CN110821255A

CN110821255A - Parallel torsion type automatic vehicle parking deviation correcting device and deviation correcting method thereof

Info

Publication number: CN110821255A
Application number: CN201911258874.6A
Authority: CN
Inventors: 杨辉; 唐玮; 田文彤
Original assignee: Changzhou Institute of Technology
Current assignee: Changzhou Institute of Technology
Priority date: 2019-12-10
Filing date: 2019-12-10
Publication date: 2020-02-21

Abstract

The invention discloses a parallel torsion type automatic vehicle parking deviation correcting device and a deviation correcting method thereof, and belongs to the field of parking equipment. The deviation correcting device comprises a position detecting mechanism and a deviation correcting executing mechanism, wherein the deviation correcting executing mechanism realizes the rotation adjustment of the parking angle and the translation adjustment of the relative position of the vehicle on the deviation correcting mechanism through the independent parallel matching movement of the two groups of transverse moving mechanisms and the two groups of longitudinal moving mechanisms; the position detection mechanism detects the parking position of the vehicle by utilizing the movable distance sensor capable of lifting on three sides and the fixed distance sensor on one side, so that the vehicle position detection is comprehensive and accurate, good data support is provided for automatic deviation correction of the vehicle, the accuracy and the stability of deviation correction adjustment of the vehicle are improved, the movable distance sensor capable of lifting on three sides adopts linkage control, the linkage structure design is simple and ingenious, the distance sensor is stable and flexible to lift, and the vehicle can be conveniently parked and taken.

Description

Parallel torsion type automatic vehicle parking deviation correcting device and deviation correcting method thereof

Technical Field

The invention relates to a vehicle deviation correcting device, in particular to a parallel torsion type vehicle parking automatic deviation correcting device and a deviation correcting method thereof, which are particularly suitable for mechanical parking equipment.

Background

With the increase of the automobile holding capacity, the problem of insufficient parking space becomes obvious, and in recent years, mechanical parking equipment has been widely used. Mechanical parking equipment has been developed into large electromechanical equipment integrating mechanical, electrical and intelligence into one body. In order to fully utilize land resources, mechanical parking equipment is generally designed to be compact and is controlled by adopting automated technologies such as optomechanical and electrical technologies. Although the parking space can be effectively increased, the mechanical parking equipment usually requires an operator to park vehicles in a relatively narrow space with high quality, the parking position is accurate, and partial drivers cannot park vehicles accurately due to different driving levels of the drivers, so that adverse effects are brought to normal operation of the parking equipment, and the willingness of the user to use the mechanical parking equipment is also influenced.

In order to solve the problem of difficulty in parking a car in a mechanical parking device, a related solution is disclosed, for example, a method and a device for correcting the position of a car in a parking device disclosed in chinese patent No. ZL201610053066.6, wherein a detection unit and an analysis unit are matched to automatically detect whether the car is parked with a position deviation, and then data to be corrected is sent to a correction unit to automatically correct the position. The method comprises the steps of additionally arranging a photographing device in a space of a parking position where a vehicle of conventional parking equipment drives into for photographing the outline of the vehicle, extracting the current maximum outline of the vehicle by an image processing device and comparing the current maximum outline with standard parking space coordinate data to obtain a deviation-correcting value, and correcting the angle deviation, the longitudinal deviation and the transverse deviation of the original parked vehicle by utilizing a vehicle turntable, a longitudinal moving part and a transverse moving part which are commonly used and arranged in the parking equipment respectively. Also as disclosed in chinese patent application No. 201810308163.4, "a drum conveyor for mechanical parking equipment" includes a track plate, a front wheel deviation correcting mechanism and a rear wheel deviation correcting mechanism are respectively disposed at two ends of the track plate, the front wheel deviation correcting mechanism includes a front wheel force applying member for providing a driving force to a front wheel of the vehicle to move the vehicle in a left-right direction and a front wheel driving member for driving the front wheel force applying member to move, and the rear wheel deviation correcting mechanism includes a rear wheel force applying member for providing a driving force to a rear wheel of the vehicle to move the vehicle in a left-right direction and a rear wheel driving member for driving the rear wheel force applying member to move. The conveyor can correct the deviation of the automobile on the lane plate, so that the automobile can be smoothly parked in a parking space, and the degree of abrasion to the automobile wheels is small.

In the above patent application, the former takes a picture of the vehicle outline through the camera device, and analyzes the deviation value of the vehicle by using the image processor, so that the equipment cost is relatively high, and the deviation rectifying action needs to be executed by designing the automobile turntable, the longitudinal moving part and the transverse moving part, and the required action executing mechanisms are more and the structure is relatively complex. The rear wheel utilizes a front wheel deviation correcting mechanism and a rear wheel deviation correcting mechanism to adjust the front wheel and the rear wheel of the vehicle left and right, the left and right adjusting position depends on the photoelectric sensors at the lower parts of the wheels, the requirement on the initial parking position of the vehicle is high, the positions of the photoelectric sensors of the front wheel and the rear wheel are relatively fixed, the applicability of the vehicle corresponding to different wheelbases is poor, and the deviation correcting position signals are difficult to accurately identify.

In a word, the existing vehicle deviation correcting system has the problems of complex deviation correcting mechanism, poor deviation correcting position signal identification accuracy, high cost and the like.

Disclosure of Invention

1. Technical problem to be solved by the invention

The invention aims to overcome the defects of complex deviation rectifying mechanism, poor deviation rectifying position signal identification accuracy, higher cost and the like of the existing vehicle deviation rectifying system, and provides a parallel torsion type vehicle parking automatic deviation rectifying device and a deviation rectifying method thereof.A technical scheme of the invention is adopted, two groups of transverse moving mechanisms and two groups of longitudinal moving mechanisms are utilized to form the parallel torsion type deviation rectifying mechanism, and the vehicle can rotate and adjust the parking angle and translate and adjust the relative position of the vehicle on the deviation rectifying mechanism by the independent parallel matching movement of the two groups of transverse moving mechanisms and the two groups of longitudinal moving mechanisms; meanwhile, the parking position of the vehicle can be detected by utilizing the distance sensors which can be linked to lift around the deviation rectifying mechanism, the vehicle position detection is comprehensive and accurate, good data support is provided for automatic deviation rectification of the vehicle, the accuracy and the stability of deviation rectifying adjustment of the vehicle are improved, the linkage structure is simple and ingenious in design, the distance sensors are stable and flexible to lift, and the vehicle can be conveniently stopped and taken.

2. Technical scheme

In order to achieve the purpose, the technical scheme provided by the invention is as follows:

the invention relates to a parallel torsion type automatic deviation rectifying device for vehicle parking, which comprises a position detection mechanism and a deviation rectifying execution mechanism arranged on the inner side of the position detection mechanism, wherein a vehicle parking space is formed on the deviation rectifying execution mechanism, wherein:

the position detection mechanism comprises a rectangular outer frame, a side lifting detection mechanism, a front lifting detection mechanism, a rear fixing detection mechanism and a lifting linkage mechanism, wherein the side lifting detection mechanism is respectively arranged at the left side and the right side of the rectangular outer frame, the front lifting detection mechanism is arranged at the front side of the rectangular outer frame, the rear fixing detection mechanism is fixedly arranged at the rear side of the rectangular outer frame, distance sensor groups facing the inner side of the rectangular outer frame and used for detecting the positions of the periphery of the vehicle in the rectangular outer frame are arranged in the side lifting detection mechanism, the front lifting detection mechanism and the rear fixing detection mechanism, the side lifting detection mechanism and the front lifting detection mechanism are respectively provided with a horizontal sliding lifting rod group used for driving the distance sensor groups at the corresponding sides to move up and down, and the lifting linkage mechanism is arranged on the rectangular outer frame, the device comprises a reel, a reversing pulley, a lifting control motor and a pull rope, wherein an output shaft of the lifting control motor is in transmission connection with a wheel shaft of the reel, the reel is respectively connected with two groups of horizontal sliding lifting rod groups of side lifting detection mechanisms and front lifting detection mechanisms on two sides through the pull rope which is steered by the reversing pulley, and the lifting control motor drives the reel to retract and release the pull rope to control the synchronous lifting motion of corresponding distance sensor groups of the two groups of side lifting detection mechanisms and the front lifting detection mechanisms on two sides;

