CN110080585A - A kind of parking robot variable-length measurement method - Google Patents
A kind of parking robot variable-length measurement method Download PDFInfo
- Publication number
- CN110080585A CN110080585A CN201910436467.3A CN201910436467A CN110080585A CN 110080585 A CN110080585 A CN 110080585A CN 201910436467 A CN201910436467 A CN 201910436467A CN 110080585 A CN110080585 A CN 110080585A
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- power wheel
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- length measurement
- measurement method
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
- E04H6/36—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only characterised by use of freely-movable dollies
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/422—Automatically operated car-parks
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of parking robot variable-length measurement methods, including following method and step: setting origin O, vehicle axis system is established in origin position, read the angle between right power wheel and left power wheel and set coordinate system X-axis, according to the speed V of right power wheel and left power wheel its X-direction velocity component V1x and V2x to the integral of time t, the displacement that left and right movable motor drives right power wheel and left power wheel to walk is calculated, the collapsing length of tensile beam is calculated；A kind of parking robot of the invention variable-length measurement method, calculating is extracted by the walking and steering motor speed parameter had by oneself to robot system, driving wheel in such a way that the difference of robot crossbeam direction velocity component is integrated can meter calculate and be arranged in the collapsing length of its crossbeam direction stretchable portion in parking machine device people, it does not need again individually to the component for stretching crossbeam increase detection length, detection is accurate, while low in cost.
Description
Technical field
The present invention relates to parking robotic technology field, in particular to a kind of parking robot variable-length measurement methods.
Background technique
Since car gage size is numerous, generally required completely in places such as parking factories to the parking robot of carrier vehicle
Foot delivers the different vehicle of various length, and this requires carrying robots to have the ability stretched in Automobile length direction.At present
The detection of the detection part such as laser distance sensor is relied primarily on to the measurement method of robot tensile elongation on the market to obtain,
This mode is installed complex, and overall cost is expensive.For this purpose, the present invention proposes a kind of parking robot variable-length measurement
Method, by being integrated to parking robot driving wheel in the difference of robot crossbeam direction velocity component, thus meter
The detection method for being arranged in the tensile elongation of its crossbeam direction stretchable portion in parking robot is calculated, is not had to individually to drawing
Elongation direction increases the element of detection tensile elongation, low in cost, simple installation.
Summary of the invention
The main purpose of the present invention is to provide a kind of parking robot variable-length measurement methods, can effectively solve to carry on the back
The problems in scape technology.
To achieve the above object, the invention provides the following technical scheme: a kind of parking robot variable-length measurement method,
Including following method and step:
A. origin O is set, establishes vehicle axis system in origin position；
B. in the process of walking, the angle between right power wheel and left power wheel and set coordinate system X-axis is read, point
It is not set as α and β, and records time T1 this moment；
C. after time t, time T2 this moment is recorded, according to the speed V of right power wheel and left power wheel in its X-axis side
To velocity component V1x and V2x to the integral of time t, calculate left and right movable motor and drive right power wheel and left power wheel row
The displacement walked, is respectively as follows:
And
D. specific velocity amplitude V1, V2 of right power wheel and left power wheel are read by electric machine controller, and calculate V1x and
V2x:
V1x=V1*cos α 3.,
V2x=V2*cos β is 4.；
E. 1. 2. V1x, V2x are substituted into formula, and calculate the collapsing length of tensile beam:
L=S1-S2 is 5..
Preferably, the step a is specifically included: the limit of the telescoping crossbeam between the left main body of robot and right main body is received
An origin O is arranged in tight position, establishes a vehicle axis system in origin position；Telescoping crossbeam axial direction is set as the side X
To, be set as Y-direction with the axially vertical direction of telescoping crossbeam, while providing to be X negative direction on the left of origin, be on the right side of origin X just
Direction；Origin leading flank is Y-direction positive direction, and rear side is Y-direction negative direction, and origin 0 functions as what traveling wheel was displaced
Positioning and calculating reference.
