CN113756623B

CN113756623B - Automatic parking and carrying system and method

Info

Publication number: CN113756623B
Application number: CN202010970289.5A
Authority: CN
Inventors: 王佳; 宋国库
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2020-09-15
Filing date: 2020-09-15
Publication date: 2023-08-04
Anticipated expiration: 2040-09-15
Also published as: CN113756623A

Abstract

The present disclosure provides an automatic parking and handling system and method, the automatic parking and handling system comprising: base, sensing unit and handling machine crowd group. After the automobile runs to the base, the sensing unit detects the landing positions of the front wheels and the rear wheels on the base, the carrying robot group can provide two carrying positions which are used for clamping and holding the carrier and correspond to the landing positions of the front wheels and the rear wheels below the automobile respectively, and the front wheels and the rear wheels are clamped and held respectively so as to carry the automobile to a designated position together for parking.

Description

Automatic parking and carrying system and method

Technical Field

The present disclosure relates to the field of warehouse logistics, and more particularly, to an automated parking and handling system and method.

Background

With the rapid development of artificial intelligence, automatic control, communication and computer technology, robots are increasingly used in various fields of industrial and agricultural production, construction, logistics, daily life, etc. In recent years, the mobile robot industry has developed rapidly, various AGVs and RGVs are layered endlessly, and application scenes slowly penetrate into all corners of people's life.

The automatic parking and warehousing is an emerging application field of mobile robots, and is divided into an integral type and a separated type at present. The integrated floor area is large, and the self-adaptation is carried out through the self-adjusting device aiming at automobiles of different levels, so that the mechanical mechanism is complex and the cost is high. Although the split type automobile wheel tread and wheel base detection device is smaller than the integrated type floor area, the existing split type automobile wheel tread and wheel base detection device depends on a sensor, the control difficulty is increased, the identification risk is high, the design difficulty of an applied transmission mechanism is large, and the popularization and the application are difficult.

Disclosure of Invention

In view of the above, the present disclosure provides an automatic parking and transporting system and method.

One aspect of the present disclosure provides an automated parking and handling system including a base, a sensing unit, and a group of handling robot groups. The base is configured for parking the vehicle. The sensing unit is arranged on the base; the sensing unit is configured to detect landing positions of front and rear wheels of the automobile on the base. The carrying machine crowd group comprises a plurality of clamping and holding carrying devices, and the carrying machine crowd group can provide two clamping and holding carrying devices respectively run to carrying positions below the automobile and corresponding to landing positions of the front wheels and the rear wheels, and respectively clamp and hold the front wheels and the rear wheels so as to jointly carry the automobile to a designated position for parking.

According to an embodiment of the present disclosure, the clamping carrier includes: at least two arm-holding mechanisms and at least one moving wheel mechanism. The at least two arm holding mechanisms are symmetrically arranged on two sides of the clamping carrier and are configured to clamp and hold the front wheels and/or the rear wheels of the automobile. At least one moving wheel mechanism is configured to drive the clamping carrier to move.

According to an embodiment of the present disclosure, the base includes: a first seat and a second seat. The first seat body is provided with a sensing unit. The second seat body is placed in parallel with the first seat body; the second seat body is provided with the sensing unit.

According to the embodiment of the disclosure, the sensing units are arranged on the surfaces of the first seat body and the second seat body, which are contacted with the front wheel and the rear wheel of the automobile; the sensing unit comprises a plurality of sensors, and the plurality of sensors are arranged in a linear array.

According to an embodiment of the present disclosure, the arm holding mechanism includes: the driving unit and at least two clamping arms;

the at least two clamping arms can rotate from a first position to a second position along the opposite clockwise direction under the drive of the driving mechanism;

the first position is a position parallel to the moving direction of the clamping carrier, and the second position is a position perpendicular to the moving direction of the clamping carrier.