the deviation rectifying executing mechanism comprises two groups of transverse moving mechanisms and two groups of longitudinal moving mechanisms, the two groups of transverse moving mechanisms are respectively provided with a transverse moving sliding support plate capable of independently sliding horizontally, the sliding extension lines of the transverse moving sliding support plates of the two groups of transverse moving mechanisms are parallel, the two groups of longitudinal moving mechanisms are respectively arranged on the transverse moving sliding support plates of the two groups of transverse moving mechanisms in a spanning mode, one ends of the two groups of longitudinal moving mechanisms are respectively arranged on the transverse moving sliding support plates of the one group of transverse moving mechanisms through rotating support mechanisms, the other ends of the two groups of longitudinal moving mechanisms are respectively arranged on the transverse moving sliding support plates of the other group of transverse moving mechanisms through rotating support mechanisms, the four groups of rotating support mechanisms form a parallelogram structure on the transverse moving sliding support plates of the two groups of transverse moving mechanisms, one end of each longitudinal moving mechanism of each group is, the two groups of longitudinal moving mechanisms are respectively provided with a longitudinal moving sliding support platform capable of independently and horizontally sliding.

Furthermore, the side lifting detection mechanism comprises a side movable cross bar, a side distance sensor, side lifting support rods and a slider connecting rod, wherein the side distance sensor is fixedly arranged on the side movable cross bar, two ends of the side movable cross bar are respectively hinged with one side lifting support rod, the lower ends of the two side lifting support rods are slidably arranged on a guide rod on the side of the rectangular outer frame through hinged side support rod sliders, the two side support rod sliders are connected through the slider connecting rod, the side movable cross bar, the side lifting support rods and the slider connecting rod form a parallel four-bar mechanism, a guide sliding groove is formed in each side lifting support rod along the length direction, and a limit pin shaft positioned in the guide sliding groove is arranged on the rectangular outer frame;

the front side lifting detection mechanism comprises a front side movable cross rod, a front side distance sensor, a front side lifting stay bar and a front side stay bar sliding block, wherein the front side distance sensor is fixedly arranged on the front side movable cross rod;

the two front side strut sliders on two sides of the front side lifting detection mechanism are respectively connected with the lower part of the opposite side lifting detection mechanism through second pull ropes which bypass the reversing pulleys on the corresponding sides; the lifting control motor drives the winding wheel to synchronously retract and release the two first pull ropes, and the side lifting detection mechanisms and the front lifting detection mechanism on two sides synchronously lift and move by matching the first pull ropes, the second pull ropes and the pressure springs.

Furthermore, the rear-side fixed detection mechanism comprises a fixed cross rod and a rear-side distance sensor, and the rear-side distance sensor is installed on the fixed cross rod.

Furthermore, the transverse moving mechanism comprises a transverse moving support frame, a transverse moving driving motor, a transverse moving driving screw rod, a transverse moving screw rod nut, a transverse moving guide rail, a transverse moving slider and a transverse moving sliding support plate, the transverse moving driving screw rod and the transverse moving guide rail are transversely and parallelly arranged on the transverse moving support frame, the transverse moving driving motor is fixed on the outer side of the transverse moving support frame, an output shaft of the transverse moving driving motor is in transmission connection with the transverse moving driving screw rod, the transverse moving sliding support plate is arranged on the transverse moving guide rail through the transverse moving slider, the transverse moving screw rod nut arranged on the transverse moving driving screw rod is fixed at the bottom of the transverse moving sliding support plate, and the transverse moving driving screw rod is driven by the transverse moving driving motor to rotate so as to drive.

Furthermore, the longitudinal moving mechanism comprises a longitudinal moving support frame, a longitudinal moving driving motor, a longitudinal moving driving screw rod, a longitudinal moving screw rod nut, a longitudinal moving guide rail, a longitudinal moving slide block and a longitudinal moving slide support platform, the longitudinal moving support frame is arranged on a corresponding transverse moving slide support plate through a rotating support mechanism, the longitudinal moving driving screw rod and the longitudinal moving guide rail are arranged on the longitudinal moving support frame in parallel along the longitudinal direction, the longitudinal moving driving motor is fixed on the longitudinal moving support frame, an output shaft of the longitudinal moving driving motor is in transmission connection with the longitudinal moving driving screw rod, the longitudinal moving slide support platform is arranged on the longitudinal moving guide rail through the longitudinal moving slide block, the longitudinal moving screw rod nut arranged on the longitudinal moving driving screw rod is fixed at the bottom of the longitudinal moving slide support platform, the longitudinal moving driving screw rod is driven to rotate by the longitudinal moving driving motor to drive the longitudinal moving slide support platform to move longitudinally on the longitudinal moving guide rail, and the two longitudinally-moving sliding support tables form a vehicle parking platform.

Furthermore, the rotating support mechanism comprises a thrust bearing, a rotating shaft and a rotating shaft support, the rotating shaft support is arranged at the lower part of the rotating shaft, the rotating shaft is axially matched and connected with the corresponding transverse moving sliding support plate through the rotating shaft support, the thrust bearing is sleeved at the upper part of the rotating shaft, and the corresponding longitudinal moving support frame is pressed against the upper end of the thrust bearing; one end of the longitudinal moving support frame of the same group of longitudinal moving mechanisms is provided with a shaft hole, the other end of the longitudinal moving support frame is provided with a longitudinal guide chute, the upper end of the rotating shaft of the rotating support mechanism at one end is axially matched and connected with the shaft hole, and the upper end of the rotating shaft of the rotating support mechanism at the other end is arranged in the longitudinal guide chute in a sliding fit manner through a limiting bearing.

The invention relates to a deviation rectifying method of a parallel torsion type vehicle parking automatic deviation rectifying device, which comprises the following steps:

s1, driving the vehicle from the front side of the deviation correcting device to the longitudinal sliding support platform of the deviation correcting device by a user, enabling two groups of wheels on the left side and the right side of the vehicle to be respectively positioned on the two groups of longitudinal sliding support platforms on the corresponding sides, and leaving the vehicle after parking;

s2, vehicle position detection is started, a control system controls a lifting control motor of a lifting linkage mechanism to rotate to drive a reel to take up wires in a rotating mode, a first pull rope pulls the bottoms of side lifting detection mechanisms on two sides to enable a sliding block connecting rod to slide on a guide rod, a side lifting stay rod is erected, parallel lifting of a side distance sensor on a side movable cross rod is achieved, in the sliding process of the sliding block connecting rod, a front side stay rod sliding block on the corresponding side of a front side lifting detection mechanism is pulled to move outwards through a second pull rope to compress a pressure spring, the front side lifting stay rod is erected, and parallel lifting of the front side distance sensor on the front side movable cross rod is achieved; then, detecting the parking position of the vehicle by distance sensor groups in the side face lifting detection mechanism, the front side lifting detection mechanism and the rear side fixed detection mechanism;

s3, the control system sends control commands to the deviation correction executing mechanism according to the vehicle deviation information detected by the distance sensor group in the position detecting mechanism, so that the transverse moving sliding support plates of the two groups of transverse moving mechanisms respectively move to the opposite directions of the vehicle deviation direction, and the two groups of longitudinal moving mechanisms are driven to generate parallel twisting motion; meanwhile, the longitudinal moving sliding support tables of the two groups of longitudinal moving mechanisms move in the opposite direction of the deviation direction of the vehicle by matching with the movement of the transverse moving sliding support plates, so that the vehicle keeps parallel rotation on the two longitudinal moving sliding support tables; in the process, the position detection mechanism detects the deviation correcting position of the vehicle in real time and synchronously corrects the deviation information of the vehicle until the parking angle of the vehicle is adjusted;

s4, after the vehicle parking angle is adjusted, the control system controls the two groups of transverse moving mechanisms and the two groups of longitudinal moving mechanisms to respectively synchronously move in the same direction for fine adjustment according to vehicle deviation information obtained by real-time detection of the position detection mechanism, so that the vehicle is parked in the middle of the vehicle parking space, and automatic deviation correction of the vehicle is completed;

s5, after the vehicle deviation correction is finished, the control system controls the lifting control motor of the lifting linkage mechanism to rotate reversely to pay off, at the moment, the pressure spring is extended and reset, so that the front side stay bar sliding blocks at the two sides of the front side lifting detection mechanism move towards the middle, the front side lifting stay bar is folded, and the parallel descending of the front side distance sensor on the front side movable cross bar is realized; and meanwhile, the slide block connecting rod is pulled through the second pull rope to enable the side face lifting support rod of the side face lifting detection mechanism to be folded, so that the side face distance sensor on the side face movable cross rod descends in parallel, and the position detection mechanism is reset.