Preferably, the step b is specifically included: in the process of walking, right power wheel and left power wheel will be by turning to electricity
Machine rotated by rotation can pass through motor control to the angle between a specific direction, with set coordinate system X-axis
Device reading obtains, is set to α and β；At this moment (assuming that being this moment T1), left and right motor starts to drive right power respectively
Wheel and the walking of left power wheel, generate velocity component a V1x and V2x in the positive negative direction of X-axis respectively.
Preferably, an origin detection switch is set at the origin O.
Compared with prior art, the invention has the following beneficial effects: this kind of parking robot variable-length measurement method,
Calculating is extracted by the walking and steering motor speed parameter had by oneself to robot system, by driving wheel in robot
The mode that the difference of crossbeam direction velocity component is integrated can be arranged in its cross in meter calculating parking machine device people
The collapsing length of beam direction stretchable portion does not need again individually to the component for stretching crossbeam increase detection length, and detection is accurate,
It is low in cost simultaneously.
Detailed description of the invention
Fig. 1 is robot correlation master of stopping involved in a kind of parking robot variable-length measurement method of the present invention
Body structure chart；
Fig. 2 is a kind of operating coordinates schematic diagram of robot variable-length measurement method of stopping of the present invention.
In figure: 1, right main body；2, left main body；3, telescoping crossbeam；4, right power wheel；5, left power wheel；6, origin detection is opened
It closes.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
As shown in Figs. 1-2, a kind of parking robot variable-length measurement method, including following method and step:
A. one origin O is set in the limit tightening position of the scalable crossbeam of vehicle, establishes a vehicle in origin position
Coordinate system.Telescoping crossbeam axial direction is set as X-direction, is set as Y-direction with the axially vertical direction of telescoping crossbeam, advises simultaneously
Determine to be X negative direction on the left of origin, is X positive direction on the right side of origin.Origin leading flank is Y-direction positive direction, and rear side is Y-direction losing side
To.The positioning for functioning as traveling wheel displacement and calculating reference of origin 0, as shown in Figure 2.
B. in the process of walking, vehicle or so traveling wheel will by steering motor rotated by rotation a to specific direction,
Its angle between set coordinate system X-axis can be read by electric machine controller and be obtained, be set to α and β.At this
At one moment (assuming that being this moment T1), left and right motor starts that left and right traveling wheel is driven to walk respectively, respectively in the positive negative direction of X-axis
Generate velocity component a V1x and V2x.
C. after time t (assuming that being this moment T2), left and right movable motor drives the displacement of left and right traveling wheel walking will
Its speed V respectively its X-direction velocity component V1x and V2x to the integral of time t, be respectively as follows:
And
D. specific velocity amplitude V1, V2 of right power wheel 4 and left power wheel 5 are read by electric machine controller, and are calculated
V1x and V2x:
V1x=V1*cos α 3.,
V2x=V2*cos β is 4.；
E. 1. 2. V1x, V2x are substituted into formula, and calculate the collapsing length of tensile beam:
L=S1-S2 5.,
To be detected in such a way that the difference of robot crossbeam direction velocity component is integrated driving wheel
The collapsing length of crossbeam out.
As shown in Figure 1, an origin detection switch 6 is arranged at origin O.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (4)
1. a kind of parking robot variable-length measurement method, which is characterized in that including following method and step:
A. origin O is set, establishes vehicle axis system in origin position；
B. in the process of walking, the angle between right power wheel (4) and left power wheel (5) and set coordinate system X-axis is read,
It is set to α and β, and records time T1 this moment；
C. after time t, time T2 this moment is recorded, according to the speed V of right power wheel (4) and left power wheel (5) in its X-axis
The velocity component V1x and V2x in direction calculates left and right movable motor and drives right power wheel (4) and left power to the integral of time t
The displacement for taking turns (5) walking, is respectively as follows:
And
D. specific velocity amplitude V1, V2 of right power wheel (4) and left power wheel (5) are read by electric machine controller, and calculate V1x with
And V2x:
V1x=V1*cos α 3.,
V2x=V2*cos β is 4.；
E. 1. 2. V1x, V2x are substituted into formula, and calculate the collapsing length of tensile beam:
L=S1-S2 is 5..
