CN111119540A - Parking robot fork positioning method - Google Patents
Parking robot fork positioning method Download PDFInfo
- Publication number
- CN111119540A CN111119540A CN201911397103.5A CN201911397103A CN111119540A CN 111119540 A CN111119540 A CN 111119540A CN 201911397103 A CN201911397103 A CN 201911397103A CN 111119540 A CN111119540 A CN 111119540A
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- fork
- parking robot
- vehicle
- frame
- tire
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a parking robot fork positioning method, wherein the parking robot comprises two protective shells for protecting internal devices of the parking robot and a connecting rod for connecting the two protective shells, a driving mechanism is arranged in each protective shell, the front end of each driving mechanism is connected with a forklift mechanism, and the positions of the two sides of the front end of each protective shell are connected with laser radars. According to the parking robot fork positioning method, firstly, the four fork frames can independently move, so that the adjustment is convenient and single, the applicability of the parking robot is improved, secondly, the distance can be measured and calculated by measuring and calculating the flatness of the ground and scanning the position of a mudguard, then the outer side fork of the parking robot is aligned with the outer side of a tire of a vehicle, a certain safety distance is reserved, the position of the inner side fork is adjusted, the insertion and the taking of the vehicle under different conditions are met, and the damage to the vehicle during the insertion and the taking of the vehicle is avoided.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a parking robot fork positioning method.
Background
The parking robot is a robot for replacing manual work to place the vehicle, when the parking robot is used, the vehicle is lifted up, when the vehicle is inserted and taken, detection equipment carried by the robot is needed to detect the positions of the pallet fork and the tire of the vehicle, and then the parking robot is controlled to insert and take the vehicle;
at present, most parking robots park the vehicle to a designated position through manual work when inserting the vehicle, then control the parking robot to move according to the set program, insert the vehicle, put again, because laser radar shoots the vehicle tire from the both ends of vehicle, when ground unevenness or tire have a fender to exist around, the fender shelters from a part of the vehicle tire, make laser radar can't be complete with the vehicle tire wholly, lead to the tire edge line that the scanning result was fit out often to have certain deviation with actual tire edge line, thereby the fork can hit the tire when the deviation exceeds certain extent and can't accomplish inserting of vehicle and get, therefore, we propose a parking robot fork positioning method.
Disclosure of Invention
The invention mainly aims to provide a parking robot fork positioning method, which can effectively solve the problems in the background technology.
In order to achieve the purpose, the invention adopts the technical scheme that:
the utility model provides a parking robot fork positioning method, this parking robot include two protective housing that are used for protecting parking robot internal device and two connecting rod that are used for connecting between the protective housing, the protective housing internally mounted has actuating mechanism, actuating mechanism's front end is connected with fork truck mechanism, and protective housing front end both sides position all is connected with laser radar, wherein:
the forklift mechanism comprises forks which are arranged on two sides of the front end of the protective shell and used for inserting and taking vehicles and a mounting plate which is arranged at the rear end of the forks and used for supporting the forks, the forks comprise outer side fork frames which are arranged at the positions, close to two sides, of the front end of the protective shell and inner side fork frames which are arranged at the positions, close to the center, of the front end of the protective shell, and the outer surfaces of the rear ends of the outer side fork frames are connected with a connecting frame used for connecting the outer side fork frames with;
actuating mechanism includes drive gear and follows the driving wheel, overlaps at drive gear and the hold-in range of following driving wheel surface and installs the take-up pulley that is used for adjusting hold-in range tension in the inside position that is close to the hold-in range of protective housing, and the rear end welding of inboard crotch has the installation piece, the internal thread connection of installation piece has the lead screw, the lead screw is kept away from drive gear's one end and is equipped with to embrace and presss from both sides the motor, and embraces and press from both sides the motor.
Preferably, two guide rails are arranged on two sides of the front end of the protective shell, a sliding block used for sliding on the outer surface of the guide rail is installed at the position, close to the guide rail, of the rear end of the mounting plate, and the sliding block is sleeved on the outer surface of the guide rail.