Further, in step S2, the distance sensor groups on four sides of the side elevation detection mechanism, the front elevation detection mechanism and the rear fixed detection mechanism respectively detect the distance from the vehicle, and the vehicle deviation angle and the deviation distance are determined by comparing the detection distance signals of the respective distance sensors in the distance sensor group on the same side; and the deviation of the front and rear or left and right parking positions of the vehicle is determined by comparing the mean values of the distance signals detected by the distance sensor groups on the two opposite surfaces.

Furthermore, after the user takes the vehicle away, the deviation rectifying executing mechanism resets to enable the two groups of transverse moving mechanisms and the two groups of longitudinal moving mechanisms to be in a mutually perpendicular state, and meanwhile, the control system initializes the vehicle position information detected by the position detecting mechanism to wait for the parking of the next vehicle.

3. Advantageous effects

Compared with the prior art, the technical scheme provided by the invention has the following remarkable effects:

(1) the invention relates to a parallel torsion type automatic vehicle parking deviation correcting device and a deviation correcting method thereof, wherein the deviation correcting device comprises a position detection mechanism and a deviation correcting execution mechanism arranged on the inner side of the position detection mechanism, the deviation correcting execution mechanism utilizes two groups of transverse moving mechanisms and two groups of longitudinal moving mechanisms to form a parallel torsion type deviation correcting mechanism, and independent parallel matched movement of the two groups of transverse moving mechanisms and the two groups of longitudinal moving mechanisms is adopted to realize the rotation adjustment of a vehicle on the deviation correcting mechanism for parking angle and the translation adjustment for the relative position of the vehicle; the position detection mechanism detects the parking position of the vehicle by utilizing three liftable movable distance sensors and one fixed distance sensor, the distance deviation of the same side of the vehicle is detected by the distance sensors to determine the torsion angle required to be adjusted, the deviation distance in the front-back or left-right direction of the vehicle is determined by the detection value of the distance sensor on the opposite side, so that the detection of the position of the vehicle is comprehensive and accurate, the use cost of the distance sensors is lower, the setting is simpler and more convenient, good data support is provided for automatic deviation correction of the vehicle, the accuracy and the stability of deviation correction adjustment of the vehicle are improved, the three liftable movable distance sensors adopt linkage control, the linkage structure is simple and ingenious in design, the distance sensors are stably and flexibly lifted, and the vehicle can be conveniently parked and fetched;

(2) the invention relates to a parallel torsion type automatic deviation rectifying device for vehicle parking, wherein a position detection mechanism comprises a rectangular outer frame, side face lifting detection mechanisms, a front side lifting detection mechanism, a rear side fixing detection mechanism and lifting linkage mechanisms, wherein two groups of side face lifting detection mechanisms adopt parallel four-bar mechanisms to realize lifting motion, the front side lifting detection mechanism adopts a support connecting rod to realize lifting motion, the lifting linkage mechanisms utilize a pull rope to be matched with a pressure spring in the front side lifting detection mechanism to realize linkage control, when a distance sensor is lifted, the pull rope is wound to pull the parallel four-bar mechanisms to be unfolded and lifted, simultaneously, the support connecting rod of the front side lifting detection mechanism is pulled to be erected, when the distance sensor is lowered, the pull rope is wound, the support connecting rod and the parallel four-bar mechanisms are pulled to be folded under the reset action of the pressure spring, the structural design is simple and compact, and, the synchronism is good, and the lifting action is controlled simply and conveniently;

(3) according to the parallel torsion type automatic vehicle parking deviation correcting device, the transverse moving mechanism and the longitudinal moving mechanism adopt the motor to drive the screw rod and nut pair to drive the corresponding supporting plate to horizontally move, the moving position precision is high, the control is simple and convenient, and the bearing capacity is strong; the transverse moving mechanism and the longitudinal moving mechanism are connected and rotated by adopting a rotating support mechanism, so that the stability and the reliability of the deviation rectifying action are ensured;

(4) according to the parallel torsion type automatic vehicle parking deviation correcting device, the rotation supporting mechanism adopts the thrust bearing to realize rotation and bear the weight of a vehicle, the thrust bearing adopts the rotating shaft to support and limit, and the bearing is adopted at the guide sliding groove to realize limiting and longitudinal sliding, so that the horizontal torsion of the deviation correcting platform is stable and flexible, and the stable and accurate deviation correcting action is ensured;

(5) the invention relates to a deviation rectifying method of a parallel torsion type vehicle parking automatic deviation rectifying device.A control system sends a control command to a deviation rectifying actuating mechanism according to vehicle deviation information obtained by detecting a distance sensor group in a position detection mechanism, controls transverse moving sliding support plates of two groups of transverse moving mechanisms to respectively move towards the opposite directions of the vehicle deviation direction, and drives two groups of longitudinal moving mechanisms to generate parallel torsion motion; meanwhile, the position detection mechanism detects the vehicle deviation correction position in real time and corrects the vehicle deviation information synchronously until the vehicle parking angle is corrected, the deviation correction action is simple to control, the vehicle angle swing action is stable and reliable, meanwhile, the vehicle center position can be finely adjusted, the deviation correction method is simple and easy to implement, automatic intelligent control is facilitated, and the automatic deviation correction requirement of the vehicle in mechanical parking equipment is met.

Drawings

FIG. 1 is a schematic perspective view of an automatic parallel torsion type deviation correcting device for vehicle parking according to the present invention;

FIG. 2 is a schematic structural diagram of a position detection mechanism in the parallel torsion type automatic deviation rectification device for vehicle parking according to the present invention;

FIG. 3 is a top view of a position detecting mechanism in the parallel torsion type automatic deviation rectifying apparatus for vehicle parking according to the present invention;

FIG. 4 is a schematic structural diagram of a deviation rectifying actuator of the parallel torsion type automatic deviation rectifying apparatus for vehicle parking according to the present invention;

FIG. 5 is a schematic structural diagram of a deviation correcting actuator in the parallel torsion type automatic deviation correcting device for vehicle parking according to the present invention (a transverse sliding support plate and a longitudinal sliding support plate are omitted);

FIG. 6 is a schematic structural diagram of a rotation supporting mechanism of the deviation rectifying actuator according to the present invention.

The reference numerals in the schematic drawings illustrate:

100. a position detection mechanism; 11. a rectangular outer frame; 11-1, a guide rod; 11-2, a pressure spring; 12. a side elevation detection mechanism; 12-1, a side movable cross bar; 12-2, a lateral distance sensor; 12-3, a side lifting support rod; 12-4, a slider link; 13. a front side lift detection mechanism; 13-1, a front side movable cross bar; 13-2, a front side distance sensor; 13-3, a front lifting stay bar; 13-4, a front side stay bar slide block; 14. the rear side is fixed with a detection mechanism; 14-1, fixing the cross bar; 14-2, a rear side distance sensor; 15. a lifting linkage mechanism; 15-1, reel; 15-2, a reversing pulley; 15-3, a lifting control motor; 15-4, a first pull rope; 15-5, a second pull rope;

200. a deviation rectifying actuating mechanism; 21. a lateral movement mechanism; 21-1, transversely moving the supporting frame; 21-2, a transverse moving driving motor; 21-3, transversely moving a driving screw rod; 21-4, transversely moving a screw rod nut; 21-5, transversely moving a guide rail; 21-6, transversely moving the sliding block; 21-7, transversely moving the sliding support plate; 22. a longitudinal movement mechanism; 22-1, longitudinally moving the supporting frame; 22-1-1, a longitudinal guide chute; 22-2, longitudinally moving a driving motor; 22-3, longitudinally moving a driving screw rod; 22-4, longitudinally moving a screw nut; 22-5, longitudinally moving a guide rail; 22-6, longitudinally moving the sliding block; 22-7, longitudinally moving the sliding support platform; 23. a rotation support mechanism; 23-1, a thrust bearing; 23-2, a rotating shaft; 23-3, a rotating shaft support; 23-4, a limit bearing.

