CN110775026A - Full-automatic parking robot and parking method thereof - Google Patents
Full-automatic parking robot and parking method thereof Download PDFInfo
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- CN110775026A CN110775026A CN201911004293.XA CN201911004293A CN110775026A CN 110775026 A CN110775026 A CN 110775026A CN 201911004293 A CN201911004293 A CN 201911004293A CN 110775026 A CN110775026 A CN 110775026A
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- parking
- robot
- wheel
- parking robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S13/00—Vehicle-manoeuvring devices separate from the vehicle
- B60S13/02—Turntables; Traversers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
Abstract
The invention discloses a full-automatic parking robot, wherein the full-automatic parking robot and a parking method thereof comprise the following steps of; frame subassembly and drive arrangement, stop at appointed region through the car, and scan appointed regional position two-dimensional code, and then drive arrangement drives the area that the car stopped that carries the frame motion to the car above the automobile body, the volume information of vehicle is scanned simultaneously, and then move the bottom of car, lift up the vehicle by lifting up the subassembly, contactless tire, the tire damage has been reduced, this robot overall structure is a rectangle simultaneously, compact structure is firm, adopt two rudder wheel drives simultaneously, can freely turn to, when moving appointed parking region, take place parking region information to the cell-phone APP in, whole process adopts the robot of parking to accomplish, driver's parking time has been saved, and the driver can monitor the information that the vehicle parkked in real time, driver's convenience has been improved.
Description
Technical Field
The invention relates to a full-automatic parking robot, in particular to a full-automatic parking robot and a parking method thereof.
Background
In recent years, with the sharp increase of the automobile holding quantity in China, the parking space demand is more and more large, and the problem of difficult parking is increasingly obvious. The parking robot in the prior art has been successfully applied to automatic parking at the existing airport, but the existing robot has a large volume, needs a large space in the carrying process and is not beneficial to steering, and meanwhile, most parking robots in the prior art adopt a clamping mode to carry the automobile away from the ground and directly act on the tire of the automobile, so that the tire is easily damaged.
Disclosure of Invention
The purpose of the invention is as follows: a full-automatic parking robot and a parking method thereof are provided to solve the above problems in the prior art.
The technical scheme is as follows: a fully automatic parking robot comprising:
the frame assembly comprises a vehicle body, a vehicle carrying frame arranged on the vehicle body, connecting cross beams fixedly connected to two ends of the vehicle carrying frame, a positioning system arranged on the side surfaces of the connecting cross beams, a control system arranged at the front end of the vehicle body, reinforcing arms fixedly connected to the inner side of the vehicle carrying frame, a first framework assembly and a second framework assembly which are fixedly arranged on the side surfaces of the vehicle carrying frame in a comb-tooth shape;
the vehicle-mounted device comprises a driving device, a wheel balancing mechanism fixedly mounted on the vehicle body, a wheel assembly fixedly mounted on the wheel balancing mechanism, and a lifting assembly fixedly connected to the vehicle-mounted frame.
In a further example, the vehicle carrying frame is designed to be rectangular, two groups of through holes are formed in the side face of the vehicle carrying frame, the distance between every two groups of through holes is equal, the end portions of the first framework component and the second framework component are provided with the baffle plates, assembly can be facilitated, assembly accuracy is improved, the baffle plates at the end portions can effectively prevent the parking robot from vibrating in motion to prevent the vehicle from sliding, and safety performance of the robot is improved.
In a further example, the bottom of the vehicle carrying frame is provided with at least four lifting assemblies, each lifting assembly comprises a base fixedly mounted on the upper surface of the vehicle carrying frame, a trapezoidal screw fixedly mounted on the base and a turbine speed reducer in threaded connection and matching with the trapezoidal screw, and the center of the turbine speed reducer is of an internal thread structure.
