CN112946659A - High-precision vehicle position confirmation device and method based on ultrasonic distance meter - Google Patents
High-precision vehicle position confirmation device and method based on ultrasonic distance meter Download PDFInfo
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- CN112946659A CN112946659A CN202110169190.XA CN202110169190A CN112946659A CN 112946659 A CN112946659 A CN 112946659A CN 202110169190 A CN202110169190 A CN 202110169190A CN 112946659 A CN112946659 A CN 112946659A
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- 230000008859 change Effects 0.000 claims description 3
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/42—Simultaneous measurement of distance and other co-ordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
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Abstract
The invention relates to the technical field of vehicle carrying, and discloses a high-precision vehicle position confirming device and method based on ultrasonic range finders. After the vehicle is positioned in the U-shaped chassis, the ultrasonic distance meter scans the vehicle to obtain the vehicle model and the position of the vehicle model in a three-dimensional space coordinate system, so that the coordinate position of the optimal carrying position can be obtained, the coordinate position is remotely transmitted to the receiving terminal through the wireless transmission chip, the receiving terminal sends a carrying robot to carry the vehicle according to the coordinate position, the whole method is simpler, complicated calculation is not needed, and the accuracy of position determination is guaranteed.
Description
Technical Field
The invention relates to the technical field of vehicle transportation, in particular to a high-precision vehicle position confirmation device and method based on an ultrasonic distance meter.
Background
Electronic information engineering is a subject of electronic information control and information processing by applying modern technologies such as computers, and mainly studies on acquisition and processing of information, design, development, application and integration of electronic equipment and information systems. With the development of society and the advancement of science and technology, the application of electronic information engineering is becoming more and more widespread, and many aspects of society have been covered, such as automated robots, automated instruments and the like, wherein automatic handling robots are generated on the basis of electronic information engineering.
The automatic carrying robot can replace manual operation to carry vehicles, so that manpower and material resources are saved, and the carrying time is greatly shortened. However, in order to automatically carry a vehicle by a carrier robot, it is required that the carrier robot accurately determine the position of the vehicle to be carried and adjust the posture of the robot so as to carry the vehicle. Among them, how to accurately confirm the position of the vehicle in a large parking space without any equipment installed in the middle is a major problem in implementing the above-described technology.
The Chinese patent publication number is: CN112114318A patent discloses a method and device for confirming vehicle position based on laser radar. The method comprises the following steps: arranging a rotatable camera and a laser radar in a parking area; establishing a coordinate system for the parking area; acquiring an image of a vehicle in a parking area, and recording the rotation angle of a camera when the image is acquired; calculating a coordinate set possibly occupied by the vehicle in a coordinate system through the image, the focal length corresponding to the image and the rotating angle; starting a laser radar near a coordinate set possibly occupied by the vehicle in the coordinate system, scanning the vehicle outline, obtaining a corresponding coordinate set of the vehicle outline in the coordinate system, and obtaining a model of the vehicle in the coordinate system; based on the vehicle model, an optimal position of the parking robot when transporting the vehicle is determined. The device has the advantages of simple structure, convenient manufacture, no need of arranging any equipment in the parking area, no obstruction to the vehicle use of a user due to the equipment erection around, small error and quick response.
Although the above patent can specify the optimal position of the parking robot when transporting the vehicle, the entire device needs to be installed on site, which is time consuming, and the method of specifying the optimal transport position of the parking robot is complicated, which is not practical enough.
Based on this, we propose a high-precision vehicle position confirmation device and method based on ultrasonic range finder, and hopefully solve the disadvantages in the prior art.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a high-precision vehicle position confirmation device and method based on an ultrasonic range finder, which have the advantages of simple structure, convenience in movement and convenience in determining the optimal carrying position of a carrying robot.
(II) technical scheme
In order to realize the purposes of simple structure, convenient movement and convenient determination of the optimal carrying position of the carrying robot, the invention provides the following technical scheme: the utility model provides a high accuracy vehicle position confirmation device based on ultrasonic ranging appearance, includes U type chassis, the bottom fixed mounting of U type chassis has the universal wheel, the top fixed mounting of U type chassis has the montant, the outer wall fixed mounting of montant has the handle, the top fixed mounting of montant has the crossbeam, the outer wall fixed mounting of crossbeam has a plurality of branch, the bottom fixed mounting of branch has a plurality of ultrasonic ranging appearance.