Preferably, the bottom of drive gear is connected with shaft coupling and motor by last to lower in proper order, and drive gear passes through the shaft coupling and is connected with the motor, the one end welding that power unit was kept away from to the lead screw has the separation blade, power unit passes through bolt fixed connection with protective housing.
Preferably, the rear end of the connecting frame is provided with a connecting block for connecting the connecting frame with the synchronous belt.
Preferably, the parking robot fork positioning method comprises the following steps:
the parking robot is parallel to a vehicle, and a laser radar at the front end of the parking robot scans and inserts environmental data to generate a point cloud picture of surrounding environmental data;
(II) after a point cloud picture is generated, the screw rod and the driving gear rotate to drive the inner fork and the outer fork to integrally move, the outer fork is aligned with the outer side of an automobile tire, a certain safety distance is reserved, the clamping motor rotates to move the inner fork to a corresponding position according to a preset distance, the outer fork frame and the inner fork frame are separated and move to two sides of the automobile tire, and then the outer fork frame and the inner fork frame descend and move towards the automobile;
(III) the parking robot is attached to one side of a vehicle, the outer fork frame and the inner fork frame slide to the front of the vehicle at the same time to measure the distance, and then the inner fork frame is controlled to move towards the direction of a vehicle tire to extrude the vehicle tire;
(IV) after extrusion, the outer fork frame and the inner fork frame are lifted, the vehicle is lifted, and the vehicle is inserted and taken.
Preferably, in step (i), the inserting environmental data includes measuring vehicle tire data, ground data, fender position data, and a measured distance.
Preferably, in step (i), the parking robot transmits the scanned point cloud image data and distance data to the background server, where the distance data is a distance between the outer fork and the inner fork, and the background server calculates an edge line of the outer side of the tire, where the edge line setting includes the following two cases:
A. when the ground surface is flat and no mudguard exists, scanning to obtain the edge line of the vehicle tire as a set edge line;
B. when the ground is uneven or a mudguard exists, the edge line of the tire of the vehicle is obtained by scanning and is taken as an assumed edge line.
Preferably, the measured distance is equal to the distance between the outer surface of the right side of the outer fork and the outer surface of the right side of the fender.
Compared with the prior art, the invention has the following beneficial effects:
firstly, when a vehicle is inserted and taken, the laser radar scans the tire of the vehicle, the scanned data is processed by the background server, and the parking robot can be accurately controlled to move by combining the position data of the fork at the front end of the parking robot, so that the safety and the accuracy of the vehicle are improved;
the four fork frames can move independently, so that the four fork frames can be adjusted singly and conveniently, and the applicability of the parking robot is improved;
thirdly, the measured distance can be measured by measuring the flatness of the ground and scanning the position of a mudguard, then the robot aligns the outer side fork with the outer side edge of the tire of the vehicle, a certain safety distance is reserved, the inner side fork moves to a preset distance away from the outer side fork, the distance between the inner side fork and the outer side fork exceeds the width of the tire, therefore, the vehicle can be inserted and taken under different conditions, and the vehicle is prevented from being damaged when being inserted and taken.
Drawings
FIG. 1 is a top view of a parking robot in a method for fork positioning of the parking robot according to the present invention;
FIG. 2 is a rear view of a parking robot in a fork positioning method of the parking robot according to the present invention;
FIG. 3 is a schematic structural diagram of a driving mechanism in a fork positioning method of a parking robot according to the present invention;
FIG. 4 is a side view of a parking robot inserting a vehicle in a method of positioning a fork of the parking robot in accordance with the present invention;
fig. 5 is a system flow diagram of a parking robot fork positioning method of the present invention.