Detailed Description

For a further understanding of the invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings and examples.

Examples

Referring to fig. 1 to 5, the parallel torsion type automatic deviation rectifying device for vehicle parking according to the embodiment includes a position detecting mechanism 100 and a deviation rectifying executing mechanism 200 disposed inside the position detecting mechanism 100, a vehicle parking space is formed on the deviation rectifying executing mechanism 200, the position detecting mechanism 100 is configured to detect position information of a vehicle parked on the deviation rectifying executing mechanism 200, and a control instruction is sent to the deviation rectifying executing mechanism 200 through a control system to realize deviation rectifying of a vehicle position. Wherein the content of the first and second substances,

referring to fig. 2 and 3, the position detecting mechanism 100 includes a rectangular outer frame 11, a side elevation detecting mechanism 12, a front elevation detecting mechanism 13, the rear side fixing detection mechanism 14 and the lifting linkage mechanism 15 are arranged, the side lifting detection mechanisms 12 are respectively arranged on the left side and the right side of the rectangular outer frame 11, the front side lifting detection mechanism 13 is arranged on the front side of the rectangular outer frame 11, the rear side fixing detection mechanism 14 is fixedly arranged on the rear side of the rectangular outer frame 11, distance sensor groups facing the inner side of the rectangular outer frame 11 and used for detecting the positions of the periphery of the vehicle in the rectangular outer frame 11 are arranged in the side lifting detection mechanism 12, the front side lifting detection mechanism 13 and the rear side fixing detection mechanism 14, the peripheral distance sensor groups are used for detecting the periphery of the vehicle, and the position of the vehicle is determined according to the comparison of the distances from the distance sensors to the four sides of the vehicle. The side lifting detection mechanism 12 and the front lifting detection mechanism 13 are designed to be lifted, in the vehicle deviation correction process, the side lifting detection mechanism 12 and the front lifting detection mechanism 13 are lifted to detect the vehicle, and after the deviation correction detection is finished, the side lifting detection mechanism 12 and the front lifting detection mechanism 13 are lowered to facilitate the stopping and taking of the vehicle. Specifically, the side elevation detection mechanism 12 and the front elevation detection mechanism 13 are respectively provided with a horizontal sliding lifting rod set for driving the distance sensor set on the corresponding side to move up and down, the elevation linkage mechanism 15 is installed on the rectangular outer frame 11 and comprises a reel 15-1, a reversing pulley 15-2, an elevation control motor 15-3 and a pull rope, the elevation control motor 15-3 is fixed on the rectangular outer frame 11, an output shaft of the elevation control motor 15-3 is in transmission connection with a wheel shaft of the reel 15-1, the reel 15-1 is respectively connected with the horizontal sliding lifting rod sets of the two side elevation detection mechanisms 12 and the front elevation detection mechanism 13 on the two sides through the pull rope turned by the reversing pulley 15-2, and the elevation control motor 15-3 drives the reel 15-1 to retract and release the pull rope to control the corresponding distance sensor sets of the two side elevation detection mechanisms 12 and the front elevation detection mechanism 13 on the two sides The group moves up and down synchronously. In the process of vehicle deviation correction, the distance sensor groups of the side face lifting detection mechanism 12 and the front side lifting detection mechanism 13 are lifted, the distance between the distance sensor groups of the rear side fixed detection mechanism 14 and the outer contour of a vehicle is detected in a matched mode, the lifting height of the distance sensor groups and the setting height of the distance sensor groups of the rear side fixed detection mechanism 14 can be generally designed to be 40-60 cm and close to the surrounding height of the side of the vehicle, and the lifting height of the distance sensor groups can be properly adjusted and controlled through the lifting linkage mechanism 15, so that the position of the vehicle is detected more accurately; the distance sensors in the distance sensor group on the same surface are preferably arranged at the position deviated to the center, the distance between the distance sensors of the side lifting detection mechanism 12 positioned at the two sides of the vehicle can be designed to be relatively larger, and the error influence on the distance detection caused by the smooth modeling of the head and the tail of the vehicle is avoided. The distance sensor on the detection mechanism on four sides is preferred to be set up 2 ~ 4, compare through the distance value that each distance sensor detected in the distance sensor group on the same face and confirm vehicle skew angle and distance, the accuracy that vehicle skew angle value detected has been guaranteed to four group's sensor groups all around, generally speaking, the great deviation that the gradual change appears in the detection numerical value of a plurality of distance sensors on the same face then explains that the vehicle parking angle deviation is great, need to adjust to the sensor direction that the distance is the biggest, the detection numerical value of a plurality of distance sensors on the same face reaches the design range interval then considers the vehicle to put upright. The average values of the detection values of the distance sensors on the same face can represent the front, back, left and right positions of the vehicle in the parking space, information such as left, right, up and down of the vehicle parking can be determined by comparing the average values of the detection values of the distance sensors on the opposite face, and the vehicle is considered to be adjusted to the center of the parking space if the detection values of the distance sensors on the opposite face are basically equal or within the range of a design interval.

Referring to fig. 4 and 5, the deviation correcting actuator 200 includes two sets of transverse moving mechanisms 21 and two sets of longitudinal moving mechanisms 22, the two sets of transverse moving mechanisms 21 each have a transverse sliding support plate 21-7 capable of sliding horizontally independently, the sliding extension lines of the transverse sliding support plates 21-7 of the two sets of transverse moving mechanisms 21 are parallel, the two sets of longitudinal moving mechanisms 22 are respectively arranged on the transverse sliding support plates 21-7 of the two sets of transverse moving mechanisms 21 in a straddling manner, one end of each of the two sets of longitudinal moving mechanisms 22 is respectively arranged on the transverse sliding support plates 21-7 of one set of transverse moving mechanisms 21 through a rotation support mechanism 23, the other end of each of the two sets of longitudinal moving mechanisms 22 is respectively arranged on the transverse sliding support plates 21-7 of the other set of transverse moving mechanisms 21 through a rotation support mechanism 23, and the four sets of rotation support mechanisms 23 form a parallelogram structure on the transverse sliding support plates 21 One end of each of the two sets of longitudinal moving mechanisms 22 is in sliding fit with the corresponding rotating support mechanism 23 along the longitudinal direction, and each of the two sets of longitudinal moving mechanisms 22 is provided with a longitudinal moving sliding support table 22-7 capable of independently sliding horizontally. Thus, when the two sets of transverse moving mechanisms 21 move relatively, the four sets of rotating support mechanisms 23 always have a quadrilateral structure, and preferably, the four sets of rotating support mechanisms 23 are in a rectangular structure at the initial position, because the two sets of longitudinal moving mechanisms 22 are arranged in parallel and are respectively arranged on the transverse moving sliding support plates 21-7 of the two sets of transverse moving mechanisms 21 in a straddling manner through the rotating support mechanisms 23, when the two sets of transverse moving mechanisms 21 move relatively, the four sets of rotating support mechanisms 23 can drive the two sets of longitudinal moving mechanisms 22 to shift in parallel, and one end of each of the two sets of longitudinal moving mechanisms 22 is longitudinally matched with the rotating support mechanism 23 in a sliding manner, so that the mechanism stability of the parallel shift of the longitudinal moving mechanisms 22. Because the vehicle is parked on the longitudinal sliding support tables 22-7 of the two longitudinal moving mechanisms 22, and the two longitudinal moving mechanisms 22 have certain longitudinal dislocation along with the movement of the two transverse moving mechanisms 21, in order to synchronously eliminate the dislocation, the two longitudinal moving mechanisms 22 synchronously drive the longitudinal sliding support tables 22-7 to move so as to maintain the relative positions of the two longitudinal sliding support tables 22-7, thereby enabling the vehicle on the two longitudinal sliding support tables 22-7 to generate certain angular deflection adjustment in the horizontal direction. Moreover, because the deviation of the vehicle parking angle is limited by the parking space, the vehicle parking position has a certain deviation of the angle, and the deviation rectifying actuating mechanism 200 can completely realize the deviation rectifying adjustment within a certain angle range.