As a preferable technical scheme of the invention, the U-shaped underframe comprises two edge rods and a middle rod, and the vertical rod is fixedly arranged at the top of the center of the middle rod.
As a preferable technical scheme, a first positioning chip is arranged at the center inside the middle rod, second positioning chips are arranged at the ends, far away from the vertical rods, of the two edge rods, and a data processing chip and a wireless transmission chip are arranged inside the vertical rods.
As a preferred technical solution of the present invention, the output ends of the ultrasonic distance meter, the first positioning chip and the second positioning chip are electrically connected to the input end of the data processing chip, the output end of the data processing chip is electrically connected to the input end of the wireless transmission chip, and the output end of the wireless transmission chip is in signal connection with the receiving terminal.
A high-precision vehicle position confirmation method based on an ultrasonic distance meter is used for a high-precision vehicle position confirmation device based on the ultrasonic distance meter and comprises the following steps:
s1: the working personnel push the device through the handle to enable the vehicle to be positioned in the U-shaped underframe;
s2: the data processing chip is positioned through the first positioning chip and the second positioning chip, and a three-dimensional space coordinate system is established according to the position information;
s3: the data processing chip scans the vehicle through the ultrasonic distance meter to obtain a vehicle model and the position of the vehicle model in a three-dimensional space coordinate system;
s4: the data processing chip obtains the position which is most convenient for carrying the vehicle according to the position of the vehicle model in the three-dimensional space coordinate system, and converts the position into a coordinate position;
s5: the data processing chip remotely transmits the three-dimensional space coordinate system and the coordinate position to the receiving terminal through the wireless transmission chip;
s6: and the receiving terminal dispatches the carrying robot to the coordinate position to carry the vehicle.
As a preferred technical solution of the present invention, the specific establishment method of the three-dimensional space coordinate system is:
a virtual isosceles triangle is formed by virtual connecting lines of the first positioning chip and the two second positioning chips, the first positioning chip is used as an original point, a virtual perpendicular bisector of the virtual isosceles triangle is used as an X axis, a virtual line perpendicular to the X axis on a plane is used as a Y axis, a virtual line perpendicular to the X axis on a vertical direction is used as a Z axis, and the X axis, the Y axis and the Z axis are intersected at the original point to form a three-dimensional space coordinate system.
As a preferable embodiment of the present invention, when the ultrasonic range finder scans the vehicle, the height of the vehicle can be obtained according to the distance between the ultrasonic wave and the roof of the vehicle, the length and the width of the vehicle can be obtained according to the change of the distance measurement length of the ultrasonic wave on the vehicle, and the height, the length and the width of the vehicle are substituted into the three-dimensional space coordinate system, so as to obtain the vehicle model.
In a preferred embodiment of the present invention, in the step S4, the position most convenient for transporting the vehicle is a gap between two hubs on the side of the vehicle, and the converted coordinate position is a side of the gap between the two hubs.
(III) advantageous effects
Compared with the prior art, the invention provides a high-precision vehicle position confirmation device and method based on an ultrasonic distance meter, and the device and method have the following beneficial effects:
1. according to the high-precision vehicle position confirming device and method based on the ultrasonic range finder, the device can be pushed by the handle to move around, different vehicles can be conveniently located in the U-shaped underframe, different vehicles are positioned, the disassembly and assembly are not needed, and the device is more convenient and rapid to use.
2. According to the high-precision vehicle position confirmation device and method based on the ultrasonic range finder, after a vehicle is located in a U-shaped underframe, the ultrasonic range finder scans the vehicle to obtain a vehicle model and the position of the vehicle model in a three-dimensional space coordinate system, so that the coordinate position of the optimal carrying position can be obtained, the coordinate position is remotely transmitted to a receiving terminal through a wireless transmission chip, the receiving terminal sends a carrying robot to carry the vehicle according to the coordinate position, the whole method is simpler, complicated calculation is not needed, the accuracy of position determination is guaranteed, positioning is carried out through a first positioning chip and two second positioning chips, and deviation is not prone to occurring.
3. According to the high-precision vehicle position confirmation device and method based on the ultrasonic range finder, the vehicle model and the coordinate position are represented in the form of the positioning chip and the three-dimensional space coordinate system, data transmission is more accurate and simple, transmission loss is saved, transmission precision is better, and the remote receiving terminal can accurately determine the position of a carrying position according to positioning information and the coordinate position.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic flow chart of the method of the present invention;
FIG. 3 is a schematic diagram of a three-dimensional coordinate system and a vehicle according to the present invention.