In a further example, the wheel balance mechanism is total two sets, the wheel balance mechanism includes fixed mounting in the balanced skeleton of automobile body bottom, fixed mounting in first mounting panel and second mounting panel above the balanced skeleton, interference fit installs the bearing above the balanced skeleton, pass the bearing and with the middle back shaft that the bearing interference fit links together to and simultaneously fixed mounting be in the strengthening rib of first mounting panel and second mounting panel bottom. The steering wheel and the universal wheel mounting plate are arranged on the framework of the balancing device in a welding mode, and meanwhile, in order to guarantee good stress of the device and prevent the mounting plate from generating large deformation, a plurality of reinforcing ribs are arranged to improve strength.
In a further example, the wheel assembly comprises a steering wheel fixedly welded to a first mounting plate, a universal wheel fixedly mounted to a second mounting plate, and two spring-damped wheels fixedly mounted to the body intermediate the steering wheel and the universal wheel;
the steering wheels and the universal wheels in the front and rear directions of the car body are arranged diagonally, the double steering wheels can realize advancing and retreating, left and right transverse movement and rotary movement of the parking robot, meanwhile, the parking robot can move along the curve of any position inside or outside the car body in any posture, the universal wheels in the diagonal line play a role in balancing and supporting, the spring damping wheels in the middle can play a role in bearing, and meanwhile, the wheels are effectively guaranteed to land simultaneously.
In a further example, control system, including setting up the main control box of bottom of the car body sets up the inside CPU module of control box, fixed connection is in laser detection sensor on the main control box sets up the scanning sensor of main control box side, laser detection sensor with scanning sensor with CPU module communication electric connection is in the same place, sets up the main control box comes the anticollision institution at both ends, can scan the length and width height of car and calculate the volume of car, has improved the automation level of robot.
In a further example, the main control box is formed by bending a metal plate;
the anti-collision mechanism comprises a bending piece, an infrared sensor, an ultrasonic sensor and an obstacle sensor, wherein the bending piece is fixedly arranged on the vehicle body and is positioned in the front direction and the rear direction of the vehicle body;
the infrared sensor, the ultrasonic sensor and the obstacle sensor are electrically connected with the CPU module in a communication mode.
In a further embodiment, a method for operating a fully automatic parking robot includes the steps of:
s1, stopping the vehicle in the designated area, and scanning the two-dimensional codes in the parking area by the passengers;
s2, receiving the parking robot into the parking area of the vehicle, and moving the parking robot into the area where the vehicle stops;
s3, starting a scanning sensor on the robot to scan the length, width and height of the vehicle, calculating the volume of the vehicle, and transmitting the vehicle information to a control system;
s4, the jacking device is conveyed to the bottom of the vehicle, the laser detection sensor on the mobile upper surface is controlled to be started, when the parking robot moves to the middle position of the bottom of the vehicle, the lifting assembly starts to be started, the motor rotates to drive the worm to rotate, the worm drives the worm to move up and down on the trapezoidal screw rod, when the parking robot is lifted to the specified position, the vehicle is lifted, the vehicle leaves the ground, the motor stops rotating, and the lifting assembly stops lifting;
s5, the wheel assemblies are started to drive the vehicle to move to the underground parking lot, in the process of moving, when the ground is uneven, in order that the wheels can simultaneously land, the wheel balancing mechanism swings left and right to simultaneously land the wheels on two sides, and today, the stability of the parking robot in the process of moving is improved until the parking robot moves to a specified parking area;
s5, when the vehicle moves to the designated parking area, the lifting assembly is started again, and the vehicle is descended to the ground;
s6, when the vehicle descends to the ground, the control system collects the parking area information of the vehicle and feeds the parking area information back to the mobile phone end;
and S7, when the vehicle needs to be used, the vehicle can be moved to the designated parking area by the mobile phone APP and the vehicle is used by one key of the parking robot.