As shown in fig. 2 and fig. 3, in this embodiment, the side lift detection mechanism 12 includes a side movable cross bar 12-1, a side distance sensor 12-2, a side lift brace 12-3 and a slider link 12-4, the side distance sensor 12-2 is fixedly mounted on the side movable cross bar 12-1, two ends of the side movable cross bar 12-1 are respectively hinged with a side lift brace 12-3, lower ends of the two side lift braces 12-3 are slidably mounted on a guide bar 11-1 on the side of the rectangular outer frame 11 through hinged side brace sliders, the two side brace sliders are connected through the slider link 12-4, the side movable cross bar 12-1, the side lift brace 12-3 and the slider link 12-4 form a parallel four-bar mechanism, the side face lifting support rod 12-3 is provided with a guide chute along the length direction, and the rectangular outer frame 11 is provided with a limit pin shaft positioned in the guide chute. Through the horizontal sliding of the slide block connecting rod 12-4, the two side face lifting support rods 12-3 rotate under the action of the limiting pin shaft, and the lifting movement of the side face movable cross rod 12-1 is realized. The front side lifting detection mechanism 13 comprises a front side movable cross rod 13-1, a front side distance sensor 13-2, a front side lifting support rod 13-3 and a front side support rod sliding block 13-4, wherein the front side distance sensor 13-2 is fixedly arranged on the front side movable cross rod 13-1, two ends of the front side movable cross rod 13-1 are respectively hinged with a front side lifting support rod 13-3, the lower ends of the two front side lifting support rods 13-3 are respectively hinged with a front side support rod sliding block 13-4, the front side support rod sliding blocks 13-4 are respectively slidably arranged on a guide rod 11-1 on the front side of the rectangular outer frame 11, and two ends of the guide rod 11-1 are respectively sleeved with a pressure spring 11-2 positioned outside the front side support rod sliding block 13-4. The front movable cross bar 13-1 can be lowered by driving the two front lifting support bars 13-3 to move inwards by the pressure spring 11-2. The linkage design is as shown in fig. 3, a reversing pulley 15-2 is respectively arranged on four corners of the rectangular outer frame 11, a reel 15-1 is arranged on the rear side of the rectangular outer frame 11, the reel 15-1 can be provided with two wire slots, two first pull ropes 15-4 are respectively led out from the reel 15-1, the two first pull ropes 15-4 are synchronously wound or unwound on the reel 15-1, the two first pull ropes 15-4 are respectively wound around the corresponding reversing pulley 15-2 towards two sides and then connected with the lower part of the side face lifting detection mechanism 12 on the corresponding side, preferably, the first pull ropes 15-4 are connected to the side face support rod slide block near the proximal end, the two front side support rod slide blocks 13-4 on two sides of the front side lifting detection mechanism 13 are respectively connected with the lower part of the opposite side face lifting detection mechanism 12 through the second pull ropes 15-5 wound around the reversing pulley 15-2 on the corresponding side, one end of a second pull rope 15-5 is preferably connected to the side stay bar slide block on the other side of the corresponding side lifting detection mechanism 12, and the other end of the second pull rope 15-5 is connected to the front stay bar slide block 13-4 on the corresponding side, so that synchronous traction movement of the two groups of side lifting detection mechanisms 12 and the front lifting detection mechanism 13 is realized through the first pull rope 15-4 and the second pull rope 15-5; the lifting control motor 15-3 drives the reel 15-1 to synchronously retract and release the two first pull ropes 15-4, and the first pull ropes 15-4, the second pull ropes 15-5 and the pressure spring 11-2 are matched to realize synchronous lifting movement of the side lifting detection mechanism 12 and the front lifting detection mechanism 13 on two sides, specifically, when the side movable cross bar is lifted, the lifting control motor 15-3 drives the reel 15-1 to wind, the first pull rope 15-4 pulls the slider connecting rod 12-4 to translate so as to enable the side movable cross bar 12-1 to lift in parallel, meanwhile, the slider connecting rod 12-4 pulls the front lifting support rod 13-3 to move outwards through the second pull rope 15-5, and the front lifting support rod 13-3 is kept in a vertical state by using a stop block on the rectangular outer frame 11, so that the front movable cross rod 13-1 is lifted. When the pressure spring 11-2 is in a compressed state, the lifting control motor 15-3 rotates reversely to drive the reel 15-1 to unreel, in the reset pulling process of the pressure spring 11-2, the front lifting support rod 13-3 moves inwards to enable the front movable cross rod 13-1 to descend, meanwhile, the second pull rope 15-5 pulls the slider connecting rods 12-4 on the two sides to translate, the side lifting support rod 12-3 rotates to descend under the action of the limiting pin shaft, and the side movable cross rod 12-1 descends in parallel. The rear-side fixed detection mechanism 14 comprises a fixed cross bar 14-1 and a rear-side distance sensor 14-2, the fixed cross bar 14-1 is horizontally fixed on the upper portion of the rear side of the rectangular outer frame 11, and the rear-side distance sensor 14-2 is installed on the fixed cross bar 14-1. By adopting the position detection mechanism 100, the structure design is simple and compact, a group of motors can control the stable lifting motion of the three-surface distance sensor, the synchronism is good, and the lifting motion control is simple and convenient.

As shown in FIG. 5, in the deviation rectifying actuator 200, the above-mentioned traverse mechanism 21 includes a traverse supporting frame 21-1, a traverse driving motor 21-2, a traverse driving screw 21-3, a traverse screw nut 21-4, a traverse guide rail 21-5, a traverse slider 21-6 and a traverse sliding supporting plate 21-7, the traverse supporting frame 21-1 of the two sets of traverse mechanisms 21 can be shared, the traverse driving screw 21-3 and the traverse guide rail 21-5 are installed on the traverse supporting frame 21-1 in parallel along the traverse direction, the traverse driving motor 21-2 is fixed on the outer side of the traverse supporting frame 21-1, the output shaft of the traverse driving motor 21-2 is connected with the traverse driving screw 21-3 in a transmission manner, the traverse sliding supporting plate 21-7 is installed on the traverse guide rail 21-5 through the traverse slider 21-6, the bottom of the transverse moving sliding support plate 21-7 is fixed with a transverse moving screw rod nut 21-4 arranged on a transverse moving driving screw rod 21-3, and a transverse moving driving motor 21-2 drives the transverse moving driving screw rod 21-3 to rotate so as to drive the transverse moving sliding support plate 21-7 to transversely move on a transverse moving guide rail 21-5. The longitudinal moving mechanism 22 comprises a longitudinal moving support frame 22-1, a longitudinal moving drive motor 22-2, a longitudinal moving drive screw rod 22-3, a longitudinal moving screw rod nut 22-4, a longitudinal moving guide rail 22-5, a longitudinal moving slide block 22-6 and a longitudinal moving slide support table 22-7, wherein the longitudinal moving support frame 22-1 is arranged on the corresponding transverse moving slide support plate 21-7 through a rotating support mechanism 23, the longitudinal moving drive screw rod 22-3 and the longitudinal moving guide rail 22-5 are longitudinally and parallelly arranged on the longitudinal moving support frame 22-1, the longitudinal moving drive motor 22-2 is fixed on the longitudinal moving support frame 22-1, an output shaft of the longitudinal moving drive motor 22-2 is in transmission connection with the longitudinal moving drive screw rod 22-3, the longitudinal moving slide support table 22-7 is arranged on the longitudinal moving guide rail 22-5 through the longitudinal moving slide block 22-6, the bottom of the longitudinal movement sliding support platform 22-7 is fixedly provided with a longitudinal movement screw rod nut 22-4 arranged on a longitudinal movement driving screw rod 22-3, a longitudinal movement driving motor 22-2 drives the longitudinal movement driving screw rod 22-3 to rotate so as to drive the longitudinal movement sliding support platform 22-7 to longitudinally move on a longitudinal movement guide rail 22-5, and the two longitudinal movement sliding support platforms 22-7 form a vehicle parking platform. In order to prevent the friction of the relative movement, a gap can be left between the two transversely moving sliding support plates 21-7, and a gap is also left between the two groups of longitudinal moving mechanisms 22. The transverse moving mechanism 21 and the longitudinal moving mechanism 22 both adopt a motor to drive a screw-nut pair to drive corresponding supporting plates to realize horizontal movement, and have the advantages of high moving position precision, simple and convenient control and strong bearing capacity.

