CN111173327B - Automatic centering device and method for car carrier - Google Patents
Automatic centering device and method for car carrier Download PDFInfo
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- CN111173327B CN111173327B CN201911163969.XA CN201911163969A CN111173327B CN 111173327 B CN111173327 B CN 111173327B CN 201911163969 A CN201911163969 A CN 201911163969A CN 111173327 B CN111173327 B CN 111173327B
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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
- E04H6/02—Small garages, e.g. for one or two cars
- E04H6/06—Small garages, e.g. for one or two cars with means for shifting or lifting vehicles
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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
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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
- E04H6/422—Automatically operated car-parks
- E04H6/424—Positioning devices
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- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an automatic centering device and a method thereof for a car carrier in the field of robots, wherein the automatic centering device comprises a frame provided with a distribution board and a storage battery, the middle parts of the left side and the right side of the frame are respectively provided with a clamping arm component capable of clamping and putting down two front wheels or two rear wheels of a car, the top of the frame is provided with a vertical infrared sensor, the left side and the right side of the frame are respectively provided with a horizontal infrared sensor, the four side surfaces of the frame are provided with ultrasonic sensors, and the ultrasonic sensors, the horizontal infrared sensor and the vertical infrared sensor are connected with an industrial personal computer arranged on the frame; the automatic alignment device can realize the automatic alignment of the longitudinal axis of the carrier and the longitudinal axis of the car, and the automatic alignment of the central line of the clamping arm component of the carrier and the wheel axis of the car, so that the carrier can quickly, accurately and automatically finish the automatic alignment with the car.
Description
Technical Field
The invention relates to a carrier centering device and a carrier centering method.
Background
In modern society, automobiles are more widely used, but urban land resources are more and more scarce. Against this background, there is an increasing demand for car carriers that can save parking space. Current car carriers are largely divided into three types: vehicle carrying plate type, fork comb type and holding wheel type.
Carry the sweep-board formula: the vehicle carrying plate lifts the vehicle and reaches a parking space through the transmission of the three-stage sliding fork or the chain. Each parking space of the type needs one car carrying plate, and the car carrying plates can be accessed in an increased mode when the car is accessed, so that the cost of parking equipment is increased, the speed and the efficiency of car access are reduced, and the energy loss is large.
A fork comb type: the parking space is a fork comb, the fork comb staggered with the lifting plate of the carrier is arranged on the lifting plate of the carrier, and the storage and the taking of the vehicle are realized through the staggered movement of the two fork combs after the carrier reaches the designated storage position. The fork comb type car carrying plate is not arranged, the comb fork replaces the car carrying plate, the car carrying plate does not need to be stored and taken together during storing and taking, and car storing and taking efficiency is improved. However, such a device has certain requirements on the manufacturing accuracy of the carrier, and the stability and safety factor are low.
A wheel holding type: the carrier enters the bottom of the vehicle, the front wheels and the rear wheels of the vehicle are positioned by automatically contracting according to the length of various vehicles, and the clamping arms automatically adjust the positions to clamp the front wheels and the rear wheels of the vehicle and lift and carry the whole vehicle. The car carrier has the characteristics of high speed, high efficiency, simple structure, convenience in installation and the like, so that the car carrier is widely applied.
However, in the process of storing and taking vehicles, the longitudinal axis of the carrier and the longitudinal axis of the car cannot be automatically aligned, and the central line of the clamping arm assembly of the carrier and the wheel axis of the car cannot be automatically aligned, so that the carrier cannot be automatically centered with the car quickly and accurately.
Disclosure of Invention
The invention aims to provide an automatic centering device and method for a car carrier, which can realize the automatic alignment of the longitudinal axis of the carrier and the longitudinal axis of a car, and the automatic alignment of the central line of a clamping arm component of the carrier and the wheel axis of the car, so that the carrier can be quickly, accurately and automatically centered with the car.
In order to achieve the purpose, the invention provides an automatic centering device of a car carrier, which comprises a frame provided with a distribution board and a storage battery, wherein clamping arm assemblies capable of clamping and putting down two front wheels or two rear wheels of a car are arranged in the middle of the left side and the right side of the frame, a vertical infrared sensor is arranged at the top of the frame, horizontal infrared sensors are arranged on the left side and the right side of the frame, ultrasonic sensors are arranged on the four sides of the frame, and the ultrasonic sensors, the horizontal infrared sensors and the vertical infrared sensors are connected with an industrial personal computer arranged on the frame.
Compared with the prior art, the industrial personal computer has the advantages that the industrial personal computer is used as an information processing core of the carrier to perform information collection, information processing, information decision and information output. In the working process of the carrier, the industrial personal computer collects information of the infrared sensor and the ultrasonic ranging sensor on the carrier, determines the relative position of the carrier and the car, and controls the carrier to move to the central axis position. In addition, the industrial personal computer is also positioned in the same local area network, the matching of any two carriers is realized, and the information of all the carriers can be shared through the industrial personal computer when being called by the intelligent garage central processing system, the longitudinal axis of the carrier and the longitudinal axis of the car can be automatically aligned, the central line of the clamping arm assembly of the carrier and the wheel axis of the car can be automatically aligned, so that the carrier can be automatically centered with the car quickly and accurately.