Has the advantages that: the invention discloses a full-automatic parking robot, wherein a vehicle carrying frame is arranged on a vehicle body, a driving device is arranged at the bottom of the vehicle body, and a lifting assembly fixedly arranged on the back of the vehicle carrying frame, the vehicle stops in a specified area, two-dimensional codes of the position of the specified area are scanned, so that the driving device drives the vehicle carrying frame on the vehicle body to move to the area where the vehicle stops, the volume information of the vehicle is scanned, the vehicle is moved to the bottom of the vehicle, the lifting assembly lifts the vehicle without contacting with tires, the tire damage is reduced, meanwhile, the whole structure of the robot is rectangular, the structure is compact and firm, meanwhile, double-rudder wheel driving is adopted, the robot can freely steer, when the robot moves to the specified parking area, the information of the parking area is generated into a mobile phone APP, the whole process is completed by adopting a parking robot, the parking time of a driver is saved, and the driver can detect the information of the, the convenience of the driver is improved.
Drawings
Fig. 1 is an overall structural view of the present invention.
Fig. 2 is a bottom view of the present invention.
Fig. 3 is a side view of the present invention.
Fig. 4 is a left side view of the present invention.
FIG. 5 is a front view of the lift assembly of the present invention.
The reference signs are: the device comprises a vehicle body 1, a vehicle carrying frame 2, a connecting crossbeam 3, a positioning system 4, a reinforcing arm 5, a first framework assembly 6, a second framework assembly 7, a wheel balance mechanism 8, a wheel assembly 9, a lifting assembly 10, a control system 11, a through hole 12, a baffle 13, a base 14, a trapezoidal screw rod 15, a turbine speed reducer 16, a balance framework 17, a first mounting plate 18, a second mounting plate 19, a bearing 20, an intermediate connecting shaft 21, a reinforcing rib 22, a steering wheel 23, a universal wheel 24, a spring damping wheel 25, a main control box 26, a laser detection sensor 27, a scanning sensor 28, an anti-collision mechanism 29, a bending piece 30, an infrared sensor 31, an ultrasonic sensor 32, an obstacle sensor 33 and a CPU module 34.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
According to the problems, the applicant provides a full-automatic parking robot, a steering method thereof and a box opening method thereof, and the specific scheme is as follows.
As shown in fig. 1, the full-automatic parking robot comprises a vehicle body 1, a vehicle carrying frame 2, a connecting beam 3, a positioning system 4, a reinforcing arm 5, a first framework assembly 6, a second framework assembly 7, a wheel balancing mechanism 8, a wheel assembly 9, a lifting assembly 10, a control system 11, a through hole 12, a baffle 13, a base 14, a trapezoidal screw rod 15, a turbine speed reducer 16, a balancing framework 17, a first mounting plate 18, a second mounting plate 19, a bearing 20, an intermediate connecting shaft 21, a reinforcing rib 22, a steering wheel 23, a universal wheel 24, a spring damping wheel 25, a main control box 26, a laser detection sensor 27, a scanning sensor 28, an anti-collision mechanism 29, a bending piece 30, an infrared sensor 31, an ultrasonic sensor 32, an obstacle sensor 33 and a CPU module 34.
