CN113233381B - Intelligent unmanned vehicle moving robot and operation process thereof - Google Patents
Intelligent unmanned vehicle moving robot and operation process thereof Download PDFInfo
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- CN113233381B CN113233381B CN202110495984.5A CN202110495984A CN113233381B CN 113233381 B CN113233381 B CN 113233381B CN 202110495984 A CN202110495984 A CN 202110495984A CN 113233381 B CN113233381 B CN 113233381B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07513—Details concerning the chassis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07513—Details concerning the chassis
- B66F9/07531—Battery compartments
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07568—Steering arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07572—Propulsion arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07581—Remote controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07586—Suspension or mounting of wheels on chassis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
- B66F9/142—Movements of forks either individually or relative to each other
- B66F9/143—Movements of forks relative to each other - symmetric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/18—Load gripping or retaining means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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- Engineering & Computer Science (AREA)
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Radar, Positioning & Navigation (AREA)
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Abstract
The invention discloses an intelligent unmanned vehicle moving robot and an operation process thereof. The center of the bottom of the chassis is provided with a driving device which is in a rudder wheel shape; a lithium battery pack and an industrial personal computer are arranged in the chassis; the front section of the wheel shovel arm is provided with a lifting device, and the lifting device is of a roller structure; the bottom of the wheel shovel arm is provided with a universal wheel; a laser radar and a camera are arranged on one side of the front section of the wheel shovel arm; the wheelbase adjusting device is a scissor-type folding push rod mechanism; the shovel arm push rod device is an electric guide rail device. The robot has the functions of automatically identifying the illegal vehicles, automatically obtaining evidence and automatically moving the illegal vehicles to the designated place.
Description
Technical Field
The invention belongs to the technical field of community road vehicle moving, and particularly relates to an intelligent unmanned vehicle moving robot and an operation process thereof.
Background
Along with the increasing popularization of automobiles, parking violations are more and more common for drivers to bring convenience to the drivers. The urban traffic system is complex and huge, along with the improvement of the people's physical expression level, the quantity of private cars is increased year by year, and the problem of traffic jam is increasingly serious; the phenomenon that vehicles are parked in a disorderly mode and are placed disorderly in a community, some vehicles are parked in front of doors of other people, some vehicles are parked at a traffic intersection, and the other vehicles even illegally block a fire fighting channel, so that the fire fighting vehicle is prevented from passing, the fire fighting vehicle is difficult to reach a fire scene in time when a fire accident happens, and fire fighting is seriously influenced. Social security events caused by illegal parking are also rare and become one of the factors influencing the social stability. Therefore, the intelligent vehicle moving robot is urgently needed to realize unmanned automatic vehicle moving.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an intelligent unmanned vehicle moving robot and an operation process thereof, and the intelligent unmanned vehicle moving robot has the functions of automatically identifying illegal vehicles, automatically obtaining evidences and automatically moving the illegal vehicles to a specified place.
The invention is realized by the following technical scheme:
an intelligent unmanned vehicle moving robot comprises two chassis, four wheel shovel arms, an axle distance adjusting device and a shovel arm push rod device, wherein the two chassis are connected through the axle distance adjusting device;
the height of the chassis is not higher than that of a chassis of a common automobile, a driving device is arranged in the center of the bottom of the chassis, the driving device is in the shape of a rudder and comprises a slewing bearing, two driving wheels and corresponding motors, the outer ring of the slewing bearing is fixed in the center of the bottom of the chassis, a plate is radially fixed on the inner ring of the slewing bearing, and the center of the plate is provided with the two driving wheels and the corresponding motors; a lithium battery pack and an industrial personal computer are arranged in the chassis, the lithium battery pack supplies power for the whole robot, and the industrial personal computer is used for controlling the whole operation of the robot;
the front section of the wheel shovel arm is provided with a lifting device, the lifting device comprises a roller structure and a wheel block, the roller structure is formed by manufacturing two flat steels into clamping grooves, and then two ends of more than one roller are fixed in the clamping grooves of the two flat steels to form a rotating shaft; the roller at the tail end of the roller structure is axially connected with the wheel shovel arm and can drive the roller structure to incline downwards, and the wheel stopper is fixed at the tail end of the roller structure; the bottom of the wheel shovel arm is provided with a universal wheel; a laser radar and a camera are arranged on one side of the front section of the wheel shovel arm;
the wheel base adjusting device comprises more than one push rod, the two push rods are hinged at the middle point to form a scissor frame, the more than one scissor frame are hinged to each other to form a scissor type folding push rod mechanism, two ends of the scissor type folding push rod mechanism are respectively connected with the middle parts of the side surfaces of the two chassis, and an electric screw rod is arranged at the connection position;
the shovel arm push rod device comprises a telescopic guide rail and an electric push rod, one end of the telescopic guide rail is fixed at the rear section of the wheel shovel arm, the other end of the telescopic guide rail is connected with the electric push rod, and the electric push rod is arranged on two sides of the chassis.