As a further improvement of the invention, the four vertical infrared sensors are respectively and symmetrically arranged on four opposite corners of the frame, so that the vertical direction measurement can be better carried out, whether an object is shielded in a certain range can be more accurately monitored, and signals are transmitted to the industrial personal computer for processing, so that the carrier can be more quickly and more accurately aligned with the longitudinal axis of the car.
As a further improvement of the invention, the horizontal infrared sensor is arranged on the symmetrical axis of the clamping arm assembly and close to the upper part of the side surface of the frame, so that the measurement of the horizontal direction of the carrier can be better carried out, and the alignment of the carrier and the axis of the rear wheel of the car can be more accurately and quickly realized.
As a further improvement of the invention, the ultrasonic sensors are arranged on the four side surfaces of the frame, and are symmetrically distributed at the two ends of each side surface, so that after the carrier carries a car, an industrial personal computer adjusts parameters to enable the safety distance measured by the ultrasonic sensors to be changed from the carrier profile into the car profile, the car is better prevented from being scratched and collided in the car carrying process, the distance can be monitored by the front carrier and the rear carrier in real time through the ultrasonic sensors, and the cooperative work of the two carriers in the translation and steering processes is realized.
In order to achieve the purpose, the invention also provides a method for automatically centering the car carrier, which comprises the following steps:
step 1, defining a carrier for clamping the front wheel of the car as a front carrier, and defining the carrier for clamping the car as a rear carrier;
and 4, automatically centering the front carrier and the front wheels of the car.
Compared with the prior art, the invention has the beneficial effects that the rear carrier is aligned with the longitudinal axis of the car, then the rear carrier is aligned with the axis of the rear wheel of the car, so that the rear carrier is successfully aligned with the rear car of the car, then the rear carrier is used as a reference, the front carrier enters from the front of the car, and the front carrier can be aligned with the front wheel of the car through matching with the rear carrier and information transmission.
As a further improvement of the invention, the specific control steps of the step 2 are as follows:
step 2.1, the car runs to the appointed parking position of the intelligent garage, the car is parked according to the instruction, and a driver leaves;
step 2.2, the rear carrier automatically drives to one side of the car according to the instruction of the intelligent garage center information processing system, and the longitudinal central axis of the rear carrier is parallel to the longitudinal parking line of the parking space;
step 2.3, the industrial personal computer on the rear carrier controls the vertical infrared sensor to be started and controls the rear carrier to translate towards the bottom of the car at a constant speed;
step 2.4, the rear carrier moves horizontally from between two wheels on one side of the car to the bottom of the car, and when any one of the vertical infrared sensors senses that the shielding exists, the industrial personal computer controls the rear carrier to stop moving horizontally;
step 2.5, the industrial personal computer controls the rear carrier to start rotating around the center of the rear carrier, so that two vertical infrared sensors on one side of the rear carrier, which are positioned on the same side with the clamping arm assembly, enter the bottom of the vehicle;
and 2.6, after the industrial personal computer receives the signals which are sensed by the two vertical infrared sensors and blocked, controlling the rear carrier to stop rotating by the industrial personal computer, enabling the longitudinal axis of the rear carrier to be parallel to the longitudinal axis of the car, and recording the time t of the industrial personal computer at the moment as t1；
Step 2.7, the carrier continues to translate towards the bottom of the car at a constant speed after being controlled by the industrial personal computer, and when the 4 vertical infrared sensors all detect that shielding exists, the carrier completely enters the bottom of the car;
and 2.8, when the vertical infrared sensor detects that the shielding is changed from 4 to 2, the rear carrier starts to move out from the bottom of the other side of the car, the industrial personal computer controls the rear carrier to stop moving, and the time at the moment is recorded as t2The width of the car is calculated as the driving distance of the rear carrier through the industrial personal computer, namely t2Time t1Distance traveled at time s, s ═ v × (t)2-t1) Wherein v is the running speed of the rear carrier, and at the moment, one side of the rear carrier just moves out of the bottom of the car at the other side of the car;
and 2.9, controlling the rear carrier to perform reverse translation by the industrial control machine, wherein the translation distance is the distance obtained by subtracting half of the width of the rear carrier from the width of the car, at the moment, the longitudinal axis of the rear carrier is superposed with the longitudinal axis of the car, namely, the distance x of the rear carrier returning to the longitudinal axis of the car from the other side of the car is obtained, and the distance x of the rear carrier returning to the longitudinal axis of the car is obtained
And l is the distance from the longitudinal center line position of the rear carrier to the longitudinal connecting line on the same side of the vertical infrared sensor, and the rear carrier and the longitudinal axis of the car are centered at the moment.
This makes it possible to center the rear carrier with the longitudinal axis of the car very accurately and quickly.