As shown in fig. 1, the vehicle carrying frame 2 is designed to be rectangular, the vehicle carrying frame 2 is fixed on the vehicle body 1, for structural stability and firmness, a connecting beam 3 and a reinforcing arm 5 are respectively arranged on the vehicle carrying frame 2, the connecting beam 3 is fixedly connected with two ends of the vehicle carrying frame 2, the connecting beam 3 is made of a steel material, a positioning system 4 is arranged on the side surface of the connecting beam 3, a control system 11 is fixedly arranged on the front portion of the vehicle body 1, two ends of the reinforcing arm 5 are fixedly arranged and connected inside the vehicle carrying frame 2, a first framework component 6 is fixedly arranged on the side surface of the vehicle carrying frame 2 in a comb-tooth shape, a second framework component 7 is fixedly arranged on the side surface of the vehicle carrying frame 2 in a comb-tooth shape and is positioned on the left side of the first framework component 6, and for rapidly and accurately installing the first framework component 6 and the second framework component 7, two groups of through holes 12 are arranged on the side surface of the vehicle carrying frame 2, the distance between each through hole 12 is equal, comb teeth are formed when the first framework component 6 and the second framework component 7 are installed, only the first framework component 6 and the second framework component 7 are inserted into the through holes 12, then after welding is completed, the baffle 13 is arranged at the end parts of the first framework component 6 and the second framework component 7, when the vehicle cutting frame supports the vehicle, the end part on the side surface of the vehicle carrying frame 2 prevents the vehicle carrying frame 2 from sliding left and right when the vehicle carrying frame is moved to bumpy road conditions, prevents the risk of vehicle sliding, and simultaneously adopts comb teeth arrangement on the first framework component 6 and the second framework component 7, the friction force of the car carrying frame 2 is increased, the safety performance of the car carrying frame 2 is further improved, and the practicability of the parking robot is improved.
The driving device comprises a wheel balancing component fixedly connected with a vehicle body 1, a wheel component 9 fixedly mounted with the wheel balancing component, a lifting component 10 fixedly connected with the back of the vehicle carrying frame 2, two ends, one end and the other end of the lifting component 10 are fixedly connected with the vehicle carrying frame 2, the other end is connected with the vehicle body 1, the wheel component 9 is controlled by a control system 11 to drive the whole vehicle body 1 to move, when the vehicle is transported to a specified area, the control system 11 drives the vehicle carrying frame 2 to move to the bottom of the vehicle, then a positioning system 4 on a connecting beam 3 is started to work, the position of a center line of the vehicle is calculated and detected, then the lifting component 10 lifts the vehicle away from the ground, the position of the center line of the vehicle is calculated and detected by the positioning system 4, and when the lifting component 10 lifts the vehicle, the left side and the right side of the vehicle on the vehicle carrying frame 2 are ensured to have equal, the discovery of the phenomenon that the gaps of the car carrying frames 2 are different and the weight is heavier is prevented, and the safety of the parking robot is improved.
As shown in fig. 5, four lifting components 10 are arranged at the bottom of the vehicle-carrying frame 2, and several lifting components 10 are electrically connected in series, each lifting component 10 includes a base 14 fixedly connected with the vehicle-carrying frame 2, a trapezoidal screw rod 15 fixedly connected with the base 14, the other end of the trapezoidal screw rod is fixedly mounted with the electric vehicle body 1, a turbine reducer 16 connected with the trapezoidal screw rod 15, the center of the turbine reducer 16 is of an internal thread structure, the turbine reducer drives a turbine rod to move through a turbine reducer motor, the turbine rod drives the turbine to drive the trapezoidal screw rod 15 to move up and down through the turbine rod, the trapezoidal screw rod 15 is connected with the turbine through the internal thread structure to form a screw rod nut pair, and finally, the spiral motion is converted into linear lifting motion No noise, safety, convenience, flexible use, high reliability, wide power source, long service life and the like. The lifting device can be used singly or in combination, can accurately control and adjust the lifting or propelling height according to a certain program, can be directly driven by a motor or other power, has the advantages of self-locking capability and convenient control, is very suitable for lifting the parking robot, and can better ensure the precision and stability of the lifting process due to the four-column type lifting. Meanwhile, the automobile is lifted off the ground from the bottom of the automobile in a straight falling mode and is not in mutual contact with the tire, and the tire is prevented from being damaged.
When parking the robot, the road conditions that meet ground unevenness appear unavoidably, when parking the robot and when the operating mode work of road surface unevenness, the appearance of the unsettled phenomenon of wheel can appear unavoidably, it is not enough to cause drive power when unsettled phenomenon appears in the wheel, the wheel skids or automobile body 1 swings the scheduling problem and appears, because in order to avoid the emergence of this kind of phenomenon, the insurance heavy wheel lands simultaneously, has set up wheel balance mechanism 8 respectively in the front and back both sides of automobile body 1.