According to an embodiment of the present disclosure, the driving unit includes: a first electric machine, at least two turbine shafts, and at least two turbines. At least two turbine shafts are respectively connected with the output shaft of the first motor. At least two turbines are arranged as output ends of the drive unit and are respectively meshed with the two turbine shafts. At least two clamping arms are respectively connected with two turbines coaxially, and rotate around the axis of the turbines.

According to the embodiment of the disclosure, at least one roller is arranged on the clamping arm; the clamping arm is provided with inclined planes, and the inclined planes of the two clamping arms in the arm clamping mechanism are arranged oppositely.

According to an embodiment of the present disclosure, the moving wheel mechanism includes: the device comprises a second motor, a first driving wheel, a second driving wheel, a speed reducer, a first driven wheel and a second driven wheel. The first driving wheel is connected with an output shaft of the second motor through a transmission chain. The second driving wheel is connected with the first driving wheel through a coupler; the first driving wheel and the second driving wheel are symmetrically arranged on two sides of the clamping carrier. A speed reducer is coupled to the output shaft of the second motor, the speed reducer configured to reduce a rotational speed of the output shaft of the second motor. The first driven wheel and the second driven wheel are symmetrically arranged on two sides of the clamping carrier.

According to an embodiment of the present disclosure, the clamping carrier further includes: a frame body and a cover plate. The two arm holding mechanisms and the at least one moving wheel mechanism are arranged on the frame body. The cover plate is buckled above the frame body.

Another aspect of the present disclosure provides a method of handling using an automatic parking handling system, comprising: acquiring the landing position of the front wheel of the automobile on the base and the landing position of the rear wheel of the automobile on the base, which are detected by a sensing unit; according to the landing positions of the front wheels and the rear wheels, two clamping and holding conveyers are dispatched to respectively move to conveying positions below the automobile, wherein the conveying positions correspond to the landing positions of the front wheels and the rear wheels; the two clamping and holding conveyors clamp and hold the front wheel and the rear wheel respectively so as to jointly convey the automobile to a designated position for parking.

According to the embodiment of the disclosure, as the sensing units on the base are adopted to detect the landing positions of the front wheels and the rear wheels of the automobile on the base, the clamping carrier is operated to the landing positions and clamps and carries the front wheels and the rear wheels of the automobile to the preset positions, the technical problems that the control difficulty is increased and the identification risk is high due to the fact that the detection of the wheel base and the wheel base of the automobile is carried by the clamping carrier sensor in a clamping mode at least partially are solved, and then the technical effects that the vehicle sensor is not needed to be relied on, the control difficulty is reduced, and the identification accuracy is high are achieved.

Drawings

The above and other objects, features and advantages of the present disclosure will become more apparent from the following description of embodiments thereof with reference to the accompanying drawings in which:

fig. 1 schematically illustrates a structural schematic view of an automated parking and handling system according to an embodiment of the present disclosure;

FIG. 2 schematically illustrates a schematic view of a two gripper carrier gripping front and rear wheels of a vehicle in accordance with an embodiment of the present disclosure;

FIG. 3 schematically illustrates a schematic view of a base structure according to an embodiment of the present disclosure;

FIG. 4 schematically illustrates an overall structural schematic of a clamping carrier according to an embodiment of the present disclosure;

fig. 5 schematically illustrates an internal structural diagram of a clamping carrier according to an embodiment of the present disclosure.

Fig. 6 schematically shows a partial enlarged schematic according to fig. 5.

Fig. 7 schematically shows a partial enlarged schematic according to fig. 5.

Fig. 8 schematically illustrates a block diagram of an automated parking and handling method according to an embodiment of the present disclosure.

Detailed Description

Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood that the description is only exemplary and is not intended to limit the scope of the present disclosure. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the present disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the concepts of the present disclosure.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The terms "comprises," "comprising," and/or the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.

All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It should be noted that the terms used herein should be construed to have meanings consistent with the context of the present specification and should not be construed in an idealized or overly formal manner.