As a further improvement of the invention, the specific control steps of the step 3 are as follows:
3.1, the rear carrier finds the longitudinal axis of the car, the industrial personal computer confirms that the longitudinal automatic centering is completed, the rear wheel axis of the car starts to be centered, and the rear carrier starts to find the rear wheel axis position of the car;
step 3.2, the industrial personal computer controls 2 horizontal infrared sensors positioned at the central axis position of the clamping arm assembly to be started, and controls the rear carrier to move backwards at a constant speed along the longitudinal axis of the automobile;
and 3.3, when the horizontal infrared sensor records that the signal is changed from a non-shielding state to a shielding state, the central axis of the clamping arm component of the rear carrier passes through the front edge of the rear wheel of the car, and the time recorded by the industrial personal computer at the moment is t3And controlling the rear carrier to continue to translate backwards;
and 3.4, when the horizontal infrared sensor records that the signal is changed from a shielding state to a non-shielding state, the central axis of the clamping arm component of the rear carrier passes through the rear edge of the rear wheel of the car, and the time recorded by the industrial personal computer at the moment is t4And controlling the rear carrier to stop moving;
step 3.5, from t3Time t4Within the time of the moment, the distance traveled by the rear carrier is the chord length on the height of the horizontal infrared sensor and on the circumference of the rear wheel of the car, wherein the middle position is the position of the axis of the rear wheel, and the industrial personal computer calculates to obtain a half of the chord length to obtain the position of the axis of the rear wheel
Wherein y is the distance the rear carrier moves in the reverse direction to the axis of the rear wheel of the car and u is the distance the rear carrier moves at t3Time t4And controlling the rear carrier to move reversely to the rear wheel axis position of the car at the speed between the moments, and then centering the rear carrier and the rear wheel of the car.
This allows the rear carrier to be very accurately and quickly aligned with the rear wheels of the car.
As a further improvement of the invention, the specific control steps of the step 4 are as follows:
step 4.1, the front carrier automatically drives to a position near the car according to the instruction of the intelligent garage center information processing system;
4.2, matching the front carrier with the rear carrier, sending the longitudinal axis position information of the car to the industrial personal computer of the front carrier by the industrial personal computer of the rear carrier, receiving the position information by the industrial personal computer of the front carrier, and controlling the front carrier to carry out in-situ attitude adjustment;
4.3, the industrial personal computer of the front carrier controls the front carrier to rotate in situ, so that the longitudinal axis of the front carrier is superposed with the longitudinal axis of the car;
4.4, the industrial personal computer of the front carrier controls the front carrier to longitudinally translate and enter the bottom of the car from the front of the car;
and 4.5, the industrial personal computer of the front carrier controls the horizontal infrared sensor on the front carrier to be turned on. When the horizontal infrared sensor records that the signal is changed from a non-shielding state to a shielding state, the central axis of the clamping arm component of the front carrier just passes through the front edge of the front wheel of the car, and the time recorded by the industrial personal computer at the moment is t5And controlling the front carrier to continue to translate backwards;
and 4.6, when the horizontal infrared sensor on the front carrier records that the signal is changed from a shielding state to a non-shielding state, the central axis of the clamping arm component of the front carrier just passes through the rear edge of the front wheel of the car, and the industrial personal computer of the front carrier records that the time at the moment is t6And controlling the front carrier to stop moving;
and 4.7, controlling the front carrier to reversely translate by the industrial personal computer of the front carrier, wherein the translation distance is the distance between the width of the car and the width of the front carrier, and at the moment, the longitudinal axis of the front carrier is superposed with the longitudinal axis of the car to obtain the finished product
Wherein y is the distance by which the front carrier moves in the reverse direction to the axis of the rear wheel of the car, and u is the distance by which the rear carrier moves at time t4To time t6And controlling the rear carrier to move reversely to the position of the rear wheel axis of the car, and finishing the centering of the front wheel of the car by the front carrier.
This allows the front carrier to be aligned with the front wheels of the car very accurately and quickly.
Drawings
FIG. 1 is a schematic view of the alignment of a carrier and a car according to the present invention.
Fig. 2 is a schematic structural view of the carrier of the present invention.
Fig. 3 is a bottom view of the rear carrier and car in the initial position of the present invention.
Fig. 4 is a bottom view of the rear carrier of the present invention beginning to enter the bottom of the vehicle.
Fig. 5 is a bottom view of the rear carrier beginning to translate in the present invention.
Fig. 6 is a bottom view of the rear carrier return axis of the present invention.
Fig. 7 is a bottom view of the rear carrier and rear wheel pair of the car of the present invention.
Fig. 8 is a bottom view of the rear carrier completion and car centering of the present invention.
Fig. 9 is a bottom view of the front carrier longitudinal axis centering in the present invention.
Fig. 10 is a bottom view of the front carrier completion and car centering of the present invention.
Fig. 11 is a centering flow chart in the present invention.
FIG. 12 is a schematic view of the relative position of the carrier and the car in the present invention.
Fig. 13 is a side view of a wheel of a car according to the present invention.