Preferably, the robot is made of steel, and the double driving wheels and the universal wheels are made of rubber or polyurethane.
Preferably, a steering limit barrier is further arranged on the inner ring of the slewing bearing.
Preferably, the diameter of the double driving wheels is 100mm, the wheel hubs are replaceable, and the rated bearing capacity of each wheel hub is 400 kg; the motor with the double driving wheels can be loaded with DC/AC/BLDC/PMSM, the voltage is DC12V-300V or AC220V/380V, and the power is 0.2 KW-3.0 KW.
Preferably, a wheel alignment sensor and a pressure sensor are arranged on the wheel block.
Preferably, the lidar and the camera are arranged on only one wheel blade arm.
Preferably, the camera is a binocular camera.
Preferably, the device further comprises ultrasonic radars which are arranged on the outer sides and the tail sides of the two chassis and used for detecting obstacles.
An operation process of an intelligent unmanned vehicle moving robot comprises the following steps:
step 1) when the robot is in a motion state, collecting surrounding environment information by a laser radar and a camera, automatically identifying by software in an industrial personal computer, and controlling the robot to automatically run; the robot patrols according to a set path under the control of the industrial personal computer, when the camera identifies an illegal parking vehicle, a signal is sent to the industrial personal computer, the industrial personal computer controls the robot to drive into the bottom of the illegal parking vehicle from front, back, left and right directions, the positions of the wheels of the vehicle are identified through the camera, and the industrial personal computer controls the electric screw rod, the scissor type folding push rod mechanism and the double driving wheels to transversely move the two chassis left and right to align the four wheel shovel arms to the front and back four wheels of the vehicle;
after the position alignment is carried out, the industrial personal computer controls the electric push rod to push the telescopic guide rail outwards to drive the wheel shovel arm to move outwards, the lifting device of the wheel shovel arm inclines downwards after contacting with a tire, and the friction is reduced by utilizing a roller structure forming an inclination angle and a universal wheel at the bottom of the shovel arm so as to shovel the wheel of the vehicle;
and 3) when the wheels of the vehicle reach the wheel chock, stopping the electric push rod by the industrial personal computer, shoveling the four wheels of the vehicle by the wheel shovel arm at the moment, recovering the horizontal state of the lifting device, controlling the motor of the dual-drive wheel to operate by the industrial personal computer, rotating the inner ring of the slewing bearing by the motor, and driving the outer ring of the slewing bearing to rotate, so that the chassis is integrally steered, 360-degree omnidirectional movement of the robot is realized, and the vehicle which breaks the parking is moved to a specified place.
The invention has the following beneficial effects:
the intelligent unmanned vehicle moving robot provided by the invention can enter the bottom of the vehicle from the front, back, left and right directions of the vehicle by using an automatic driving technology, scoops up the vehicle and moves the vehicle to a specified parking place without manual intervention, and has the functions of automatically identifying illegal vehicles, automatically obtaining evidence and automatically moving the illegal vehicles to the specified place.
Drawings
Fig. 1 is an overall schematic view of an intelligent unmanned vehicle-moving robot;
fig. 2 is a schematic structural view of an intelligent unmanned vehicle moving robot;
FIG. 3 is a schematic structural diagram of a driving device;
fig. 4 is a front view (a) and a bottom view (b) of the driving device;
FIG. 5 is a side plan view of the intelligent unmanned vehicle mover robot;
FIG. 6 is a schematic view showing a horizontal state (a) and an inclined state (b) of the lifting device;
FIG. 7 is a bottom view of the wheel blade arm;
in the figure: 1. a chassis;
2. a wheel blade arm; 2-1, roller structure; 2-1-1, flat steel; 2-1-2, rollers; 2-2, a wheel gear; 2-2-1, a wheel alignment sensor; 2-2-2, a pressure sensor; 2-3, universal wheels;
3. a wheel base adjusting device; 3-1, a scissor type folding push rod mechanism; 3-2, an electric screw rod;
4. a boom pusher apparatus; 4-1, a telescopic guide rail; 4-2, an electric push rod;
5. a drive device; 5-1, pivoting support; 5-1-1, outer ring; 5-1-2, inner ring; 5-1-3, plate; 5-1-4, a steering limit barrier; 5-2, double driving wheels; 5-3, a motor;
6. a lithium battery pack; 7. an industrial personal computer; 8. a laser radar; 9. a camera is provided.