As shown in fig. 2, the wheel balance mechanisms 8 are divided into two groups, and each wheel balance mechanism 8 includes a balance frame 17 fixedly connected to the bottom of the vehicle body 1, a first mounting plate 18 and a second mounting plate 19 fixedly mounted to the balance frame 17, a bearing 20 mounted to the balance frame 17 in an interference fit manner, an intermediate connecting shaft 21 connected to the bearing 20 in an interference fit manner and passing through the bearing 20, and a reinforcing rib 22 fixedly connected to the first mounting plate 18 and the second mounting plate 19 and located at the bottom of the first mounting plate 18 and the second mounting plate 19. The steering wheel 23 and the universal wheel 24 are arranged on the balance framework 17 in a first mounting mode and the second mounting plate 19 are arranged on the balance framework 17 in a welding mode, meanwhile, in order to guarantee good stress of the device and prevent the mounting plates from being greatly deformed, a plurality of reinforcing ribs 22 are arranged to improve strength, the middle supporting shaft is connected with the vehicle body 1 through the bearing 20, wheels on two sides of the device land simultaneously through left-right swinging when the device is on an uneven road surface, and the problem of wheel suspension is solved.
The wheel assembly 9 comprises a steering wheel 23 fixedly connected with the first mounting plate 18, universal wheels 24 fixedly connected to the second mounting plate 19, sprung vibration-damped wheels fixedly connected to the vehicle body 1 and located between the steering wheels 23 and the universal wheels 24, the spring shock absorption wheels 25 are two in total, one is arranged on each side of the car body 1, the steering wheels 23 and the universal wheels 24 in the front and back directions of the car body 1 are arranged in a diagonal line, the forward and backward movement, the left and right transverse movement and the rotary movement of the parking robot can be realized by adopting the double steering wheels 23, meanwhile, the parking robot can move along the curve of any position inside the vehicle body 1 or outside the vehicle body 1 in any posture, the universal wheels 24 on the diagonal line play a role in balancing and supporting, and the spring damping wheels in the middle play a role in bearing, and meanwhile, the wheels are effectively guaranteed to be grounded simultaneously. By adopting the six-wheel gear train, the motion stability and the motion balance are improved when the driving device moves, and simultaneously, the phenomenon that all wheels cannot be simultaneously grounded is caused because the number of the wheels is increased, so that the wheels are ensured to be simultaneously grounded, the steering wheel 23 and the universal wheel 24 are fixedly arranged on the wheel balancing mechanism 8, the wheels are ensured to be simultaneously grounded, the damping spring wheels are adopted in the middle, and the two spring damping wheels 25 are adopted in the middle, so that the bearing effect is realized, and simultaneously, the wheels can be effectively ensured to be simultaneously grounded.
The control system 11 comprises a main control box 26 fixedly connected with the vehicle body 1 and at the bottom of the vehicle body 1, wherein the main control box 26 is formed by bending sheet metal parts, a CPUCPU module 34 connected inside the CPUCPU module 34, a laser detection sensor 27 fixedly connected with the main control box 26, a scanning sensor 28 fixedly connected with the main control box 26 and positioned on the side surface of the main control box 26, and the laser detection sensor 27 is electrically connected with the scanning sensor 28 and the CPUCPU module 34 in a communication manner and is connected with an anti-collision mechanism 29 connected with the main control box 26; the robot is improved in automation level by scanning the length, width and height of the car by the laser detection sensor 27 and the scanning sensor 28 and calculating the volume of the car.
The collision avoidance mechanism 29 comprises a bending piece 30 which is fixedly installed together with the vehicle body 1 and is positioned in the front and back directions of the vehicle body 1, and an infrared sensor 31, an ultrasonic sensor 32 and an obstacle sensor 33 which are installed on the bending piece 30;
the infrared sensor 31, the ultrasonic sensor 32 and the obstacle sensor 33 are in communication and electric connection with the CPUCPU module 34. People or objects encountered during parking are monitored in real time by the infrared sensor 31, the ultrasonic sensor 32 and the obstacle sensor 33.