Wherein, 1 preceding carrier, 2 cars, 3 back carriers, 4 ultrasonic sensor, 5 horizontal infrared ray sensor, 6 arm lock subassemblies, 7 frames, 8 perpendicular infrared ray sensor.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
the automatic centering device of the car carrier shown in fig. 1-2 comprises a frame 7 provided with a distribution board and a storage battery, wherein clamping arm assemblies 6 capable of clamping and putting down two front wheels or two rear wheels of a car 2 are arranged in the middle of the left side and the right side of the frame 7 respectively, a vertical infrared sensor 8 is arranged at the top of the frame 7, horizontal infrared sensors 5 are arranged on the left side and the right side of the frame 7 respectively, ultrasonic sensors 4 are arranged on four sides of the frame 7, and the ultrasonic sensors 4, the horizontal infrared sensors 5 and the vertical infrared sensors 8 are connected with an industrial personal computer arranged on the frame 7; four vertical infrared sensors 8 are installed and symmetrically arranged on four opposite corners of the frame 7 respectively; the horizontal infrared sensor 5 is arranged on the symmetrical axis of the clamping arm assembly 6 and close to the upper part of the side surface of the frame 7; the ultrasonic sensors 4 are provided with two on four sides of the frame 7 and symmetrically distributed at both ends of each side.
An automatic centering device for a car carrier as shown in fig. 3-13, comprising the steps of:
step 1, defining the carrier for clamping the front wheels of the car 2 as a front carrier 1, and defining the carrier for clamping the car 2 as a rear carrier 3.
step 2.1, the car 2 runs to the appointed parking position of the intelligent garage, the car is parked according to the instruction, and a driver leaves;
step 2.2, the rear carrier 3 automatically drives to one side of the car 2 according to the instruction of the intelligent garage center information processing system, and the longitudinal central axis of the rear carrier 3 is parallel to the longitudinal parking line of the parking space;
step 2.3, the industrial personal computer on the rear carrier 3 controls the vertical infrared sensor 8 to be started, and controls the rear carrier 3 to translate towards the bottom of the car 2 at a constant speed;
step 2.4, the rear carrier 3 moves horizontally from between two wheels on one side of the car 2 to the bottom of the car, and when any one of the vertical infrared sensors senses that the shield exists, the industrial control computer controls the rear carrier 3 to stop moving horizontally;
step 2.5, the industrial personal computer controls the rear carrier 3 to start rotating around the center of the rear carrier, so that two vertical infrared sensors on one side of the rear carrier 3, which are positioned on the same side with the clamping arm assembly 6, enter the bottom of the vehicle;
step 2.6, after the industrial personal computer receives the signals that the two vertical infrared sensors 8 sense the shielding, the industrial personal computer controls the rear carrier 3 to stop rotating, the longitudinal axis of the rear carrier 3 is parallel to the longitudinal axis of the car 2, and the industrial personal computer records the time t at the moment1；
Step 2.7, the rear carrier 3 is controlled by the industrial personal computer to continue to translate towards the bottom of the car 2 at a constant speed, and when the 4 vertical infrared sensors 8 all detect that shielding exists, the rear carrier 3 completely enters the bottom of the car;
step 2.8, when the vertical infrared sensor 8 detects that the shielding is changed from 4 to 2, the rear carrier 3 starts to move out from the bottom of the other side of the car 2, the industrial personal computer controls the rear carrier 3 to stop moving, and the time at the moment is recorded as t2The width of the car 2 is calculated as the driving distance of the rear carrier 3 by the industrial personal computer, namely t2Time t1Distance traveled at time s, s ═ v × (t)2-t1) Wherein v is the speed of the rear carrier 3, and at this time, one side of the rear carrier 3 just moves out of the bottom of the car 2 at the other side;
and 2.9, controlling the rear carrier 3 to translate reversely by the industrial control computer, wherein the translation distance is the distance of subtracting half of the width of the rear carrier 3 from the width of the car 2, at the moment, the longitudinal axis of the rear carrier 3 is superposed with the longitudinal axis of the car 2, namely, the distance x of returning the rear carrier 3 to the longitudinal axis of the car 2 from the other side of the car 2 can be obtained
Wherein s is the distance traveled by the rear carrier 3, i.e. the width of the car 2, and l is the distance from the longitudinal centerline of the rear carrier 3 to the longitudinal connecting line on the same side of the vertical infrared sensor 8, and the alignment of the longitudinal axes of the rear carrier 3 and the car 2 is completed at this time.