Detailed Description
The present invention will be described in further detail with reference to the following drawings and examples.
Example 1
An intelligent unmanned vehicle moving robot is made of steel. As shown in fig. 1, the vehicle wheel shovel comprises two chassis 1, four wheel shovel arms 2, a wheel base adjusting device 3 and a shovel arm push rod device 4, wherein the two chassis 1 are connected through the wheel base adjusting device 3, and the four wheel shovel arms 2 are respectively arranged at two ends of the two chassis 1 through the shovel arm push rod device 4 and respectively correspond to four tires of a vehicle.
As shown in fig. 2, the chassis 1 is an ultra-low chassis, the height of the ultra-low chassis is not higher than that of a chassis of a general automobile, and the two chassis 1 are distributed in bilateral symmetry and welded by steel materials, so as to protect the safe operation of each module in the body.
As shown in fig. 2, a driving device 5 is arranged in the center of the bottom of the chassis 1, as shown in fig. 3 and 4, the driving device 5 is in the shape of a steering wheel and comprises a slewing bearing 5-1, dual driving wheels 5-2 and corresponding motors 5-3, an outer ring 5-1-1 of the slewing bearing 5-1 is fixed in the center of the bottom of the chassis 1, plates 5-1-3 are radially fixed on an inner ring 5-1-2 of the slewing bearing 5-1, and the dual driving wheels 5-2 and the corresponding motors 5-3 are arranged in the center of the plates 5-1-3.
In a preferable scheme, as shown in fig. 3, a steering limit blocking piece 5-1-4 can be further arranged on an inner ring 5-1-2 of the slewing bearing 5-1, and if the double driving wheels 5-2 adopt wired driving, the device needs to be arranged to prevent winding; if the double driving wheels are driven wirelessly, the device is not required to be installed.
When the vehicle is conveyed, the angle and the speed of the driving devices 5 of the two chassis 1 are adjusted, so that the vehicle can realize lane changing, steering and other actions without rotating the vehicle head, even can realize turning motion taking any point as a radius, and has strong flexibility. The double-drive wheel 5-2 is provided with a driving motor, a steering motor and a power transmission device thereof, and has azimuth drive and rotary drive, the inner ring 5-1-2 of the slewing bearing 5-1 is rotated by the steering motor to drive the outer ring 5-1-1 of the slewing bearing 5-1 to rotate, so that the chassis 1 is steered integrally. The driving device 5 is fixed at the center of the bottom of the chassis 1 through a slewing bearing 5-1 and can bear large load. The dual-drive wheel 5-2 can be made of rubber or polyurethane, the diameter of the wheel is 100mm, a wheel hub can be easily replaced, the rated bearing capacity of a single wheel is 400kg, a motor can carry DC/AC/BLDC/PMSM, the voltage is DC12V-300V or AC220V/380V, the power is 0.2 KW-3.0 KW, and various feedback units can be configured. The double driving wheels 5-2 comprise driving motors and speed feedback, transmission mechanisms, braking mechanisms, supporting mechanisms and the like thereof, and have the characteristics of reliable performance, convenience in installation, light weight, high bearing capacity, large torque, high speed and the like.
As shown in fig. 2, a lithium battery pack 6 and an industrial personal computer 7 are arranged in the chassis 1, the lithium battery pack 6 supplies power to the robot as a whole, and the industrial personal computer 7 can be arranged on one of the chassis and is used for controlling the whole operation of the robot.
As shown in fig. 5 and 6, a lifting device is arranged at the front section of the wheel shovel arm 2, and the lifting device comprises a roller structure 2-1 and a wheel stopper 2-2.
As shown in fig. 6, the roller structure 2-1 is formed by manufacturing two flat steels 2-1-1 into a slot, fixing two ends of more than one roller 2-1-2 into the slots of the two flat steels 2-1-1 to form a rotating shaft, and the roller 2-1-2 rotates when rubbing with an automobile tire, so that friction is reduced, the tire is not damaged, and the automobile is more conveniently lifted. And the roller at the tail end of the roller structure 2-1 is axially connected with the wheel shovel arm 2 and can drive the roller structure 2-1 to incline downwards. The lifting device is in a horizontal state when not in operation, as shown in fig. 6(a), an inclination angle is generated when the contact tire is stressed, as shown in fig. 6(b), the lifting device shovels the automobile under the action of the shovel arm push rod device 4, and the lifting device returns to the horizontal state after the automobile is shoveled.