As a preferred scheme, the working method of the full-automatic parking robot comprises the following steps; the method comprises the following steps that a vehicle stops in a designated area, and passengers are parked to scan two-dimensional codes in the parking area; the parking robot receives the parking area of the vehicle, and simultaneously moves to the parking area of the vehicle; meanwhile, the scanning sensor 28 on the parking robot starts to work, the length, the width and the height of the vehicle are scanned, the volume of the vehicle is calculated, and then the vehicle information is transmitted to the control system 11; then the jacking device is transported to the bottom of the vehicle, and then the laser detection sensor 27 on the mobile upper surface is controlled to be started, when the parking robot is moved to the middle position of the bottom of the vehicle, then the jacking assembly 10 starts to be started, further the motor rotates to drive the worm to rotate, meanwhile, the worm drives the worm to move up and down on the trapezoidal screw, when the parking robot is lifted to the specified position, the vehicle is lifted, so that the vehicle leaves the ground, further the motor stops rotating, and the jacking assembly 10 stops lifting; the wheel assembly 9 is started to drive the vehicle to move to the underground parking lot, when the ground is uneven in movement, the wheel balancing mechanism 8 swings left and right to achieve the purpose that the wheels on the two sides can simultaneously land, and the stability of the parking robot in movement is improved until the parking robot moves to a specified parking area today; when moving to the designated parking area, the lift assembly 10 is again activated to lower the vehicle onto the ground; when the vehicle descends to the ground, the control system 11 collects the parking area information of the vehicle and feeds the parking area information of the vehicle back to the mobile phone terminal; when the vehicle needs to be used, the vehicle can be moved to a designated parking area by the aid of the mobile phone APP and the parking robot through one-key vehicle use.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the embodiments, and various equivalent changes can be made to the technical solution of the present invention within the technical idea of the present invention, and these equivalent changes are within the protection scope of the present invention.
Claims (8)
1. A fully automatic parking robot, comprising:
the frame assembly comprises a vehicle body, a vehicle carrying frame arranged on the vehicle body, connecting cross beams fixedly connected to two ends of the vehicle carrying frame, a positioning system arranged on the side surfaces of the connecting cross beams, a control system arranged at the front end of the vehicle body, reinforcing arms fixedly connected to the inner side of the vehicle carrying frame, a first framework assembly and a second framework assembly which are fixedly arranged on the side surfaces of the vehicle carrying frame in a comb-tooth shape;
the lifting device comprises a driving device, a wheel balance mechanism fixedly arranged on the vehicle body, a wheel assembly fixedly arranged on the wheel balance mechanism, and a lifting assembly fixedly connected to the back of the vehicle carrying frame.
2. A fully automatic parking robot as claimed in claim 1, wherein: the vehicle carrying frame is designed to be rectangular, two groups of through holes are formed in the side face of the vehicle carrying frame, the distance between every two groups of through holes is equal, and baffles are arranged at the end portions of the first framework assembly and the second framework assembly.
3. A fully automatic parking robot as claimed in claim 1, wherein: the bottom of the vehicle carrying frame is provided with at least four lifting assemblies, each lifting assembly comprises a base fixedly mounted on the vehicle carrying frame, a trapezoidal screw fixedly mounted on the base, and a turbine speed reducer in threaded connection and matching with the trapezoidal screw, and the center of the turbine speed reducer is of an internal thread structure.
4. A fully automatic parking robot as claimed in claim 1, wherein: the wheel balance mechanism is total two sets ofly, wheel balance mechanism includes fixed mounting and is in the balanced skeleton of automobile body bottom, fixed mounting is in first mounting panel and second mounting panel above the balanced skeleton, interference fit installs bearing above the balanced skeleton passes the bearing and with the middle back shaft that bearing interference fit links together to and fixed mounting is in the strengthening rib of first mounting panel and second mounting panel bottom simultaneously.