And 3, automatically centering the rear carrier 3 and the rear wheel axis of the car 2:
3.1, the rear carrier 3 finds the longitudinal axis of the car 2, the industrial personal computer confirms that the longitudinal automatic centering is completed, the rear wheel axis centering of the car 2 is started, and the rear carrier 3 starts to find the rear wheel axis position of the car 2;
3.2, the industrial personal computer controls 2 horizontal infrared sensors 5 positioned at the central axis position of the clamping arm assembly 6 to be started, and controls the rear carrier 3 to move backwards at a constant speed along the longitudinal axis of the automobile;
step 3.3, when the horizontal infrared sensor 5 records that the signal is changed from the non-shielding state to the shielding state, the central axis of the clamping arm assembly 6 of the rear carrier 3 passes through the front edge of the rear wheel of the car 2, and the time recorded by the industrial personal computer at the moment is t3And controls the rear carrier 3 to continue to translate rearward;
and 3.4, when the horizontal infrared sensor records that the signal is changed from a shielding state to a non-shielding state, the central axis of the clamping arm component 6 of the rear carrier 3 passes through the rear edge of the rear wheel of the car 2, and the time recorded by the industrial personal computer at the moment is t4And controls the rear carrier 3 to stop moving;
step 3.5, from t3Time t4Within the time of the moment, the distance traveled by the rear carrier 3 is the chord length on the horizontal infrared sensor height and the circumference of the rear wheel of the car 2, wherein the middle position is the position of the axis of the rear wheel, and the industrial personal computer calculates to obtain a half of the chord length to obtain the position
Wherein y the distance by which the rear carrier 3 moves in the opposite direction to the axis of the rear wheels of the car 2 and u is the distance by which the rear carrier 3 moves at t3Time t4The speed between the moments controls the rear carrier 3 to move reversely to the rear wheel axis position of the car 2, and the rear carrier 3 is aligned with the rear wheels of the car 2.
And 4, automatically centering the front carrier 1 and the front wheel of the car 2:
step 4.1, the front carrier 1 automatically drives to a position near the car 2 according to the instruction of the intelligent garage center information processing system;
step 4.2, the front carrier 1 is matched with the rear carrier 3, the industrial personal computer of the rear carrier 3 sends the longitudinal axis position information of the car 2 to the industrial personal computer of the front carrier 1, and the industrial personal computer of the front carrier 1 receives the position information and controls the front carrier 1 to perform in-situ attitude adjustment;
4.3, the industrial personal computer of the front carrier 1 controls the front carrier 1 to rotate in situ, so that the longitudinal axis of the front carrier 1 is superposed with the longitudinal axis of the car 2;
4.4, the industrial personal computer of the front carrier 1 controls the front carrier 1 to longitudinally translate and enter the bottom of the car 2 from the front of the car 2;
and 4.5, the industrial personal computer of the front carrier 1 controls the horizontal infrared sensor 5 on the front carrier 1 to be turned on. When the horizontal infrared sensor 5 records that the signal is changed from the non-shielding state to the shielding state, the central axis of the clamping arm assembly 6 of the front carrier 1 just passes through the front edge of the front wheel of the car 2, and the time recorded by the industrial personal computer at the moment is t5And controls the front carrier 1 to continue to translate backwards;
step 4.6, when the horizontal infrared sensor on the front carrier 1 records that the signal is changed from the shielding state to the non-shielding state, the central axis of the clamping arm assembly 6 of the front carrier 1 just passes through the rear edge of the front wheel of the car 2, and the industrial personal computer of the front carrier 1 records that the time at the moment is t6And controls the front carrier 1 to stop moving;
and 4.7, controlling the front carrier 1 to reversely translate by the industrial personal computer of the front carrier 1, wherein the translation distance is the distance between the width of the car 2 and the half of the width of the front carrier 1, and at the moment, the longitudinal axis of the front carrier 1 is superposed with the longitudinal axis of the car 2 to obtain the product
Wherein y is the distance by which the front carrier 1 moves in reverse to the axis of the rear wheels of the car 2 and u is the distance by which the rear carrier 3 moves in reverse at time t4To time t6Control the reverse movement of the rear carrier 3 toThe rear wheel axis position of the car 2 and the front carrier 1 complete the centering of the front wheels of the car 2.
In the invention, the whole length of the carrier of the car 2 should be smaller than the minimum distance between two wheels at the same side of the car 2, the width should be smaller than the minimum distance between the axes of two wheels at different sides of the car 2, and the height should be lower than the lowest position of the chassis of the car.
Considering that the carrier has a certain movement space at the bottom of the car 2, the volume of the carrier should be reserved with a movement margin so as to facilitate the carrier to adjust the position and the posture of the carrier; the car 2 carrier should have a steerable wheel assembly to allow free steering movement. And should have means and sensor means capable of monitoring the movement parameters of the carrier in real time and performing adjustment control of the movement of the carrier. After the steering is finished, the vehicle body can achieve the target posture, namely the universal wheel assembly rotates by a certain angle, and the vehicle body rotates by the same angle; the carrier of the car 2 is provided with a clamping arm component 6 which can realize the lifting and putting down functions of the car 2, the clamping objects of the clamping arm component 6 are automobile tires and are symmetrically distributed on two sides of the carrier, the clamping arms are driven by a driving motor, a driving arm drives a driven arm through chain transmission, and the clamping arms are protected by a limiting device; the car 2 carrier can realize the function of automatically identifying the path from the garage position to the parking position, and can accurately stop at the position near the car 2 which needs to be stored and taken in the parking position, namely, the appointed parking position. After the car 2 is lifted, the posture can be automatically adjusted, and the car can be taken along a predetermined trajectory path. In a driving state, the device should have a function of automatically avoiding obstacles; the car 2 carrier can realize the pairing function between any two cars. All carriers should be in the same local area network and uniformly allocated by the intelligent garage center. The collected information data of all the carriers can be shared, and a worker can independently operate any one carrier through the local area network.