Referring to fig. 6, preferably, the rotation support mechanism 23 includes a thrust bearing 23-1, a rotation shaft 23-2 and a rotation shaft support 23-3, the rotation shaft support 23-3 is disposed at a lower portion of the rotation shaft 23-2, the rotation shaft 23-2 is axially matched and connected with the corresponding traverse sliding support plate 21-7 through the rotation shaft support 23-3, the thrust bearing 23-1 is sleeved at an upper portion of the rotation shaft 23-2, the corresponding traverse support frame 22-1 is pressed against an upper end of the thrust bearing 23-1, and a lower end of the thrust bearing 23-1 is matched against the rotation shaft support 23-3. One end of a longitudinal moving support frame 22-1 of the same group of longitudinal moving mechanisms 22 is provided with a shaft hole, the other end is provided with a longitudinal guide chute 22-1-1, the upper end of a rotating shaft 23-2 of a rotating support mechanism 23 at one end is axially matched and connected with the shaft hole, and the upper end of a rotating shaft 23-2 of the rotating support mechanism 23 at the other end is arranged in the longitudinal guide chute 22-1-1 in a sliding fit manner through a limit bearing 23-4. The rotating support mechanism 23 adopts a thrust bearing 23-1 to realize rotation and bear the weight of the vehicle, the thrust bearing 23-1 adopts a rotating shaft to support and limit, and a bearing is adopted at the longitudinal guide sliding groove to realize limit and longitudinal sliding, so that the horizontal torsion of the deviation rectifying platform is stable and flexible, and the stable and accurate deviation rectifying action is ensured.

Referring to fig. 1 to 5, a deviation correcting method of an automatic deviation correcting device for parallel torsion type vehicle parking according to the present embodiment includes the following steps:

s1, driving the vehicle from the front side of the deviation correcting device to the longitudinal sliding support table 22-7 of the deviation correcting device by a user, enabling the two groups of wheels on the left side and the right side of the vehicle to be respectively positioned on the two groups of longitudinal sliding support tables 22-7 on the corresponding sides, and leaving the vehicle after parking; a support plate is further arranged on the rectangular outer frame 11, the upper plane of the support plate is flush with the upper plane of the longitudinal sliding support table 22-7, and a notch is formed in the middle of the support plate, so that the side lifting detection mechanism 12 and the front lifting detection mechanism 13 are hidden inside the rectangular outer frame 11, and a vehicle can be conveniently parked and taken;

s2, vehicle position detection is started, the control system controls the lifting control motor 15-3 of the lifting linkage mechanism 15 to rotate to drive the reel 15-1 to take up wires in a rotating manner, the first pull rope 15-4 pulls the bottoms of the side lifting detection mechanisms 12 on the two sides, so that the slide block connecting rod 12-4 slides on the guide rod 11-1, the side face lifting support rod 12-3 is erected, the side face distance sensor 12-2 on the side face movable cross rod 12-1 is lifted up in parallel, in the sliding process of the slide block connecting rod 12-4, the front side strut slide block 13-4 on the corresponding side of the front side lifting detection mechanism 13 is pulled by the second pull rope 15-5 to move outwards to compress the pressure spring 11-2, so that the front side lifting strut 13-3 is erected, and the parallel lifting of the front side distance sensor 13-2 on the front side movable cross rod 13-1 is realized; then, the distance sensor group in the side elevation detection mechanism 12, the front elevation detection mechanism 13 and the rear fixed detection mechanism 14 detects the parking position of the vehicle; specifically, the distance sensor groups on four sides of the side elevation detection mechanism 12, the front side elevation detection mechanism 13 and the rear side fixed detection mechanism 14 respectively detect the distance from the vehicle, and the deviation angle and the deviation distance of the vehicle are determined by comparing the detection distance signals of all the distance sensors in the distance sensor group on the same side; the deviation of the front and back or left and right parking positions of the vehicle is determined by comparing the mean values of the distance signals detected by the distance sensor groups on the two opposite surfaces;

s3, the control system sends control commands to the deviation correction executing mechanism 200 according to the vehicle deviation information detected by the distance sensor group in the position detecting mechanism 100, so that the transversely moving sliding support plates 21-7 of the two groups of transverse moving mechanisms 21 respectively move to the opposite directions of the vehicle deviation direction, and the two groups of longitudinal moving mechanisms 22 are driven to generate parallel twisting motion; meanwhile, the longitudinal sliding support tables 22-7 of the two groups of longitudinal moving mechanisms 22 move in the opposite direction of the deviation direction of the vehicle by matching with the movement of the transverse sliding support plates 21-7, so that the two longitudinal sliding support tables 22-7 keep the relative positions and do not generate angular dislocation, and the vehicle keeps parallel rotation on the two longitudinal sliding support tables 22-7; in the process, the position detection mechanism 100 detects the vehicle deviation correction position in real time and corrects the vehicle deviation information synchronously until the vehicle parking angle is adjusted;

s4, after the parking angle of the vehicle is adjusted, the control system controls the two groups of transverse moving mechanisms 21 and the two groups of longitudinal moving mechanisms 22 to respectively carry out synchronous equidirectional movement fine adjustment according to vehicle deviation information obtained by real-time detection of the position detection mechanism 100, so that the vehicle is parked in the middle of a parking space of the vehicle, and automatic deviation correction of the vehicle is completed;

s5, after the vehicle deviation correction is finished, the control system controls the lifting control motor 15-3 of the lifting linkage mechanism 15 to rotate reversely for paying off, at the moment, the pressure spring 11-2 extends and resets, so that the front side support rod sliding blocks 13-4 at two sides of the front side lifting detection mechanism 13 move towards the middle, the front side lifting support rod 13-3 is folded, and the parallel descending of the front side distance sensor 13-2 on the front side movable cross rod 13-1 is realized; meanwhile, the second pull rope 15-5 pulls the slide block connecting rod 12-4 to fold the side lifting support rod 12-3 of the side lifting detection mechanism 12, so that the side distance sensor 12-2 on the side movable cross rod 12-1 descends in parallel, and the position detection mechanism 100 is reset.

After the user takes the vehicle away, the deviation rectifying executing mechanism 200 is reset, so that the two sets of transverse moving mechanisms 21 and the two sets of longitudinal moving mechanisms 22 are reset to be in a mutually perpendicular state, and meanwhile, the control system initializes the vehicle position information detected by the position detecting mechanism 100 to wait for the parking of the next vehicle.

The lifting control motor 15-3, the transverse moving drive motors 21-2 of the two transverse moving mechanisms 21 and the longitudinal moving drive motors 22-2 of the two longitudinal moving mechanisms 22 in the position detection mechanism 100 are all controlled by a control system, in the deviation correction process, the control system controls the lifting control motor 15-3 to work to drive the distance sensor group to ascend, the vehicle position is detected by using the distance sensors, and the control system controls the corresponding transverse moving drive motor 21-2 and the longitudinal moving drive motor 22-2 to execute corresponding actions according to vehicle position signals detected by the distance sensors, so that deviation correction adjustment of the vehicle position is realized. The deviation correcting method is simple and easy to implement, is convenient for automatic intelligent control, and meets the requirement of automatic deviation correction of the vehicle in mechanical parking equipment.