In the figure: 1. a U-shaped chassis; 2. a universal wheel; 3. a vertical rod; 4. a handle; 5. a cross beam; 6. a strut; 7. provided is an ultrasonic distance meter.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1, a high-precision vehicle position confirmation device based on ultrasonic range finders comprises a U-shaped chassis 1, universal wheels 2 are fixedly mounted at the bottom of the U-shaped chassis 1, a vertical rod 3 is fixedly mounted at the top of the U-shaped chassis 1, a handle 4 is fixedly mounted on the outer wall of the vertical rod 3, a cross beam 5 is fixedly mounted at the top of the vertical rod 3, a plurality of supporting rods 6 are fixedly mounted on the outer wall of the cross beam 5, and a plurality of ultrasonic range finders 7 are fixedly mounted at the bottoms of the supporting rods 6.
In this embodiment, the U-shaped chassis 1 includes two edge bars and a middle bar, and the vertical bar 3 is fixedly mounted on the top of the middle bar at the center.
In this embodiment, the inside center department of intermediate lever is provided with first location chip, and the one end that montant 3 was kept away from to two border poles all is provided with second location chip, and the inside of montant 3 is provided with data processing chip and wireless transmission chip.
In this embodiment, the output ends of the ultrasonic distance measuring instrument 7, the first positioning chip and the second positioning chip are electrically connected to the input end of the data processing chip, the output end of the data processing chip is electrically connected to the input end of the wireless transmission chip, and the output end of the wireless transmission chip is connected to the receiving terminal through a signal.
Referring to fig. 2, a method for confirming a vehicle position with high precision based on an ultrasonic distance meter is used for a device for confirming a vehicle position with high precision based on an ultrasonic distance meter, and includes the following steps:
step 1: the operator pushes the device through the handle 4 to enable the vehicle to be positioned in the U-shaped underframe 1;
can thrust unit through the handle, make the device remove everywhere, be convenient for make different vehicles be located U type underframe, fix a position different vehicles, do not need the dismantlement installation of making a round trip, use more convenient and fast.
Step 2: the data processing chip is positioned through the first positioning chip and the second positioning chip, and a three-dimensional space coordinate system is established according to the position information;
the positioning is carried out through the three positioning chips, and the positioning is more accurate.
And step 3: the data processing chip scans the vehicle through the ultrasonic distance meter 7 to obtain a vehicle model and the position of the vehicle model in a three-dimensional space coordinate system;
as shown in fig. 3, the specific establishment method of the three-dimensional space coordinate system is as follows: a virtual isosceles triangle is formed by virtual connecting lines of the first positioning chip and the two second positioning chips, the first positioning chip is used as an original point, a virtual perpendicular bisector of the virtual isosceles triangle is used as an X axis, a virtual line perpendicular to the X axis on a plane is used as a Y axis, a virtual line perpendicular to the X axis on a vertical direction is used as a Z axis, and the X axis, the Y axis and the Z axis are intersected at the original point to form a three-dimensional space coordinate system.
And 4, step 4: the data processing chip obtains the position which is most convenient for carrying the vehicle according to the position of the vehicle model in the three-dimensional space coordinate system, and converts the position into a coordinate position;
wherein the position most convenient for carrying the vehicle is the gap between the two hubs on the side of the vehicle, and the coordinate position converted is the side of the gap between the two hubs.
And 5: the data processing chip remotely transmits the three-dimensional space coordinate system and the coordinate position to the receiving terminal through the wireless transmission chip;
step 6: and the receiving terminal dispatches the carrying robot to the coordinate position to carry the vehicle.
In this embodiment, when the ultrasonic distance meter 7 scans the vehicle, the height of the vehicle can be obtained according to the distance between the ultrasonic wave and the top of the vehicle, the length and the width of the vehicle can be obtained according to the change of the distance measurement length of the ultrasonic wave on the vehicle, and the height, the length and the width of the vehicle are substituted into the three-dimensional space coordinate system, so that the vehicle model is obtained.