The infrared sensor can measure whether an object shelters from the linear distance, and the signal output by the infrared sensor can be changed from a sheltered state to a sheltered state or from a sheltered state to a sheltered state. The industrial computer can detect the signal change of infrared sensor, and then judges whether have the object in the carrier certain distance, confirms the position and the gesture information of carrier. When the carrier passes through an object completely, the infrared sensor outputs two signals. From the time of these two signal outputs, and the speed of the carrier, the length of the object in the travel direction of the carrier can be determined.
The ultrasonic sensor 4 can measure the distance to an object in a straight line. The industrial personal computer can determine the position information of objects around the carrier through the ultrasonic sensor 4. The safety range is defined by the industrial personal computer program, and when an object enters the safety range, the movement or rotation is stopped, so that collision is prevented. The safety distance should be based on the outer contour of the carrier when the carrier is driven in an empty state. When the carrier vehicle is in a running state, the safety distance is based on the outline of the car 2 carried on the carrier. In addition, in the automatic centering process, the ultrasonic transmission distance measuring sensor can effectively avoid collision between the carrier and the automobile wheels.
The industrial personal computer is an information processing core of the carrier, and has the main functions of information collection, information processing, information decision and information output. In the working process of the carrier, the industrial personal computer collects information of all sensors of the carrier, processes and analyzes the information, and determines various information such as the position, the attitude, the motion state and the like of the carrier. And then, according to a program stored in the industrial personal computer in advance, real-time decision is made, the next command of the carrier is determined, the command is output to each driver, and the carrier is driven to achieve the expected purpose. In the automatic centering device and the method, an industrial control unit mainly collects information of an infrared sensor and an ultrasonic distance measuring sensor, determines the relative position of a carrier and a car 2, and controls the carrier to move to a central axis position. In addition, the industrial personal computer is still in same LAN, realizes the matching of two arbitrary carriers to receive intelligent garage central processing system's call, the information of all carriers can all realize the sharing through the industrial personal computer.
During actual use, the car runs to the designated parking position of the intelligent garage, the car is parked according to the indication, and a driver leaves. The longitudinal axis of the car and the longitudinal stop line have certain deviation, but in the stop line, the included angle is smaller than 20 degrees, the condition of the maximum included angle is considered, the example assumes that the car inclines to the right by 20 degrees, the rear carrier is arranged on the left side of the car, the longitudinal axis of the rear carrier is parallel to the longitudinal stop line, the longitudinal axis of the car and the longitudinal stop line have certain included angle, and the rear carrier starts to automatically center after stopping to the designated position; the back carrier is at the uniform velocity translation right and gets into the bottom of the car from the translation between the left two wheels of car, and the perpendicular infrared ray sensor 8 that is located back carrier lower right corner gets into the vehicle bottom first, and back carrier is rotatory around self center under the control of industrial computer, and 8 second of the perpendicular infrared ray sensor in upper right corner get into the vehicle bottom, and two perpendicular infrared ray sensors 8 on back carrier right side all get into the vehicle bottom promptly.
As shown in fig. 12, a straight line a is a left side contour edge of the car 2, a straight line B is a right side contour edge of the car 2, a straight line C is a longitudinal axis of the car 2, and s is a distance from a to B, which can be represented by s ═ v × (t)2-t1) Calculated, where v is the speed of the rear carrier 3, t1Is the time when the connecting line of the two vertical infrared sensors 8 on the right side of the rear carrier 3 coincides with the straight line A, t2The time when the line connecting the two infrared sensors a on the right side of the rear carrier 3 coincides with the straight line B, and the distance s is obviously the width of the car 2.
Formula (II)
X in (1) is the distance from B to C, i.e. the distance from the rear carrier 3 to the longitudinal axis of the car 2 from the right side of the car 2, where s is the width of the car 2 and l is the distance from the axis of the rear carrier 3 to the line connecting the right sides of the vertical infrared sensors 8 of the rear carrier 3, it can be seen that the line connecting the two vertical infrared sensors 8 on the right side of the rear carrier 3 first runs from the position coinciding with the straight line A to the left to the position of the straight line B, at which time the line connecting B of the infrared sensors A on the right side of the rear carrier 3 coincides, and this distance is obviously the distance from the small steamHalf the width of the vehicle 2, i.e.
Then, the rear carrier 3 is centered, and the longitudinal axis of the rear carrier 3 and the longitudinal axis of the car 2 need to be overlapped, and the rear carrier 3 needs to travel a distance l to the right side, and the rear carrier 3 directly travels a distance x to the left side, so that the alignment of the rear carrier 3 and the longitudinal axis of the car 2 can be realized.