5. A fully automatic parking robot as claimed in claim 4, wherein: the wheel assembly comprises a steering wheel fixedly welded on a first mounting plate, a universal wheel fixedly mounted on a second mounting plate, and two spring damping wheels fixedly mounted on the vehicle body and between the steering wheel and the universal wheel;
the steering wheels and the universal wheels in the front and rear directions of the vehicle body are arranged in a diagonal line.
6. A fully automatic parking robot as claimed in claim 1, wherein: the control system comprises a main control box arranged at the bottom of the vehicle carrying frame, a CPU module arranged in the control box, a laser detection sensor fixedly connected to the main control box, and a scanning sensor arranged on the side surface of the main control box, wherein the laser detection sensor is electrically connected with the scanning sensor and the CPU module in a communication manner and is arranged on anti-collision mechanisms at two ends of the main control box.
7. A fully automatic parking robot as claimed in claim 6, wherein: the main control box is formed by bending a metal plate;
the anti-collision mechanism comprises a bending piece, an infrared sensor, an ultrasonic sensor and an obstacle sensor, wherein the bending piece is fixedly arranged on the vehicle body and is positioned in the front direction and the rear direction of the vehicle body;
the infrared sensor, the ultrasonic sensor and the obstacle sensor are electrically connected with the CPU module in a communication mode.
8. A working method of a full-automatic parking robot is characterized by comprising the following steps:
s1, stopping the vehicle in the designated area, and scanning the two-dimensional codes in the parking area by the passengers;
s2, receiving the parking robot into the parking area of the vehicle, and moving the parking robot into the area where the vehicle stops;
s3, starting a scanning sensor on the robot to scan the length, width and height of the vehicle, calculating the volume of the vehicle, and transmitting the vehicle information to a control system;
s4, the jacking device is conveyed to the bottom of the vehicle, the laser detection sensor on the mobile upper surface is controlled to be started, when the parking robot moves to the middle position of the bottom of the vehicle, the lifting assembly starts to be started, the motor rotates to drive the worm to rotate, the worm drives the worm to move up and down on the trapezoidal screw rod, when the parking robot is lifted to the specified position, the vehicle is lifted, the vehicle leaves the ground, the motor stops rotating, and the lifting assembly stops lifting;
s5, the wheel assemblies are started to drive the vehicle to move to the underground parking lot, in the process of moving, when the ground is uneven, in order that the wheels can simultaneously land, the wheel balancing mechanism swings left and right to simultaneously land the wheels on two sides, and today, the stability of the parking robot in the process of moving is improved until the parking robot moves to a specified parking area;
s6, when the vehicle moves to the designated parking area, the lifting assembly is started again, and the vehicle is descended to the ground;
s7, when the vehicle descends to the ground, the control system collects the parking area information of the vehicle and feeds the parking area information back to the mobile phone end;
and S8, when the vehicle needs to be used, the vehicle can be moved to the designated parking area by the mobile phone APP and the vehicle is used by one key of the parking robot.
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| CN201911004293.XA CN110775026A (en) | 2019-10-22 | 2019-10-22 | Full-automatic parking robot and parking method thereof |
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| CN201911004293.XA CN110775026A (en) | 2019-10-22 | 2019-10-22 | Full-automatic parking robot and parking method thereof |
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| CN208534141U (en) * | 2018-05-30 | 2019-02-22 | 北京石油化工学院 | A kind of six trains heavy duty can automatic charging intelligent parking robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112606801A (en) * | 2020-12-01 | 2021-04-06 | 北京星航机电装备有限公司 | Adjustable wheelbase formula is parked and is used AGV |
| CN113802903A (en) * | 2021-09-30 | 2021-12-17 | 重庆理工大学 | Stopping and taking method based on AGV trolley transfer vehicle |
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Application publication date: 20200211 |