Where expressions like at least one of "A, B and C, etc. are used, the expressions should generally be interpreted in accordance with the meaning as commonly understood by those skilled in the art (e.g.," a system having at least one of A, B and C "shall include, but not be limited to, a system having a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.). Where a formulation similar to at least one of "A, B or C, etc." is used, in general such a formulation should be interpreted in accordance with the ordinary understanding of one skilled in the art (e.g. "a system with at least one of A, B or C" would include but not be limited to systems with a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.).

Embodiments of the present disclosure provide an automated parking and handling system, comprising: base, sensing unit and handling machine crowd group. After the automobile runs onto the base, the sensing unit detects landing positions of the front wheels and the rear wheels on the base, the carrying robot group can provide two carrying positions, corresponding to the landing positions of the front wheels and the rear wheels, of the clamping carrier, and the clamping carrier can respectively run below the automobile, and respectively clamp the front wheels and the rear wheels so as to jointly carry the automobile to a designated position for parking.

Fig. 1 schematically illustrates a structural schematic diagram of an automated parking and handling system according to an embodiment of the present disclosure. As shown in fig. 1, the automatic parking and carrying system includes a base 100, a sensing unit 200, and a carrying robot group. Wherein the transport robot group includes: a plurality of gripper carriers 300. There is no connection between the plurality of gripper carriers 300, and each gripper carrier 300 operates independently.

Taking the example of a group of transfer robot including two gripper carriers 300, fig. 2 schematically illustrates a schematic state diagram when the two gripper carriers grip front wheels and rear wheels of a car according to an embodiment of the disclosure, as shown in fig. 2, each gripper carrier 300 grips two front wheels or two rear wheels of the car.

Fig. 3 schematically illustrates a base structure schematic according to an embodiment of the present disclosure. As shown in fig. 3, the base 100 includes: a first housing 110 and a second housing 120. Regarding the arrangement of the first and second housings 110 and 120, one is a split arrangement, and the first and second housings 110 and 120 are respectively disposed on the ground without connection therebetween, as shown in fig. 3.

An alternative arrangement is that the bottoms of the first and second housings 110 and 120 are connected by a housing, and the base 100 is an integral structure, which is not described herein. However, the distance between the first and second housings 110 and 120 may be adjusted as desired. The specific connection mode is not limited any more, for example, screw connection, welding, cementing, riveting and the like can be selected according to actual needs.

The first and second housings 110 and 120 are disposed in parallel, and the specific requirement between the first and second housings 110 and 120 is to consider the width of the parked vehicle, which is generally not greater than the maximum distance between the first and second housings 110 and 120.

The first and second bodies 110 and 120 are generally configured in a trapezoid or semi-trapezoid structure so that a slope is suitable for the vehicle to travel onto the first and second bodies 110 and 120. In view of the convenience of the vehicle running, the widths of the first and second seats 110 and 120 should be as large as possible, and generally not smaller than the width of the tire.

The first and second housings 110 and 120 are each provided with a sensing unit 200. The sensing unit 200 includes a plurality of sensors 210. The plurality of sensors 210 are arranged in a linear array on the first and second seats 110 and 120, respectively (along the direction of the vehicle running along the first and second seats 110 and 120). The arrangement of the sensors 210 also needs to consider the high probability driving route of the vehicle when driving into the first and second seats 110 and 120 as much as possible, so as to improve the detection accuracy, so as to avoid the situation that the sensing unit 200 does not collect the landing position as much as possible.

The distance between the sensing unit 200 provided on the first housing 110 and the sensing unit 200 provided on the second housing 120 needs to be considered as a front track or a rear track, and preferably corresponds to a front track or a rear track of a parked vehicle.

Regarding the location where the sensing unit 200 is disposed, an embodiment is provided in fig. 3 in which the sensing unit is disposed on the surface of the first housing 110 (or the second housing 120) that contacts the tire of the automobile. As another embodiment, the installation positions of the corresponding adjustment sensor units are provided on the side wall surfaces of the first and second housings 110 and 120, for example.