As shown in fig. 13, point D is the recording time t of the rear carrier 33Point E is the rear carrier 3 recording time t4The position of (a). The height of the chord DE from the ground is the height of the horizontal infrared sensor 5 of the rear carrier 3 from the ground, the horizontal infrared sensor 5 is positioned on the transverse axis position of the rear carrier 3, and in order to realize the centering of the connecting line of the centers of the two rear wheels of the rear carrier 3 and the car 2, the horizontal infrared sensor 5 is just positioned at the midpoint of the chord AB, and the centering of the rear carrier 3 and the rear wheel of the car 2 can be realized according to the step 3.5; similarly, the alignment of the front carrier 1 with the front wheels of the car 2 can be achieved by steps 4.1-4.7.
So far, the front carrier 1 and the rear carrier 3 are aligned with the front wheels and the rear wheels of the car 2, and the industrial personal computer controls the clamping arm component 6 to rotate to clamp the car 2, so that subsequent carrying is realized.
The present invention is not limited to the above embodiments, and based on the technical solutions of the present disclosure, those skilled in the art can make some substitutions and modifications to some technical features without creative efforts according to the disclosed technical contents, and these substitutions and modifications are all within the protection scope of the present invention.
Claims (3)
1. The automatic centering method of the car carrier comprises a frame provided with a distribution board and a storage battery, wherein clamping arm assemblies capable of clamping and putting down two front wheels or two rear wheels of a car are arranged in the middle of the left side and the right side of the frame respectively; the four vertical infrared sensors are arranged and are respectively and symmetrically arranged on four opposite angles of the frame; the horizontal infrared sensor is arranged on the symmetrical axis of the clamping arm assembly and is close to the upper part of the side surface of the frame; the ultrasonic sensor is characterized in that the automatic centering method of the automatic centering device of the car carrier comprises the following steps:
step 1, defining a carrier for clamping the front wheel of the car as a front carrier, and defining the carrier for clamping the car as a rear carrier;
step 2, automatically centering the rear carrier and the longitudinal axis of the car, wherein the specific contents are as follows:
step 2.1, the car runs to the appointed parking position of the intelligent garage, the car is parked according to the instruction, and a driver leaves;
step 2.2, the rear carrier automatically drives to one side of the car according to the instruction of the intelligent garage center information processing system, and the longitudinal central axis of the rear carrier is parallel to the longitudinal parking line of the parking space;
step 2.3, the industrial personal computer on the rear carrier controls the vertical infrared sensor to be started and controls the rear carrier to translate towards the bottom of the car at a constant speed;
step 2.4, the rear carrier moves horizontally from between two wheels on one side of the car to the bottom of the car, and when any one of the vertical infrared sensors senses that the shielding exists, the industrial personal computer controls the rear carrier to stop moving horizontally;
step 2.5, the industrial personal computer controls the rear carrier to start rotating around the center of the rear carrier, so that two vertical infrared sensors on one side of the rear carrier, which are positioned on the same side with the clamping arm assembly, enter the bottom of the vehicle;
step 2.6, after the industrial personal computer receives the signals which are sensed by the two vertical infrared sensors and blocked, the industrial personal computer controls the rear carrier to stop rotating, and the longitudinal axis of the rear carrier and the longitudinal axis of the carThe axes are parallel, and the industrial personal computer records the time t at the moment1；
Step 2.7, the carrier continues to translate towards the bottom of the car at a constant speed after being controlled by the industrial personal computer, and when the 4 vertical infrared sensors all detect that shielding exists, the carrier completely enters the bottom of the car;
and 2.8, when the vertical infrared sensor detects that the shielding is changed from 4 to 2, the rear carrier starts to move out from the bottom of the other side of the car, the industrial personal computer controls the rear carrier to stop moving, and the time at the moment is recorded as t2The width of the car is calculated as the driving distance of the rear carrier through the industrial personal computer, namely t2Time t1Distance traveled at time s, s ═ v × (t)2-t1) Wherein v is the running speed of the rear carrier, and at the moment, one side of the rear carrier just moves out of the bottom of the car at the other side of the car;
and 2.9, controlling the rear carrier to perform reverse translation by the industrial control machine, wherein the translation distance is the distance obtained by subtracting half of the width of the rear carrier from the width of the car, at the moment, the longitudinal axis of the rear carrier is superposed with the longitudinal axis of the car, namely, the distance x of the rear carrier returning to the longitudinal axis of the car from the other side of the car is obtained, and the distance x of the rear carrier returning to the longitudinal axis of the car is obtained
Wherein s is the running distance of the rear carrier, namely the width of the car, and l is the distance from the longitudinal center line position of the rear carrier to the longitudinal connecting line on the same side of the vertical infrared sensor, and the rear carrier and the longitudinal axis of the car are centered;
step 3, automatically centering the rear carrier with the axis of the rear wheel of the car;
and 4, automatically centering the front carrier and the front wheels of the car.