In this embodiment, still can be at two relative one sides fixed mounting ultrasonic distance measuring instrument 7 of marginal pole for whether there is the obstacle between the detection two marginal poles, simultaneously, two relative one sides fixed mounting ultrasonic distance measuring instrument 7 of marginal pole still can combine the chip of location to judge the spatial position of automobile wheel hub, the supplementary coordinate position of confirming.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a high accuracy vehicle position confirmation device based on ultrasonic ranging appearance, includes U type chassis (1), its characterized in that: the utility model discloses a U type chassis ultrasonic ranging device, including U type chassis (1), the bottom fixed mounting of U type chassis (1) has universal wheel (2), the top fixed mounting of U type chassis (1) has montant (3), the outer wall fixed mounting of montant (3) has handle (4), the top fixed mounting of montant (3) has crossbeam (5), the outer wall fixed mounting of crossbeam (5) has a plurality of branch (6), the bottom fixed mounting of branch (6) has a plurality of ultrasonic ranging appearance (7).
2. A high-precision vehicle position confirmation apparatus based on an ultrasonic range finder as claimed in claim 1, wherein: u type chassis (1) include two border poles and a intermediate lever, montant (3) fixed mounting is at the top of intermediate lever center department.
3. A high-precision vehicle position confirmation apparatus based on an ultrasonic range finder as claimed in claim 2, wherein: the center department of the interior of intermediate lever is provided with first location chip, two the one end that montant (3) were kept away from to the border pole all is provided with second location chip, the inside of montant (3) is provided with data processing chip and wireless transmission chip.
4. A high-precision vehicle position confirmation apparatus based on an ultrasonic range finder as claimed in claim 3, wherein: the ultrasonic range finder is characterized in that the output ends of the ultrasonic range finder (7), the first positioning chip and the second positioning chip are electrically connected with the input end of the data processing chip, the output end of the data processing chip is electrically connected with the input end of the wireless transmission chip, and the output end of the wireless transmission chip is connected with the receiving terminal through signals.
5. A high-precision vehicle position confirmation method based on an ultrasonic range finder, which is used for the high-precision vehicle position confirmation device based on the ultrasonic range finder as claimed in any one of claims 1 to 4, characterized in that: the method comprises the following steps:
s1: the worker pushes the device through the handle (4) to enable the vehicle to be positioned in the U-shaped underframe (1);
s2: the data processing chip is positioned through the first positioning chip and the second positioning chip, and a three-dimensional space coordinate system is established according to the position information;
s3: the data processing chip scans the vehicle through the ultrasonic distance meter (7) to obtain a vehicle model and the position of the vehicle model in a three-dimensional space coordinate system;
s4: the data processing chip obtains the position which is most convenient for carrying the vehicle according to the position of the vehicle model in the three-dimensional space coordinate system, and converts the position into a coordinate position;
s5: the data processing chip remotely transmits the three-dimensional space coordinate system and the coordinate position to the receiving terminal through the wireless transmission chip;
s6: and the receiving terminal dispatches the carrying robot to the coordinate position to carry the vehicle.
6. The method for confirming the position of a vehicle with high precision based on an ultrasonic range finder as claimed in claim 5, wherein: the specific establishment method of the three-dimensional space coordinate system comprises the following steps:
a virtual isosceles triangle is formed by virtual connecting lines of the first positioning chip and the two second positioning chips, the first positioning chip is used as an original point, a virtual perpendicular bisector of the virtual isosceles triangle is used as an X axis, a virtual line perpendicular to the X axis on a plane is used as a Y axis, a virtual line perpendicular to the X axis on a vertical direction is used as a Z axis, and the X axis, the Y axis and the Z axis are intersected at the original point to form a three-dimensional space coordinate system.
7. The method for confirming the position of a vehicle with high precision based on an ultrasonic range finder as claimed in claim 5, wherein: when the ultrasonic distance meter (7) scans the vehicle, the height of the vehicle can be obtained according to the distance between the ultrasonic wave and the top of the vehicle, the length and the width of the vehicle can be obtained according to the distance measurement length change of the ultrasonic wave on the vehicle, and the height, the length and the width of the vehicle are substituted into a three-dimensional space coordinate system, so that a vehicle model is obtained.
8. The method for confirming the position of a vehicle with high precision based on an ultrasonic range finder as claimed in claim 5, wherein: in step S4, the position where the vehicle is most convenient to be transported is the gap between the two hubs on the side of the vehicle, and the converted coordinate position is the side of the gap between the two hubs.
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| CN202110169190.XA CN112946659A (en) | 2021-02-07 | 2021-02-07 | High-precision vehicle position confirmation device and method based on ultrasonic distance meter |
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