In the figure: 1. a drive gear; 2. a tension wheel; 3. a connecting frame; 4. a synchronous belt; 5. a driven wheel; 6. connecting blocks; 7. a screw rod; 8. mounting a plate; 9. a guide rail; 10. a pallet fork; 11. a motor; 12. a coupling; 13. mounting blocks; 14. a slider; 15. a baffle plate; 16. a laser radar; 17. a clamping motor; 18. and a speed reducer.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
Example 1
Referring to fig. 1-4, a parking robot, this parking robot includes two protective housing that are used for protecting the interior device of parking robot and the connecting rod that is used for connecting between two protective housing, and protective housing internally mounted has actuating mechanism, and actuating mechanism's front end is connected with fork truck mechanism, and protective housing front end both sides position all is connected with laser radar 16, wherein:
the forklift mechanism comprises forks 10 which are arranged on two sides of the front end of a protective shell and used for inserting and taking a vehicle, and a mounting plate 8 which is arranged at the rear end of the forks 10 and used for supporting the forks 10, wherein the forks 10 comprise outer fork frames which are arranged at the positions, close to two sides, of the front end of the protective shell and inner fork frames which are arranged at the positions, close to the center, of the front end of the protective shell, and the outer surface of the rear end of each outer fork frame is connected with a connecting frame 3 used for connecting the outer fork frame with;
actuating mechanism includes drive gear 1 and follows driving wheel 5, the cover is used for adjusting the take-up pulley 2 of 4 tensions of hold-in range at drive gear 1 and the hold-in range 4 of following driving wheel 5 surface and installing in the inside position that is close to hold-in range 4 of protecting sheathing, the rear end welding of inboard crotch has installation piece 13, the inside threaded connection of installation piece 13 has lead screw 7, the one end that drive gear 1 was kept away from to lead screw 7 is equipped with embraces and presss from both sides motor 17, and the one end that the lead screw 7 was kept away from to embrace and press from.
Referring to fig. 2, two guide rails 9 are arranged on both sides of the front end of the protective casing, a slider 14 for sliding on the outer surface of the guide rail 9 is installed at the rear end of the mounting plate 8 close to the guide rails 9, and the slider 14 is sleeved on the outer surface of the guide rail 9.
Referring to fig. 3, the bottom end of the driving gear 1 is sequentially connected with a coupler 12 and a motor 11 from top to bottom, the driving gear 1 is connected with the motor 11 through the coupler 12, a blocking piece 15 is welded at one end, away from the power mechanism, of the screw rod 7, and the power mechanism is fixedly connected with the protective shell through a bolt.
Referring to fig. 3, the rear end of the link frame 3 is provided with a link block 6 for connecting the link frame 3 with the timing belt 4.
The inner fork frame is adjusted, the holding clamp motor 17 moves the screw rod 7 to rotate, and the inner fork frame can be moved to move left and right when the screw rod 7 rotates due to the fact that the mounting block 13 at the rear end of the inner fork frame is in threaded connection with the screw rod 7 and the inner fork frame can only slide along the guide rail 9 and cannot rotate.
Adjusting an outer fork: the motor 11 transfers the drive gear 1 to rotate, because the outer surface cover of the drive gear 1 has the hold-in range 4, and the outer surface of the hold-in range 4 is connected with the link 3, the 3 front ends of the link are connected with the mounting panel 8 of the outside crotch rear end, thereby make the outside crotch move with the hold-in range 4 together, through controlling the positive and negative rotation of the motor 11, adjust the removal of the outside crotch, the front end of the parking robot is provided with a plurality of cameras.
In use, the parking robot is moved to the side of the vehicle and parallel to the vehicle, and then the laser radars 16 on both sides of the parking robot scan the ground, the vehicle tires and the mud guards.
When no mudguard exists, a front-end fork 10 of the parking robot is shot through a camera on the surface of the parking robot to obtain a position picture of the fork 10, a vehicle tire point cloud picture is combined with the position picture of the fork 10, position information between a vehicle tire and the fork 10 is calculated, then an outer fork frame and an inner fork frame are controlled to be opened towards two sides, and then the outer fork frame and the inner fork frame are moved towards a vehicle to be respectively positioned at two sides of the vehicle tire, then the outer fork frame and the inner fork frame are controlled to be aggregated to extrude the vehicle tire to fix the vehicle tire, then the parking robot drives the fork 10 to be lifted, the vehicle is lifted, and the fork taking of the vehicle is completed.
