CN113969686A

CN113969686A - Parking robot control system and control method based on center coincidence

Info

Publication number: CN113969686A
Application number: CN202111322344.0A
Authority: CN
Inventors: 贾宝华
Original assignee: Jiangsu Xiaobaitu Intelligent Manufacturing Technology Co Ltd
Current assignee: Jiangsu Xiaobaitu Intelligent Manufacturing Technology Co Ltd
Priority date: 2020-11-09
Filing date: 2021-11-09
Publication date: 2022-01-25

Abstract

The invention belongs to the technical field of parking robots, and discloses a parking robot control system and method based on center coincidence. The control system comprises a traveling module, a fork arm moving module, a blocking arm moving module, a measuring module, a navigation module and a master controller; the traveling module is used for driving the parking robot to move according to a traveling control instruction sent by the master controller; the fork arm moving module is used for driving the fork arm to move; the blocking arm moving module is used for driving the blocking arm to move; the measuring module is used for detecting the wheel base of the vehicle; the navigation module is used for calculating a traveling route of the parking robot; the master controller comprises an input/output unit, a control command unit, a distance judging unit and a resistance judging unit. The blocking arm structure can help the fork arm of the parking robot to center when lifting the vehicle, so that the fork arm can be controlled to stop moving in time, and the problem that the lifting of the vehicle fails due to the fact that the fork arm is directly crossed by the lighter end due to the fact that the front counterweight difference and the rear counterweight difference of the vehicle are large is avoided.

Description

Parking robot control system and control method based on center coincidence

Technical Field

The invention belongs to the technical field of parking robots, relates to an automatic device for moving vehicles to or from parking spaces in a parking lot, and particularly relates to a parking robot control system and a control method based on center coincidence.

Background

With the development of society, the economy is improved, the number of automobiles is increased sharply, household automobiles are indispensable vehicles for each family, the problem of difficult parking in each city is solved, the parking queue and the parking space finding time are long, and the traditional method for drivers to find the parking space by themselves cannot meet the parking requirements in each city at present. In order to reduce the time for finding a parking space, parking robots with different structures appear in the market.

Among them, a parking robot that lifts a vehicle by inserting the bottom of the vehicle from the side and sandwiching a tire has a wide application prospect. Generally, such a parking robot employs a four-claw structure including a U-shaped frame body with moving wheels and four holding arms slidable on a long side of the frame body. The parking robot with the structure has large occupied space and high weight, and the problem of vehicle sideslip is easy to occur because the structure is unstable because no supporting structure is arranged below the fork arms. In addition, a parking robot with a two-jaw structure is also available on the market, which comprises a frame body shaped like a Chinese character 'yi' and two fork arms with outward wheels and capable of sliding on the frame body. The parking robot with the structure changes the shape of the frame body, reduces the number of the fork arms, and increases the universal wheel supporting structure below the fork arms. However, when the vehicle is subjected to a large bump, the vehicle still has the potential of slipping. Meanwhile, when a vehicle with a large difference between the front and rear weights is transported, the situation that the tire on the side with a light weight directly passes over the fork arm and the tire on the side with a heavy weight is not pressed on the fork arm in the process of pressing the tire may occur, and the application range of the parking robot with the structure is limited.

Disclosure of Invention

In view of the technical problems in the prior art, one of the purposes of the present invention is to design a control system and a control method for a parking robot based on center coincidence, aiming at the technical problems that when the existing two-claw parking robot carries a vehicle with a large difference between front and rear weights, the vehicle cannot be pressed onto a fork arm, and the vehicle is easy to slip.

The technical scheme of the invention is as follows:

the invention provides a parking robot control system with a coincident center, which comprises a traveling module, a fork arm moving module, a stop arm moving module, a measuring module, a navigation module and a master controller.