As shown in fig. 2 and 6, the wheel chock 2-2 is fixed at the end of the roller structure 2-1, a wheel alignment sensor 2-2-1 and a pressure sensor 2-2-2 are arranged on the wheel chock 2-2, the wheel alignment sensor 2-2-1 is used for detecting the position of the wheel, when the wheel reaches the wheel chock 2-2, the pressure sensor 2-2-2 detects a pressure signal and transmits the pressure signal to the industrial personal computer 7, and the industrial personal computer 7 stops the operation of the boom push rod device 4.
As shown in fig. 5 and 7, the bottom of the wheel shovel arm 2 is provided with universal wheels 2-3 designed for shoveling wheels of a vehicle, and the friction is reduced by using a roller structure and pulleys to facilitate shoveling of the vehicle.
As shown in fig. 2, a laser radar 8 and a camera 9 are arranged on one side of the front section of the wheel shovel arm 2, and the camera 9 can be a binocular camera. In this embodiment, the laser radar 8 and the camera 9 are provided on only one wheel blade.
As shown in fig. 2, the wheel base adjusting device 3 includes a plurality of push rods, two push rods are hinged at the midpoint to form a scissor rack, a plurality of scissor racks are hinged to form a scissor type folding push rod mechanism 3-1, two ends of the scissor type folding push rod mechanism 3-1 are respectively connected to the middle of the side surfaces of the two chassis 1, and an electric screw rod 3-2 is arranged at the connection position.
As shown in fig. 2, 6 and 7, the shovel arm push rod device 4 is an electric guide rail device, and includes a telescopic guide rail 4-1 and an electric push rod 4-2, one end of the telescopic guide rail 4-1 is fixed to the rear section of the wheel shovel arm 2, the other end is connected to the electric push rod 4-2, and the electric push rods 4-2 are disposed on two sides of the chassis 1.
According to the preferable scheme, the intelligent unmanned vehicle moving robot further comprises ultrasonic radars, wherein the ultrasonic radars are arranged on the outer sides and the tail sides of the two chassis 1, two are arranged on each side, and six are used for detecting obstacles.
An operation process of an intelligent unmanned vehicle moving robot comprises the following specific steps:
(1) when the robot is in a motion state, the laser radar and the camera acquire surrounding environment information, and the information is automatically identified by software in the industrial personal computer to control the robot to automatically run; the robot is according to setting for the route inspection under the control of industrial computer, when the camera discerned the vehicle of violating the stop, send signal for the industrial computer, industrial computer control robot can drive into the vehicle bottom of violating the stop in the past, back, left and right direction, through camera discernment vehicle wheel position, the industrial computer is through controlling two chassis of lateral shifting about electronic lead screw and scissors formula folding push rod mechanism and the double drive wheel, realizes four wheel shovel arms alignment vehicle front and back four wheels.
(2) After the position alignment, the industrial personal computer controls the electric push rod to push the telescopic guide rail outwards to drive the wheel shovel arm to move outwards, the lifting device of the wheel shovel arm inclines downwards after contacting with a tire, and the friction is reduced by utilizing the roller structure forming the inclination angle and the universal wheel at the bottom of the shovel arm so as to shovel the wheel of the vehicle.
(3) When the wheels of the vehicle reach the wheel chock, the wheel positioning sensor detects the position information of the wheels, the pressure sensor detects the pressure signal of the wheel chock, the sensor transmits the signal to the industrial personal computer, the industrial personal computer stops the electric push rod, at the moment, four wheels of the vehicle are shoveled by the wheel shovel arm, the lifting device recovers the horizontal state, the industrial personal computer controls the motor of the dual-drive wheels to operate, the inner ring of the slewing bearing is rotated through the motor, the outer ring of the slewing bearing is driven to rotate, the chassis is integrally steered, 360-degree omnidirectional movement of the robot is realized, and the vehicle which is illegally parked is moved to a specified place.