When the ground is uneven or a mudguard is installed near the tire of the vehicle, the cloud point map of the tire of the vehicle is shot by the laser radar 16, the outer edge line of the tire of the vehicle obtained by the cloud point map is an assumed edge line, the outer fork frame and the inner fork frame are controlled to be opened firstly, the distance between the outer fork frame and the inner fork frame is increased, then the fork frame moves towards the vehicle, the outer fork frame and the inner fork frame are respectively positioned at two sides of the tire of the vehicle, then the outer fork frame and the inner fork frame move forwards simultaneously, the outer surface of the rear end of the outer fork frame is parallel to the outer surface of the rear end of the mudguard, the inner fork frame is contacted with the surface of the tire of the vehicle, the outer fork frame is controlled to move towards the direction of the tire of the vehicle.
Example 2
Referring to fig. 5, a parking robot fork positioning method is characterized by comprising the following steps:
(I) the parking robot is parallel with the vehicle, the laser radar 16 scanning of parking robot front end inserts the environmental data, generate the cloud point picture of surrounding environment data, insert the environmental data and include measuring vehicle tire data, ground data, fender position data and measuring distance, the parking robot transmits the cloud point picture data and the distance data that the scanning obtained for backstage server, the distance data is the distance between outside crotch and the inboard crotch, measuring distance equals the distance of the right side surface of outside crotch and fender right side surface, calculate by platform server again and obtain and set for the edge line, the edge line is set for including following two kinds of condition:
A. when the ground surface is flat and no mudguard exists, scanning to obtain the edge line of the vehicle tire as a set edge line;
B. when the ground is uneven or a mudguard is arranged, scanning to obtain an edge line of a vehicle tire as an assumed edge line;
(II) after a cloud point diagram is generated, the screw rod 7 and the driving gear 1 rotate to drive the inner fork and the outer fork to integrally move, the outer fork is aligned with the outer side of an automobile tire and a certain safety distance is reserved, the clamping motor 17 rotates to move the inner fork to the corresponding position according to the preset distance, the outer fork frame and the inner fork frame are separated and move to two sides of the automobile tire, and then the outer fork frame and the inner fork frame descend and move towards the automobile;
(III) the parking robot is attached to one side of a vehicle, the outer fork frame and the inner fork frame slide to the front of the vehicle at the same time to measure the distance, and then the inner fork frame is controlled to move towards the direction of a vehicle tire to extrude the vehicle tire;
(IV) after extrusion, the outer fork frame and the inner fork frame are lifted, the vehicle is lifted, and the vehicle is inserted and taken.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The utility model provides a parking robot, its characterized in that, this parking robot includes two connecting rods that are used for connecting between the protective housing that are used for protecting the interior device of parking robot and two protective housing, protective housing internally mounted has actuating mechanism, actuating mechanism's front end is connected with fork truck mechanism, and protective housing front end both sides position all is connected with laser radar (16), wherein:
the forklift mechanism comprises forks (10) which are arranged on two sides of the front end of a protective shell and used for inserting and taking a vehicle, and a mounting plate (8) which is arranged at the rear end of each fork (10) and used for supporting the fork (10), wherein each fork (10) comprises an outer fork frame which is arranged at the position, close to two sides, of the front end of the protective shell and an inner fork frame which is arranged at the position, close to the center, of the front end of the protective shell, and the outer surface of the rear end of each outer fork frame is connected with a connecting frame (3) used for connecting the outer fork;
actuating mechanism includes drive gear (1) and follows driving wheel (5), overlaps at drive gear (1) and the hold-in range (4) of following driving wheel (5) surface and installs and be used for adjusting the tensile take-up pulley (2) of hold-in range (4) at the inside position that is close to hold-in range (4) of protecting sheathing, and the rear end welding of inboard crotch has installation piece (13), the internal thread connection of installation piece (13) has lead screw (7), the one end that drive gear (1) was kept away from in lead screw (7) is equipped with to embrace and presss from both sides motor (17), and embraces and press from both sides motor (17) and keep away from the one end of lead screw.