For example, a position sensor (position sensor) is selected as the sensor 210, and the sensor senses the position of the object to be measured and converts the position into a usable output signal. It can sense the position of the measured object and convert it into a sensor with available output signal. The position sensor has two types of contact type and proximity type. The contact of the touch sensor is pressed by two objects to detect the contact position of the touch sensor with a certain object, and the touch sensor is more suitable for the situation that the sensor 210 is arranged on the surface contacted by the automobile tyre in the disclosure. The proximity sensor refers to a switch that can send out an "action" signal when an object approaches the switch to a set distance, and it does not need to be in direct contact with the object, and it is suitable for the case that the sensor 210 is disposed on the surface contacting with the automobile tire and the side wall surface of the seat in the present disclosure.

Fig. 4 schematically illustrates an overall structural schematic of a clamping carrier according to an embodiment of the present disclosure. As shown in fig. 4, the pinch carrier 300 includes: two arm holding mechanisms 310, at least one moving wheel mechanism 320, a frame 330 and a cover 340. The two arm holding mechanisms 310 and the at least one moving wheel mechanism 320 are disposed on the frame 330, and the cover 340 is fastened above the frame 330. The moving wheel mechanism 320 moves in the passage between the first and second housings 110 and 120; the two arm holding mechanisms 310 are respectively erected on the first base 110 and the second base 120, and move on the first base 110 and the second base 120 along with the moving wheel mechanism 320.

The cover 340 fastened over the frame 330 is opened, and fig. 5 schematically illustrates an internal structure of the clamping carrier according to an embodiment of the present disclosure. As shown in figure 5 of the drawings,

the two arm holding mechanisms 310 are symmetrically arranged at two sides of the clamping carrier 300 and configured to clamp the front wheels and the rear wheels of the automobile. Specifically, arm-clasping mechanism 310 includes: the drive unit and at least two clamping arms 314 are each described in detail below.

The driving unit drives at least two clamping arms 314 to open and close along the axial direction respectively, and the rotation directions of the two clamping arms 314 are opposite or opposite.

One clamping arm 314 rotates clockwise, the other clamping arm 314 rotates counterclockwise, the two clamping arms 314 rotate relatively, and the two clamping arms 314 clamp the tire tangentially from two sides of the tire.

At this time, the two clamping arms 314 can rotate from the first position to the second position in the opposite clockwise direction; the first position is a position parallel to the moving direction (X-axis direction) of the gripper carrier 300, and the second position is a position perpendicular to the moving direction of the gripper carrier 300. The critical position of the two clamping arms 314 during the relative rotation is that the two clamping arms 314 are parallel and perpendicular to the X-axis, and reference can be made to the position of the clamping arms 314 in fig. 5.

The rotation directions of the two clamping arms 314 are interchanged (i.e., one clamping arm 314 rotates in a counterclockwise direction and the other clamping arm 314 rotates in a clockwise direction), and when the two clamping arms 314 rotate in opposite directions, the tire is separated from the clamping arms 314 to clamp the tire. The critical position when the two clamping arms 314 rotate in opposite directions is that the two clamping arms 314 are on the same straight line and parallel to the first direction (X-axis).

The first direction (X-axis) is a movement direction of the gripper carrier 300. The second direction (Y-axis) is the arm extension direction of the gripper arm 314 (perpendicular to the movement direction of the gripper carrier 300).

It should be noted that, the rotation range of each clasping arm 314 is between the first position and the second position (0 ° -90 °).

Fig. 6 schematically shows a partial enlarged schematic according to fig. 5. As shown in fig. 6, inclined surfaces 3141 are provided on the clasping arms 314, and the inclined surfaces 3141 of the two clasping arms 314 in the clasping arm mechanism 310 are disposed opposite to each other. More specifically, the inclined surface 3141 is tangential to the front and rear wheels of the vehicle to achieve a better gripping effect.