2. The method as claimed in claim 1, wherein the specific control steps of step 3 are as follows:
3.1, the rear carrier finds the longitudinal axis of the car, the industrial personal computer confirms that the longitudinal automatic centering is completed, the rear wheel axis of the car starts to be centered, and the rear carrier starts to find the rear wheel axis position of the car;
step 3.2, the industrial personal computer controls 2 horizontal infrared sensors positioned at the central axis position of the clamping arm assembly to be started, and controls the rear carrier to move backwards at a constant speed along the longitudinal axis of the automobile;
and 3.3, when the horizontal infrared sensor records that the signal is changed from a non-shielding state to a shielding state, the central axis of the clamping arm component of the rear carrier passes through the front edge of the rear wheel of the car, and the time recorded by the industrial personal computer at the moment is t3And controlling the rear carrier to continue to translate backwards;
and 3.4, when the horizontal infrared sensor records that the signal is changed from a shielding state to a non-shielding state, the central axis of the clamping arm component of the rear carrier passes through the rear edge of the rear wheel of the car, and the time recorded by the industrial personal computer at the moment is t4And controlling the rear carrier to stop moving;
step 3.5, from t3Time t4Within the time of the moment, the distance traveled by the rear carrier is the chord length on the height of the horizontal infrared sensor and on the circumference of the rear wheel of the car, wherein the middle position is the position of the axis of the rear wheel, and the industrial personal computer calculates to obtain a half of the chord length to obtain the position of the axis of the rear wheel
Wherein y is the distance the rear carrier moves in the reverse direction to the axis of the rear wheel of the car and u is the distance the rear carrier moves at t3Time t4And controlling the rear carrier to move reversely to the rear wheel axis position of the car at the speed between the moments, and then centering the rear carrier and the rear wheel of the car.
3. The method as claimed in claim 2, wherein the specific control steps of step 4 are as follows:
step 4.1, the front carrier automatically drives to a position near the car according to the instruction of the intelligent garage center information processing system;
4.2, matching the front carrier with the rear carrier, sending the longitudinal axis position information of the car to the industrial personal computer of the front carrier by the industrial personal computer of the rear carrier, receiving the position information by the industrial personal computer of the front carrier, and controlling the front carrier to carry out in-situ attitude adjustment;
4.3, the industrial personal computer of the front carrier controls the front carrier to rotate in situ, so that the longitudinal axis of the front carrier is superposed with the longitudinal axis of the car;
4.4, the industrial personal computer of the front carrier controls the front carrier to longitudinally translate and enter the bottom of the car from the front of the car;
and 4.5, the industrial personal computer of the front carrier controls the horizontal infrared sensor on the front carrier to be turned on, when the horizontal infrared sensor records that the signal is changed from a non-shielding state to a shielding state, the central axis of the clamping arm assembly of the front carrier just passes through the front edge of the front wheel of the car, and the industrial personal computer records that the time at the moment is t5And controlling the front carrier to continue to translate backwards;
and 4.6, when the horizontal infrared sensor on the front carrier records that the signal is changed from a shielding state to a non-shielding state, the central axis of the clamping arm component of the front carrier just passes through the rear edge of the front wheel of the car, and the industrial personal computer of the front carrier records that the time at the moment is t6And controlling the front carrier to stop moving;
and 4.7, controlling the front carrier to reversely translate by the industrial personal computer of the front carrier, wherein the translation distance is the distance between the width of the car and the width of the front carrier, and at the moment, the longitudinal axis of the front carrier is superposed with the longitudinal axis of the car to obtain the finished product
Wherein y is the distance by which the front carrier moves in the reverse direction to the axis of the rear wheel of the car, and u is the distance by which the rear carrier moves at time t4To time t6And controlling the rear carrier to move reversely to the position of the rear wheel axis of the car, and finishing the centering of the front wheel of the car by the front carrier.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911163969.XA CN111173327B (en) | 2019-11-25 | 2019-11-25 | Automatic centering device and method for car carrier |
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| CN201911163969.XA CN111173327B (en) | 2019-11-25 | 2019-11-25 | Automatic centering device and method for car carrier |
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| CN111173327B true CN111173327B (en) | 2021-03-05 |
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| CN107269076A (en) * | 2017-05-22 | 2017-10-20 | 北京首钢城运机器人科技有限公司 | A kind of wheel alignment method and system of vehicle carrier |
| CN108195368A (en) * | 2017-12-26 | 2018-06-22 | 河北宏地车港科技有限公司 | A kind of Intelligent carrier |
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| CN109508015A (en) * | 2018-12-26 | 2019-03-22 | 南京航空航天大学 | A kind of AGV electromagnetic navigation control system based on extension control |
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| US9328526B2 (en) * | 2011-09-22 | 2016-05-03 | Unitronics Automated Solutions Ltd | Vehicle positioning system |
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| CN107269076A (en) * | 2017-05-22 | 2017-10-20 | 北京首钢城运机器人科技有限公司 | A kind of wheel alignment method and system of vehicle carrier |
| CN108195368A (en) * | 2017-12-26 | 2018-06-22 | 河北宏地车港科技有限公司 | A kind of Intelligent carrier |
| CN108422978A (en) * | 2018-05-04 | 2018-08-21 | 北京泊宝机器人科技有限公司 | A kind of vehicle conveying AGV |
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