-in movement in chassis is inserted into wheel two sides；
After the idler wheel alignment car wheel covering of plate 20 to be supported, controls first half chassis 1 or later half chassis 2 and is moved to the direction close to other side,
Until by wheel lift；After four wheels lift, four Mecanum train cooperative motions in four mobile modules are controlled,
Vehicle is moved to designated position.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (9)
1. a kind of cooperating type autonomous parking robot, which is characterized in that including at least four autonomous modules；Each mobile mould
Block includes chassis and the Mecanum train that four Mecanum wheels (8) being mounted below chassis are constituted；The chassis
Including first half chassis (1) and later half chassis (2)；The frame that first half chassis (1) is fixed together by two forms, and is respectively defined as
Preceding left frame and preceding correct frame；The frame that later half chassis (2) is also fixed together by two forms, and is respectively defined as rear left frame
With rear correct frame；
Between preceding left frame and preceding correct frame and rear left frame passes through support plate (20) with rear correct frame and connect；Support plate
(20) idler wheel (22) are installed on；
It is connected between preceding left frame and rear left frame by guiding axis (12), then half chassis (1) and later half chassis (2) can be along guiding
Axis (12) relative motion.
2. a kind of cooperating type autonomous parking robot as described in claim 1, which is characterized in that half chassis (1) and later half bottom
Moving forward and backward for a side is realized by automatic control equipment in disk (2).
3. a kind of cooperating type autonomous parking robot as claimed in claim 2, which is characterized in that the automatic control equipment packet
Include tightening motor (14), lead screw (16) and lead screw nut (17)；Left frame or rear left before the tightening motor (14) is fixed on
On a wherein side for frame；It tightens motor (14) output shaft and connects lead screw (16) one end, lead screw (16) other end is used by lead screw
Nut (17) is flexibly connected with another party.
4. a kind of cooperating type autonomous parking robot as claimed in claim 3, which is characterized in that the lead screw (16) it is another
The end at end is fixed together by guiding shaft holder (18) and the end of guiding axis (12).
5. a kind of cooperating type autonomous parking robot as described in claim 1 or 4, which is characterized in that at least there are two mutually
The parallel guiding axis (12).
6. a kind of cooperating type autonomous parking robot as described in claim 1, which is characterized in that the preceding left frame, front right
One Mecanum wheel (8) is set under each frame of frame, rear left frame and rear correct frame.
7. a kind of cooperating type autonomous parking robot as claimed in claim 6, which is characterized in that preceding left frame and preceding correct frame
Under at least one of two Mecanum wheels (8) use bevel gear Mecanum wheel；Afterwards under left frame and rear correct frame
At least one of two Mecanum wheels (8) use bevel gear Mecanum wheel.
8. a kind of cooperating type autonomous parking robot as described in claim 1, which is characterized in that in the support plate (20)
Subordinate is recessed；The upper surface of middle part recessed portion is at least installed by 2 idler wheels (22).
9. the control method of cooperating type autonomous parking robot described in a kind of claim 1 characterized by comprising before control
Half chassis (1) or later half chassis (2) are moved to the direction far from other side, the four wheels movement of control Mecanum train, band
Near dynamic bobbin movement to the wheel of vehicle, the gap between preceding correct frame and rear correct frame is directed at wheel, chassis from outer side to
Medial motion is inserted into wheel two sides；Plate (20) to be supported idler wheel alignment car wheel covering after, control first half chassis (1) or after
Half chassis (2) is moved to the direction close to other side, until by wheel lift；After four wheels lift, four mobile moulds are controlled
Four Mecanum train cooperative motions in block, are moved to designated position for vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910271324.1A CN109930888A (en) | 2019-04-04 | 2019-04-04 | A kind of cooperating type autonomous parking robot and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910271324.1A CN109930888A (en) | 2019-04-04 | 2019-04-04 | A kind of cooperating type autonomous parking robot and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109930888A true CN109930888A (en) | 2019-06-25 |
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ID=66989310
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910271324.1A Pending CN109930888A (en) | 2019-04-04 | 2019-04-04 | A kind of cooperating type autonomous parking robot and control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110700664A (en) * | 2019-09-02 | 2020-01-17 | 南京理工大学 | Electric lead screw omnidirectional Mecanum wheel vehicle moving device and vehicle moving method |
| WO2021119703A1 (en) * | 2019-12-16 | 2021-06-24 | Avl List Gmbh | Robot for transporting a vehicle |
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| DE102015107102A1 (en) * | 2015-05-06 | 2016-11-10 | Omniroll Ag | Mecanum wheel vehicle and operating procedures |
| CN106567570A (en) * | 2016-11-04 | 2017-04-19 | 李国勇 | Automatic vehicle moving device |
| CN108412285A (en) * | 2018-05-04 | 2018-08-17 | 西南交通大学 | A kind of foldable general automobile handling device |
| CN109229078A (en) * | 2018-08-08 | 2019-01-18 | 南京理工大学 | A method of it assisting side parking device and is stopped using the device |
| CN109339535A (en) * | 2018-10-12 | 2019-02-15 | 广州达泊智能科技有限公司 | Intelligent parking lot and its cluster transfer robot |
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2019
- 2019-04-04 CN CN201910271324.1A patent/CN109930888A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102015107102A1 (en) * | 2015-05-06 | 2016-11-10 | Omniroll Ag | Mecanum wheel vehicle and operating procedures |
| CN106567570A (en) * | 2016-11-04 | 2017-04-19 | 李国勇 | Automatic vehicle moving device |
| CN108412285A (en) * | 2018-05-04 | 2018-08-17 | 西南交通大学 | A kind of foldable general automobile handling device |
| CN109229078A (en) * | 2018-08-08 | 2019-01-18 | 南京理工大学 | A method of it assisting side parking device and is stopped using the device |
| CN109339535A (en) * | 2018-10-12 | 2019-02-15 | 广州达泊智能科技有限公司 | Intelligent parking lot and its cluster transfer robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110700664A (en) * | 2019-09-02 | 2020-01-17 | 南京理工大学 | Electric lead screw omnidirectional Mecanum wheel vehicle moving device and vehicle moving method |
| WO2021119703A1 (en) * | 2019-12-16 | 2021-06-24 | Avl List Gmbh | Robot for transporting a vehicle |
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Application publication date: 20190625 |