The traveling module comprises an active traveling device and universal wheels and is used for driving the parking robot to move according to a traveling control instruction sent by the master controller;

the fork arm moving module comprises a fork arm moving device and is used for driving the fork arm to move;

the blocking arm moving module comprises a blocking arm moving device and is used for driving the blocking arm to move;

the measuring module comprises a photoelectric sensor and is used for detecting the wheel base of the vehicle;

the navigation module is used for calculating a traveling route of the parking robot;

the master controller comprises an input/output unit, a control command unit, a distance judging unit and a resistance judging unit; the input and output unit is used for acquiring a signal for determining parking or picking up a vehicle from a user; the control instruction unit is used for sending a control instruction so as to control the measuring module to measure the wheel base, control the fork arm moving module to drive the fork arm to move, control the baffle arm moving module to drive the baffle arm to move, control the navigation module to calculate the traveling route of the parking robot and control the traveling module to drive the parking robot to move; the distance judging unit is used for acquiring the distance between the two fork arms and the distance between the two blocking arms, judging whether the difference value between the axle distance of the vehicle and the distance between the two fork arms and whether the difference value between the distance between the two blocking arms and the axle distance of the vehicle is larger than or equal to a preset difference value, judging whether the middle point between the left blocking arm and the right blocking arm is superposed with the middle point between the left fork arm and the right fork arm, judging whether the distance between the two fork arms is larger than the difference value obtained by subtracting the width of the two fork arms from the axle distance of the vehicle, sending the judgment result to the control command unit, simultaneously acquiring the distance between the vehicle and the parking robot, and judging whether the distance between the vehicle and the parking robot is smaller than or equal to a first conveying distance or smaller than or equal to a second conveying distance; and the resistance judging unit is used for judging whether the movement of the left gear arm or the right gear arm is subjected to resistance or not and sending the obtained result and the judged result to the control command unit.

In the above-described aspect, the parking robot further includes:

the linear beam is provided with an active walking device, a fork arm moving device, a barrier arm moving device, a photoelectric sensor and a master control box comprising a navigation module and a master controller;

the two fork arms are respectively and fixedly connected with the two fork arm moving devices, and a universal wheel is respectively arranged on the two fork arms;

and the two blocking arms are fixedly connected with the two blocking arm moving devices respectively and are positioned at two ends of the two fork arms respectively or are positioned in the middle of the two fork arms respectively.

Furthermore, in the control system, a wheel hub limiting seat is arranged at the position where the fork arm and the baffle arm contact with the tire, and a tire bracket is mounted on the wheel hub limiting seat.

Further, when the hub limiting seat is arranged on the blocking arm, the resistance determination unit is further used for determining whether the resistance applied to the movement of the left blocking arm or the right blocking arm is greater than or equal to a preset maximum resistance.

The invention also provides a control method of the parking robot control system based on center coincidence, which comprises the following steps:

s1: after the input and output unit receives a signal that a user determines to store or take a car, the control instruction unit controls the advancing module to drive the parking robot to approach one side of the car;

the distance judging unit obtains the distance between the vehicle and the parking robot and judges whether the distance between the vehicle and the parking robot is smaller than or equal to a first carrying distance or not, if yes, the control instruction unit controls the advancing module to stop driving the parking robot, and if not, whether the distance between the vehicle and the parking robot is smaller than or equal to the first carrying distance or not is continuously judged;

the preset first carrying distance is a distance which ensures that the parking robot cannot collide with the vehicle and cannot be too far away from the vehicle;

s2: the control instruction unit controls the measuring module to measure the wheel base of the vehicle and sends the wheel base to the distance judging unit;

s3: the control instruction unit controls the blocking arm moving module and the fork arm moving module to simultaneously adjust the positions of the left blocking arm, the right blocking arm, the left fork arm and the right fork arm;

when the two blocking arms are respectively positioned at two sides of the two fork arms, the distance judging unit obtains the distance between the two fork arms and the distance between the two blocking arms, judges whether the difference value obtained by subtracting the distance between the two fork arms from the wheel base of the vehicle and the difference value obtained by subtracting the wheel base of the vehicle from the distance between the two blocking arms are larger than or equal to a preset difference value, judges whether the midpoint between the left blocking arm and the right blocking arm is superposed with the midpoint between the left fork arm and the right fork arm, controls the command unit to control the fork arm moving module to stop driving the fork arms to move if all judgment results are yes, controls the blocking arm moving module to stop driving the blocking arms to move, and maintains the current situation if one or two judgment results are not;