The invention relates to a parallel torsion type automatic vehicle parking deviation correcting device and a deviation correcting method thereof.A parallel torsion type deviation correcting mechanism is formed by two groups of transverse moving mechanisms and two groups of longitudinal moving mechanisms, and the independent parallel matching movement of the two groups of transverse moving mechanisms and the two groups of longitudinal moving mechanisms realizes the rotation adjustment of a parking angle and the translation adjustment of the relative position of a vehicle on the deviation correcting mechanism; meanwhile, the parking position of the vehicle can be detected by utilizing the distance sensors which can be linked to lift around the deviation rectifying mechanism, the vehicle position detection is comprehensive and accurate, good data support is provided for automatic deviation rectification of the vehicle, the accuracy and the stability of deviation rectifying adjustment of the vehicle are improved, the linkage structure is simple and ingenious in design, the distance sensors are stable and flexible to lift, and the vehicle can be conveniently stopped and taken.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.

Claims

1. The utility model provides a parallel torsion formula vehicle automatic deviation rectification device that parks, includes position detection mechanism (100) and locates deviation rectification actuating mechanism (200) that position detection mechanism (100) are inboard, deviation rectification actuating mechanism (200) on form vehicle parking stall, its characterized in that:

position detection mechanism (100) including rectangle outer frame (11), side lift detection mechanism (12), front side lift detection mechanism (13), rear side fixed detection mechanism (14) and lift link gear (15), side lift detection mechanism (12) install respectively in the left and right sides of rectangle outer frame (11), front side lift detection mechanism (13) install in the front side of rectangle outer frame (11), rear side fixed detection mechanism (14) fixed mounting in the rear side of rectangle outer frame (11), side lift detection mechanism (12), front side lift detection mechanism (13) and rear side fixed detection mechanism (14) in all be equipped with towards rectangle outer frame (11) inboard be used for detecting the vehicle all around the distance sensor group of position in rectangle outer frame (11), side lift detection mechanism (12) and front side lift detection mechanism (13) all have the distance sensor group that is used for driving the corresponding side The horizontal sliding lifting rod group is used for lifting, the lifting linkage mechanism (15) is arranged on the rectangular outer frame (11) and comprises a reel (15-1), a reversing pulley (15-2), a lifting control motor (15-3) and a pull rope, the output shaft of the lifting control motor (15-3) is in transmission connection with the wheel shaft of the reel (15-1), the winding wheel (15-1) is respectively connected with the horizontal sliding lifting rod groups of the two groups of side lifting detection mechanisms (12) and the front lifting detection mechanism (13) at two sides through a pull rope which is steered by the reversing pulley (15-2), the synchronous lifting motion of corresponding distance sensor groups of two groups of side lifting detection mechanisms (12) and front lifting detection mechanisms (13) at two sides is controlled by driving a winding wheel (15-1) to take up and pay off a pull rope through a lifting control motor (15-3);

the deviation rectifying executing mechanism (200) comprises two groups of transverse moving mechanisms (21) and two groups of longitudinal moving mechanisms (22), wherein the two groups of transverse moving mechanisms (21) are respectively provided with a transverse moving sliding support plate (21-7) capable of independently sliding horizontally, sliding extension lines of the transverse moving support plates (21-7) of the two groups of transverse moving mechanisms (21) are parallel, the two groups of longitudinal moving mechanisms (22) are respectively arranged on the transverse moving sliding support plates (21-7) of the two groups of transverse moving mechanisms (21) in a spanning mode, one ends of the two groups of longitudinal moving mechanisms (22) are respectively arranged on the transverse moving sliding support plates (21-7) of one group of transverse moving mechanisms (21) through rotating support mechanisms (23), the other ends of the two groups of longitudinal moving mechanisms (22) are respectively arranged on the transverse moving sliding support plates (21-7) of the other group of transverse moving mechanisms (21) through rotating support mechanisms (23), and four groups of rotating supporting mechanisms (23) form a parallelogram structure on the transverse moving sliding supporting plates (21-7) of the two groups of transverse moving mechanisms (21), one end of each of the two groups of longitudinal moving mechanisms (22) is in sliding fit with the corresponding rotating supporting mechanism (23) along the longitudinal direction, and the two groups of longitudinal moving mechanisms (22) are provided with longitudinal moving sliding supporting tables (22-7) capable of independently and horizontally sliding.

2. The automatic deviation correcting device for parallel torsion type vehicle parking according to claim 1, wherein: the side face lifting detection mechanism (12) comprises a side face movable transverse rod (12-1), a side face distance sensor (12-2), a side face lifting support rod (12-3) and a sliding block connecting rod (12-4), wherein the side face distance sensor (12-2) is fixedly arranged on the side face movable transverse rod (12-1), two ends of the side face movable transverse rod (12-1) are respectively hinged with one side face lifting support rod (12-3), the lower ends of the two side face lifting support rods (12-3) are slidably arranged on a guide rod (11-1) on the side face of the rectangular outer frame (11) through hinged side face support rod sliding blocks, the two side face support rod sliding blocks are connected through the sliding block connecting rod (12-4), and the side face movable transverse rod (12-1), the side face lifting support rod (12-3) and the sliding block connecting rod (12-4) form a parallel four-bar mechanism, a guide chute is arranged on the side face lifting support rod (12-3) along the length direction, and a limiting pin shaft positioned in the guide chute is arranged on the rectangular outer frame (11);

the front side lifting detection mechanism (13) comprises a front side movable cross rod (13-1), a front side distance sensor (13-2), a front side lifting support rod (13-3) and a front side support rod sliding block (13-4), the front side distance sensor (13-2) is fixedly arranged on the front side movable cross bar (13-1), two ends of the front side movable cross bar (13-1) are respectively hinged with a front side lifting support bar (13-3), the lower ends of the two front side lifting support bars (13-3) are respectively hinged with a front side support bar sliding block (13-4), the front side stay bar sliding blocks (13-4) are respectively arranged on the guide rods (11-1) at the front side of the rectangular outer frame (11) in a sliding way, two ends of the guide rod (11-1) are respectively sleeved with a pressure spring (11-2) positioned outside the front side stay bar sliding block (13-4);

four corners of the rectangular outer frame (11) are respectively provided with a reversing pulley (15-2), the reel (15-1) is arranged at the rear side of the rectangular outer frame (11), two first pull ropes (15-4) are respectively led out from the reel (15-1), the two first pull ropes (15-4) respectively bypass the corresponding reversing pulleys (15-2) towards two sides and then are connected with the lower part of the side face lifting detection mechanism (12) at the corresponding side, and two front side support rod slide blocks (13-4) at two sides of the front side lifting detection mechanism (13) are respectively connected with the lower part of the opposite side face lifting detection mechanism (12) through second pull ropes (15-5) bypassing the reversing pulleys (15-2) at the corresponding side; the lifting control motor (15-3) drives the reel (15-1) to synchronously retract and release the two first pull ropes (15-4), and the first pull ropes (15-4), the second pull ropes (15-5) and the pressure spring (11-2) are matched to realize synchronous lifting movement of the side lifting detection mechanism (12) and the front lifting detection mechanism (13) on two sides.

3. The automatic deviation correcting device for parallel torsion type vehicle parking according to claim 2, wherein: the rear side fixing detection mechanism (14) comprises a fixing cross rod (14-1) and a rear side distance sensor (14-2), and the rear side distance sensor (14-2) is installed on the fixing cross rod (14-1).