2. A parking robot as claimed in claim 1, wherein: the front end both sides of protecting sheathing all are equipped with two guide rails (9), the position that mounting panel (8) rear end is close to guide rail (9) is installed and is used for at the gliding slider (14) of guide rail (9) surface, slider (14) cover is at the surface of guide rail (9).
3. A parking robot as claimed in claim 1, wherein: the bottom of drive gear (1) is connected with shaft coupling (12) and motor (11) by last to lower in proper order, and drive gear (1) is connected with motor (11) through shaft coupling (12), power unit's one end welding is kept away from in lead screw (7) has separation blade (15), power unit passes through bolt fixed connection with protective housing.
4. A parking robot as claimed in claim 1, wherein: the rear end of the connecting frame (3) is provided with a connecting block (6) for connecting the connecting frame (3) and the synchronous belt (4).
5. A parking robot fork positioning method as claimed in claim 1, characterized by comprising the steps of:
the parking robot is parallel to a vehicle, a laser radar (16) at the front end of the parking robot scans and inserts environmental data to generate a cloud point map of surrounding environmental data;
(II) after a cloud point diagram is generated, the screw rod (7) and the driving gear (1) rotate to drive the inner fork and the outer fork to integrally move, the outer fork is aligned with the outer side of an automobile tire, a certain safety distance is reserved, the clamping motor (17) rotates to move the inner fork to a corresponding position according to a preset distance, the outer fork frame and the inner fork frame are separated and move to two sides of the automobile tire, and then the outer fork frame and the inner fork frame descend and move towards the automobile;
(III) the parking robot is attached to one side of a vehicle, the outer fork frame and the inner fork frame slide to the front of the vehicle at the same time to measure the distance, and then the inner fork frame is controlled to move towards the direction of a vehicle tire to extrude the vehicle tire;
(IV) after extrusion, the outer fork frame and the inner fork frame are lifted, the vehicle is lifted, and the vehicle is inserted and taken.
6. The parking robot fork positioning method as recited in claim 5, wherein: in step (I), the inserting and taking environmental data comprises vehicle tire data, ground data, fender position data and a measured distance.
7. The parking robot fork positioning method as recited in claim 5, wherein: in the step (I), the parking robot transmits the scanned point cloud picture data and the distance data to a background server, the distance data is the distance between the outer fork frame and the inner fork frame, and then the background server calculates the edge line of the outer side of the tire, and the edge line setting comprises the following two conditions:
A. when the ground surface is flat and no mudguard exists, scanning to obtain the edge line of the vehicle tire as a set edge line;
B. when the ground is uneven or a mudguard exists, the edge line of the tire of the vehicle is obtained by scanning and is taken as an assumed edge line.
8. The parking robot fork positioning method of claim 6, wherein: the measured distance is equal to the distance between the outer surface of the right side of the outer fork and the outer surface of the right side of the fender.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911397103.5A CN111119540A (en) | 2019-12-30 | 2019-12-30 | Parking robot fork positioning method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911397103.5A CN111119540A (en) | 2019-12-30 | 2019-12-30 | Parking robot fork positioning method |
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| CN111119540A true CN111119540A (en) | 2020-05-08 |
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| CN201911397103.5A Pending CN111119540A (en) | 2019-12-30 | 2019-12-30 | Parking robot fork positioning method |
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Cited By (3)
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| CN111155817A (en) * | 2019-12-30 | 2020-05-15 | 珠海丽亭智能科技有限公司 | Method for inserting and taking vehicle by parking robot |
| CN112677721A (en) * | 2020-12-28 | 2021-04-20 | 北京理工大学 | Multi-driving-mode vehicle for complex terrain and obstacle crossing method thereof |
| CN113605766A (en) * | 2021-08-06 | 2021-11-05 | 珠海丽亭智能科技有限公司 | Detection system and position adjustment method of automobile transfer robot |
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| CN113605766A (en) * | 2021-08-06 | 2021-11-05 | 珠海丽亭智能科技有限公司 | Detection system and position adjustment method of automobile transfer robot |
| CN113605766B (en) * | 2021-08-06 | 2023-09-05 | 恩际艾科技(苏州)有限公司 | Detection system and position adjustment method of automobile carrying robot |
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