2. a kind of parking robot variable-length measurement method according to claim 1, which is characterized in that the step a
Specifically include: the limit tightening position of the telescoping crossbeam (3) between the left main body of robot (2) and right main body (1) is arranged one
Origin O establishes a vehicle axis system in origin position；Telescoping crossbeam (3) axial direction is set as X-direction, with flexible cross
Beam (3) axially vertical direction is set as Y-direction, while providing to be X negative direction on the left of origin, is X positive direction on the right side of origin；Origin
Leading flank is Y-direction positive direction, and rear side is Y-direction negative direction, the positioning for functioning as traveling wheel displacement of origin 0 and meter
Calculate reference.
3. a kind of parking robot variable-length measurement method according to claim 1, which is characterized in that the step b
Specifically include: in the process of walking, right power wheel (4) and left power wheel (5) will pass through steering motor rotated by rotation to one
Angle between a specific direction, with set coordinate system X-axis can be read by electric machine controller to be obtained, is set to
α and β；At this moment (assuming that being this moment T1), left and right motor starts to drive right power wheel (4) and left power wheel (5) respectively
Walking generates velocity component a V1x and V2x in the positive negative direction of X-axis respectively.
4. a kind of parking robot variable-length measurement method according to claim 1, which is characterized in that the origin O
One origin detection switch (6) of place's setting.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910436467.3A CN110080585B (en) | 2019-05-23 | 2019-05-23 | Parking robot variable length measuring method |
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|---|---|---|---|
| CN201910436467.3A CN110080585B (en) | 2019-05-23 | 2019-05-23 | Parking robot variable length measuring method |
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| CN110080585A true CN110080585A (en) | 2019-08-02 |
| CN110080585B CN110080585B (en) | 2021-01-26 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110793421A (en) * | 2019-11-14 | 2020-02-14 | 珠海丽亭智能科技有限公司 | Length-variable robot stretching length measuring device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103884351A (en) * | 2014-01-24 | 2014-06-25 | 中国北方车辆研究所 | Leg robot motion parameter measurement method and application thereof |
| CN105716617A (en) * | 2016-01-29 | 2016-06-29 | 大连楼兰科技股份有限公司 | System and method for drawing driving track on basis of vehicle data |
| CN106289327A (en) * | 2016-11-08 | 2017-01-04 | 成都通甲优博科技有限责任公司 | A kind of difference moves robot speedometer scaling method |
| CN207345916U (en) * | 2017-09-14 | 2018-05-11 | 智造未来（北京）机器人系统技术有限公司 | The steering and mechanical walking device of mechanical walking device |
-
2019
- 2019-05-23 CN CN201910436467.3A patent/CN110080585B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103884351A (en) * | 2014-01-24 | 2014-06-25 | 中国北方车辆研究所 | Leg robot motion parameter measurement method and application thereof |
| CN105716617A (en) * | 2016-01-29 | 2016-06-29 | 大连楼兰科技股份有限公司 | System and method for drawing driving track on basis of vehicle data |
| CN106289327A (en) * | 2016-11-08 | 2017-01-04 | 成都通甲优博科技有限责任公司 | A kind of difference moves robot speedometer scaling method |
| CN207345916U (en) * | 2017-09-14 | 2018-05-11 | 智造未来（北京）机器人系统技术有限公司 | The steering and mechanical walking device of mechanical walking device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110793421A (en) * | 2019-11-14 | 2020-02-14 | 珠海丽亭智能科技有限公司 | Length-variable robot stretching length measuring device |
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| CN110080585B (en) | 2021-01-26 |
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Effective date of registration: 20230425 Address after: Room 103A, 1st Floor, Building 5 (Building 1), No. 2266 Sun Road, High Speed Rail New City, Xiangcheng District, Suzhou City, Jiangsu Province, 215100 Patentee after: Enjiai Technology (Suzhou) Co.,Ltd. Address before: Unit F101, building 1, 168 xinshawu Road, Tangjiawan Town, high tech Zone, Zhuhai, Guangdong 519000 Patentee before: ZHUHAI LITING INTELLIGENT TECHNOLOGY Co.,Ltd. |