4. A parallel torsion type automatic deviation correcting device for vehicle parking according to claim 1, 2 or 3, wherein: the transverse moving mechanism (21) comprises a transverse moving support frame (21-1), a transverse moving driving motor (21-2), a transverse moving driving screw rod (21-3), a transverse moving screw rod nut (21-4), a transverse moving guide rail (21-5), a transverse moving slider (21-6) and a transverse moving sliding support plate (21-7), wherein the transverse moving driving screw rod (21-3) and the transverse moving guide rail (21-5) are transversely and parallelly arranged on the transverse moving support frame (21-1), the transverse moving driving motor (21-2) is fixed on the outer side of the transverse moving support frame (21-1), an output shaft of the transverse moving driving motor (21-2) is in transmission connection with the transverse moving driving screw rod (21-3), and the transverse moving sliding support plate (21-7) is arranged on the transverse moving guide rail (21-5) through the transverse moving slider (21-6), a transverse screw rod nut (21-4) arranged on a transverse driving screw rod (21-3) is fixed at the bottom of the transverse sliding support plate (21-7), and a transverse driving motor (21-2) drives the transverse driving screw rod (21-3) to rotate so as to drive the transverse sliding support plate (21-7) to transversely move on a transverse guide rail (21-5).

5. The automatic deviation correcting device for parallel torsion type vehicle parking according to claim 4, wherein: the longitudinal moving mechanism (22) comprises a longitudinal moving support frame (22-1), a longitudinal moving drive motor (22-2), a longitudinal moving drive screw rod (22-3), a longitudinal moving screw rod nut (22-4), a longitudinal moving guide rail (22-5), a longitudinal moving slide block (22-6) and a longitudinal moving slide support table (22-7), wherein the longitudinal moving support frame (22-1) is arranged on the corresponding transverse moving slide support plate (21-7) through a rotating support mechanism (23), the longitudinal moving drive screw rod (22-3) and the longitudinal moving guide rail (22-5) are longitudinally and parallelly arranged on the longitudinal moving support frame (22-1), the longitudinal moving drive motor (22-2) is fixed on the longitudinal moving support frame (22-1), and an output shaft of the longitudinal moving drive motor (22-2) is in transmission connection with the longitudinal moving drive screw rod (22-3), the longitudinal movement sliding support tables (22-7) are installed on longitudinal movement guide rails (22-5) through longitudinal movement sliding blocks (22-6), longitudinal movement screw rod nuts (22-4) arranged on longitudinal movement driving screw rods (22-3) are fixed at the bottoms of the longitudinal movement sliding support tables (22-7), longitudinal movement driving motor (22-2) drives the longitudinal movement driving screw rods (22-3) to rotate so as to drive the longitudinal movement sliding support tables (22-7) to longitudinally move on the longitudinal movement guide rails (22-5), and a vehicle parking platform is formed by the two longitudinal movement sliding support tables (22-7).

6. The automatic deviation correcting device for parallel torsion type vehicle parking according to claim 5, wherein: the rotary supporting mechanism (23) comprises a thrust bearing (23-1), a rotating shaft (23-2) and a rotating shaft support (23-3), the rotating shaft support (23-3) is arranged at the lower part of the rotating shaft (23-2), the rotating shaft (23-2) is axially matched and connected with a corresponding transverse moving sliding supporting plate (21-7) through the rotating shaft support (23-3), the thrust bearing (23-1) is sleeved at the upper part of the rotating shaft (23-2), and the corresponding longitudinal moving supporting frame (22-1) is pressed against the upper end of the thrust bearing (23-1); one end of a longitudinal moving support frame (22-1) of the same group of longitudinal moving mechanisms (22) is provided with a shaft hole, the other end is provided with a longitudinal guide chute (22-1-1), the upper end of a rotating shaft (23-2) of a rotating support mechanism (23) at one end is axially matched and connected with the shaft hole, and the upper end of the rotating shaft (23-2) of the rotating support mechanism (23) at the other end is arranged in the longitudinal guide chute (22-1-1) in a sliding fit manner through a limiting bearing (23-4).

7. A deviation rectifying method of an automatic deviation rectifying device for a parallel torsion type vehicle parking according to claim 2, comprising the steps of:

s1, driving the vehicle from the front side of the deviation correcting device onto the longitudinal sliding support table (22-7) of the deviation correcting device by a user, enabling the two groups of wheels on the left side and the right side of the vehicle to be respectively positioned on the two groups of longitudinal sliding support tables (22-7) on the corresponding sides, and leaving the vehicle after parking;

s2, vehicle position detection is started, a control system controls a lifting control motor (15-3) of a lifting linkage mechanism (15) to rotate to drive a reel (15-1) to take up wires in a rotating mode, a first pull rope (15-4) pulls the bottoms of side lifting detection mechanisms (12) on two sides, a slider connecting rod (12-4) slides on a guide rod (11-1), the side lifting supporting rod (12-3) is erected, parallel lifting and lifting of a side distance sensor (12-2) on a side movable cross rod (12-1) are achieved, a front side supporting rod slider (13-4) on the corresponding side of a front side lifting detection mechanism (13) is pulled to move outwards to compress a pressure spring (11-2) through a second pull rope (15-5) in the sliding process of the slider connecting rod (12-4), and the front side lifting supporting rod (13-3) is erected, the parallel lifting of a front side distance sensor (13-2) on the front side movable cross rod (13-1) is realized; then, the distance sensor group in the side lifting detection mechanism (12), the front lifting detection mechanism (13) and the rear fixed detection mechanism (14) detects the parking position of the vehicle;

s3, the control system sends control commands to the deviation correction executing mechanism (200) according to the vehicle deviation information detected by the distance sensor group in the position detecting mechanism (100), so that the transverse moving sliding support plates (21-7) of the two groups of transverse moving mechanisms (21) respectively move to the opposite directions of the vehicle deviation direction, and the two groups of longitudinal moving mechanisms (22) are driven to generate parallel twisting motion; meanwhile, the longitudinal moving sliding support tables (22-7) of the two groups of longitudinal moving mechanisms (22) move in the opposite direction of the deviation direction of the vehicle in coordination with the movement of the transverse moving sliding support plates (21-7), so that the vehicle keeps parallel rotation on the two longitudinal moving sliding support tables (22-7); in the process, the position detection mechanism (100) detects the deviation correcting position of the vehicle in real time and synchronously corrects the deviation information of the vehicle until the parking angle of the vehicle is adjusted;

s4, after the vehicle parking angle is adjusted, the control system controls the two groups of transverse moving mechanisms (21) and the two groups of longitudinal moving mechanisms (22) to respectively and synchronously move in the same direction for fine adjustment according to vehicle deviation information obtained by real-time detection of the position detection mechanism (100), so that the vehicle is parked in the middle of a vehicle parking space, and automatic deviation correction of the vehicle is completed;

s5, after the vehicle deviation correction is finished, the control system controls a lifting control motor (15-3) of the lifting linkage mechanism (15) to rotate reversely for paying off, at the moment, the pressure spring (11-2) extends and resets, so that front side strut slide blocks (13-4) on two sides of the front side lifting detection mechanism (13) move towards the middle, the front side lifting strut (13-3) is folded, and the parallel descending of a front side distance sensor (13-2) on a front side movable cross rod (13-1) is realized; meanwhile, the second pull rope (15-5) pulls the slide block connecting rod (12-4) to fold the side lifting support rod (12-3) of the side lifting detection mechanism (12), so that the side distance sensor (12-2) on the side movable cross rod (12-1) descends in parallel, and the position detection mechanism (100) is reset.

8. The deviation rectifying method of the parallel torsion type vehicle parking automatic deviation rectifying device according to claim 7, characterized in that: in step S2, the distance sensor groups on four sides of the side elevation detection mechanism (12), the front elevation detection mechanism (13) and the rear fixed detection mechanism (14) respectively detect the distances from the vehicle, and the vehicle deviation angle and the deviation distance are determined by comparing the detection distance signals of the distance sensors in the distance sensor group on the same side; and the deviation of the front and rear or left and right parking positions of the vehicle is determined by comparing the mean values of the distance signals detected by the distance sensor groups on the two opposite surfaces.

9. The deviation rectifying method of the parallel torsion type vehicle parking automatic deviation rectifying device according to claim 7, characterized in that: after the user takes the vehicle away, the deviation rectifying executing mechanism (200) is reset, so that the two groups of transverse moving mechanisms (21) and the two groups of longitudinal moving mechanisms (22) are reset to be in a mutually perpendicular state, and meanwhile, the control system initializes the vehicle position information detected by the position detecting mechanism (100) to wait for the parking of the next vehicle.