The clamping arm 314 is provided with at least one roller 3142, which is more convenient for clamping the front wheel and the rear wheel of the automobile.

In a preferred embodiment, the rollers 3142 are disposed on the inclined surface 3141, as shown in fig. 6, which facilitates gripping of the tire by the gripping arms 314 and reduces frictional resistance therebetween.

Regarding the arrangement of the rollers 3142, there is no particular limitation, and a preferable arrangement is provided as shown in fig. 6, in which a plurality of rollers 3142 are coaxially arranged as one roller group in the second direction (Y axis direction), and a plurality of roller groups are arrayed on the inclined surface 3141.

The drive unit drives the two clamping arms 314 by a first motor 311 driving a transmission assembly. The drive transmission assembly may be selected from, for example: gear drive, chain drive, belt drive, worm gear drive, and the like. In one implementation of the present disclosure, a worm and gear drive is selected.

Specifically, the driving unit includes: a first electric machine 311, at least two turbine shafts 312, and at least two turbines 313. At least two turbine shafts 312 are respectively connected with the output shaft of the first motor 311; at least two turbines 313 are each connected in a meshing manner to two turbine shafts 312 as output shafts of the drive unit. At least two clamping arms 314 are coaxially connected to the two turbines 313, respectively, the clamping arms 314 rotating about the axis of the turbines 313.

With respect to the other component of the pinch carrier 300, a moving wheel mechanism 320 includes: a second motor 321, a first driving wheel 322, a second driving wheel 323, a decelerator 324, a first driven wheel 350, and a second driven wheel 360, as shown in fig. 7. The output shafts of the first driving wheel 322 and the second motor 321 are connected through a transmission chain 325, the second driving wheel 323 is connected with the first driving wheel 322 through a coupler 326, and the first driving wheel 322 and the second driving wheel 323 are symmetrically arranged on two sides of the clamping carrier 300. The first driven wheel 350 and the second driven wheel 360 are symmetrically disposed at both sides of the clamping carrier 300 to move along with the movement of the first driving wheel 322 and the second driving wheel 323.

Alternatively, the speed reducer 324 is connected to the output shaft of the second motor 321, and the speed reducer 324 is configured to reduce the rotation speed of the output shaft of the second motor 321.

The number of the first driving wheel 322, the second driving wheel 323, the first driven wheel 350 and the second driven wheel 360 is at least one respectively. Such as the first drive wheel 322, the second drive wheel 323, the first driven wheel 350, and the second driven wheel 360 shown in fig. 5, are two.

As shown in fig. 8, the automatic parking and carrying method of the embodiment of the present disclosure may include operations S101 to S103.

In operation S101, a landing position of a front wheel of an automobile on the base 100 and a landing position of a rear wheel of the automobile on the base 100 detected by the sensing unit 200 are acquired.

In operation S102, two of the pinch conveyors 300 are dispatched to a conveyance position corresponding to the front and rear wheel landing positions under the vehicle according to the front and rear wheel landing positions, respectively.

In operation S103, the two pinch conveyors 300 pinch the front and rear wheels, respectively, to jointly convey the car to a designated position for parking.

The specific structures of the base 100, the sensing unit 200, and the clamping carrier 300 are described above, and will not be described herein.

The embodiments of the present disclosure are described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the embodiments are described above separately, this does not mean that the measures in the embodiments cannot be used advantageously in combination. The scope of the disclosure is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be made by those skilled in the art without departing from the scope of the disclosure, and such alternatives and modifications are intended to fall within the scope of the disclosure.