Claims (9)
1. An intelligent unmanned vehicle moving robot is characterized by comprising two chassis, four wheel shovel arms, an axle distance adjusting device and a shovel arm push rod device, wherein the two chassis are connected through the axle distance adjusting device;
the height of the chassis is not higher than that of a chassis of a common automobile, a driving device is arranged in the center of the bottom of the chassis, the driving device is in the shape of a rudder and comprises a slewing bearing, two driving wheels and corresponding motors, the outer ring of the slewing bearing is fixed in the center of the bottom of the chassis, a plate is radially fixed on the inner ring of the slewing bearing, and the center of the plate is provided with the two driving wheels and the corresponding motors; a lithium battery pack and an industrial personal computer are arranged in the chassis, the lithium battery pack supplies power for the whole robot, and the industrial personal computer is used for controlling the whole operation of the robot;
the front section of the wheel shovel arm is provided with a lifting device, the lifting device comprises a roller structure and a wheel block, the roller structure is formed by manufacturing two flat steels into clamping grooves, and then two ends of more than one roller are fixed in the clamping grooves of the two flat steels to form a rotating shaft; the roller at the tail end of the roller structure is axially connected with the wheel shovel arm and can drive the roller structure to incline downwards, and the wheel stopper is fixed at the tail end of the roller structure; the bottom of the wheel shovel arm is provided with a universal wheel; a laser radar and a camera are arranged on one side of the front section of the wheel shovel arm; the wheel base adjusting device comprises more than one push rod, the two push rods are hinged at the middle point to form a scissor frame, the more than one scissor frame are hinged to each other to form a scissor type folding push rod mechanism, two ends of the scissor type folding push rod mechanism are respectively connected with the middle parts of the side surfaces of the two chassis, and an electric screw rod is arranged at the connection position;
the shovel arm push rod device comprises a telescopic guide rail and an electric push rod, one end of the telescopic guide rail is fixed at the rear section of the wheel shovel arm, the other end of the telescopic guide rail is connected with the electric push rod, and the electric push rod is arranged on two sides of the chassis.
2. The intelligent unmanned vehicle moving robot of claim 1, wherein the robot is made of steel, and the dual driving wheels and the universal wheels are made of rubber or polyurethane.
3. The intelligent unmanned vehicle moving robot as claimed in claim 1, wherein a steering limit stopper is further arranged on the inner ring of the slewing bearing.
4. The intelligent unmanned vehicle moving robot as claimed in claim 1, wherein the diameter of the dual driving wheels is 100mm, the wheel hub is replaceable, and the single rated bearing capacity is 400 kg; the motor of the double driving wheels can carry DC/AC/BLDC/PMSM, the voltage is DC12V-300V or AC220V/380V, and the power is 0.2 KW-3.0 KW.
5. The intelligent unmanned vehicle moving robot as claimed in claim 1, wherein a wheel alignment sensor and a pressure sensor are arranged on the wheel stopper.
6. The intelligent unmanned vehicle moving robot as claimed in claim 1, wherein the lidar and the camera are disposed on only one wheel shovel arm.
7. The intelligent unmanned vehicle moving robot of claim 1, wherein the camera is a binocular camera.
8. The intelligent unmanned vehicle moving robot as claimed in claim 1, further comprising ultrasonic radars disposed at outer and tail sides of the two chassis for detecting obstacles.
9. The operation process of the intelligent unmanned vehicle-moving robot as claimed in claim 1, comprising the steps of:
step 1) when the robot is in a motion state, collecting surrounding environment information by a laser radar and a camera, automatically identifying by software in an industrial personal computer, and controlling the robot to automatically run; the robot patrols according to a set path under the control of the industrial personal computer, when the camera identifies an illegal parking vehicle, a signal is sent to the industrial personal computer, the industrial personal computer controls the robot to drive into the bottom of the illegal parking vehicle from front, back, left and right directions, the positions of the wheels of the vehicle are identified through the camera, and the industrial personal computer controls the electric screw rod, the scissor type folding push rod mechanism and the double driving wheels to transversely move the two chassis left and right to align the four wheel shovel arms to the front and back four wheels of the vehicle;
after the position alignment is carried out, the industrial personal computer controls the electric push rod to push the telescopic guide rail outwards to drive the wheel shovel arm to move outwards, the lifting device of the wheel shovel arm inclines downwards after contacting with a tire, and the friction is reduced by utilizing a roller structure forming an inclination angle and a universal wheel at the bottom of the shovel arm so as to shovel the wheel of the vehicle;
and 3) when the wheels of the vehicle reach the wheel chock, stopping the electric push rod by the industrial personal computer, shoveling the four wheels of the vehicle by the wheel shovel arm at the moment, recovering the horizontal state of the lifting device, controlling the motor of the dual-drive wheel to operate by the industrial personal computer, rotating the inner ring of the slewing bearing through the motor, and driving the outer ring of the slewing bearing to rotate, so that the chassis is integrally steered, 360-degree omnidirectional movement of the robot is realized, and the illegal-parking vehicle is moved to a specified place.
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| WO2018018625A1 (en) * | 2016-07-29 | 2018-02-01 | 深圳市大疆创新科技有限公司 | Chassis vehicle, chassis vehicle control system, chassis vehicle control method and ground mobile robot |
| CN107355103A (en) * | 2017-07-31 | 2017-11-17 | 江西丹巴赫机器人股份有限公司 | Stop robot |
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| CN113233381A (en) | 2021-08-10 |
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