Claims

1. An automated parking and handling system, comprising:

a base (100) configured for parking a vehicle;

a sensor unit (200) provided on the base (100) in the traveling direction of the automobile; -the sensing unit (200) is configured to detect landing positions of front and rear wheels of the vehicle on the base (100);

the carrying robot group comprises a plurality of clamping and holding carrying devices (300), and the carrying robot group can provide two clamping and holding carrying devices (300) to respectively move to carrying positions below the automobile and corresponding to the landing positions of the front wheels and the rear wheels, and respectively clamp and hold the front wheels and the rear wheels so as to jointly carry the automobile to a designated position for parking;

the clamping carrier comprises:

at least two arm holding mechanisms (310) symmetrically arranged at two sides of the clamping carrier (300) and configured to clamp and hold the front wheel and/or the rear wheel of the automobile;

the arm holding mechanism (310) includes: a drive unit and at least two clamping arms (314);

the driving unit includes:

a first motor (311);

at least two turbine shafts (312) respectively connected with the output shaft of the first motor (311);

at least two turbines (313) configured as output ends of the drive unit, respectively engaged with the two turbine shafts (312);

wherein, at least two clamping arms (314) are respectively connected with two turbines (313) coaxially, and the clamping arms (314) rotate around the axis of the turbines (313).

2. The automated parking and handling system of claim 1, wherein the automated parking and handling system,

the clamp carrier (300) includes:

at least one moving wheel mechanism (320) configured to move the gripper carrier (300).

3. The automated parking and handling system of claim 1, wherein the automated parking and handling system,

the base (100) comprises:

a first base body (110), wherein the first base body (110) is provided with one sensing unit (200); and

a second housing (120) disposed parallel to the first housing (110); the second base (120) is provided with one sensing unit (200).

4. The automatic parking and carrying system according to claim 3, wherein the sensing unit (200) is provided at surfaces of the first and second housings (110, 120) contacting front and rear wheels of the automobile; the sensing unit (200) comprises a plurality of sensors (210), and the plurality of sensors (210) are arranged in a linear array.

5. The automated parking and handling system of claim 2, wherein,

the at least two clamping arms (314) can rotate from a first position to a second position along the opposite clockwise direction under the drive of the drive mechanism;

the first position is a position parallel to the moving direction of the clamping carrier (300), and the second position is a position perpendicular to the moving direction of the clamping carrier (300).

6. The automatic parking and handling system according to claim 5, wherein at least one roller (3142) is provided on the clasping arm (314); the clamping arms (314) are provided with inclined surfaces (3141), and the inclined surfaces (3141) of the two clamping arms (314) in the arm clamping mechanism (310) are oppositely arranged.

7. The automated parking and handling system of claim 2, wherein the mobile wheel mechanism (320) comprises:

a second motor (321);

the first driving wheel (322) is connected with the output shaft of the second motor (321) through a transmission chain (325);

the second driving wheel (323) is connected with the first driving wheel (322) through a coupler (326); the first driving wheel (322) and the second driving wheel (323) are symmetrically arranged on two sides of the clamping carrier (300); and

a speed reducer (324) connected to the output shaft of the second motor (321), the speed reducer (324) being configured to reduce the rotational speed of the output shaft of the second motor (321);

the first driven wheel (350) and the second driven wheel (360) are symmetrically arranged on two sides of the clamping carrier (300).

8. The automated parking and handling system of claim 2, wherein the clamp carrier (300) further comprises:

the frame body (330), the two arm holding mechanisms (310) and the at least one moving wheel mechanism (320) are arranged on the frame body (330); and

and the cover plate (340), wherein the cover plate (340) is buckled above the frame body (330).

9. A conveying method using the automated parking conveying system according to any one of claims 1 to 8, comprising:

acquiring a landing position of a front wheel of the automobile on the base (100) and a landing position of a rear wheel of the automobile on the base (100) detected by a sensing unit (200), wherein the sensing unit is arranged on the base along the running direction of the automobile;

according to the landing positions of the front wheels and the rear wheels, two clamping and holding conveyers (300) are dispatched to respectively move to conveying positions below the automobile, wherein the conveying positions correspond to the landing positions of the front wheels and the rear wheels;

two clamping and holding conveyors (300) respectively clamp and hold the front wheels and the rear wheels so as to jointly convey the automobile to a designated position for parking;

the clamping carrier comprises:

the driving unit includes:

a first motor (311);