when the two blocking arms are positioned between the two fork arms, the distance judging unit obtains the distance between the two fork arms and the distance between the two blocking arms, judges whether the difference value obtained by subtracting the distance between the two blocking arms from the wheel base of the vehicle and the difference value obtained by subtracting the wheel base of the vehicle from the distance between the two fork arms are larger than or equal to a preset difference value, judges whether the midpoint between the left blocking arm and the right blocking arm is superposed with the midpoint between the left fork arm and the right fork arm, if all judgment results are yes, the control instruction unit controls the fork arm moving module to stop driving the fork arms to move, and controls the blocking arm moving module to stop driving the blocking arms to move, and if one or two judgment results are not, the current situation is maintained;

the preset difference value is used for ensuring that the fork arm or the catch arm cannot collide with the tire of the vehicle when the parking robot drives to the vehicle;

s4: the control instruction unit controls the traveling module to drive the parking robot to drive the vehicle;

the distance judging unit obtains the distance between the vehicle and the frame of the parking robot, judges whether the distance between the vehicle and the parking robot is smaller than or equal to a preset second carrying distance or not, sends a judgment result to the control instruction unit, controls the advancing module to stop driving the parking robot if the judgment result is positive, and judges next time if the judgment result is negative;

the second carrying distance is used for ensuring that the parking robot can clamp and hold four tires on the left side and the right side of the vehicle and cannot collide with the vehicle;

s5: when the two blocking arms are respectively positioned at two sides of the two fork arms, the control instruction unit controls the blocking arm moving module to simultaneously and respectively move the left blocking arm and the right blocking arm to the middle of the parking robot; when the two blocking arms are positioned between the two fork arms, the control instruction unit controls the blocking arm moving module to simultaneously and respectively move the left blocking arm and the right blocking arm to the two ends of the parking robot;

the resistance judging unit judges whether the movement of the left gear arm or the right gear arm is subjected to resistance or not, and sends the result to the control instruction unit, if so, the control instruction unit controls the gear arm movement module to stop driving the left gear arm or the right gear arm, and if not, the next judgment is carried out;

s6: when the two blocking arms are respectively positioned at two sides of the two fork arms, the control instruction unit controls the fork arm moving module to adjust the positions of the left fork arm and the right fork arm, so that the middle point between the left blocking arm and the right blocking arm is coincided with the middle points of the left fork arm and the right fork arm, the left fork arm and the right fork arm are moved to two ends of the parking robot respectively, and the moving displacement of the left fork arm and the moving displacement of the right fork arm are kept to be the same; when the two blocking arms are positioned between the two fork arms, the control instruction unit controls the fork arm moving module to adjust the positions of the left fork arm and the right fork arm, so that the middle point between the left blocking arm and the right blocking arm is coincided with the middle points of the left fork arm and the right fork arm, the left fork arm and the right fork arm are moved towards the middle of the parking robot respectively, and the moving displacement of the left fork arm and the moving displacement of the right fork arm are kept the same;

when the two stop arms are respectively positioned at two sides of the two fork arms, the distance judging unit judges whether the distance between the two fork arms is larger than a difference value obtained by subtracting the widths of the two fork arms from the wheel base of the vehicle, if so, the control instruction unit controls the fork arm moving module to stop driving the left fork arm and the right fork arm, and if not, the next judgment is carried out; when the two stop arms are positioned between the two fork arms, the distance judgment unit judges whether the distance between the two fork arms is smaller than the wheel base of the vehicle or not, if so, the control instruction unit controls the fork arm moving module to stop driving the left fork arm and the right fork arm, and if not, the next judgment is carried out;

s7: the control instruction unit controls the navigation module to calculate the traveling route of the parking robot and sends the traveling route to the control instruction unit, and then the traveling module is controlled to drive the parking robot to a parking space where the vehicle is to be parked;

s8: when the two blocking arms are respectively positioned at two sides of the two fork arms, the control instruction unit controls the fork arm moving module to simultaneously and respectively move the left fork arm and the right fork arm to the middle of the parking robot, and simultaneously controls the blocking arm moving module to simultaneously and respectively move the left blocking arm and the right blocking arm to two ends of the parking robot; when the two blocking arms are positioned between the two fork arms, the control instruction unit controls the fork arm moving module to simultaneously move the left fork arm and the right fork arm to the two ends of the parking robot respectively, and simultaneously controls the blocking arm moving module to simultaneously move the left blocking arm and the right blocking arm to the middle of the parking robot respectively;

when the two blocking arms are respectively positioned at two sides of the two fork arms, the distance judging unit obtains the distance between the two fork arms and the distance between the two blocking arms, judges whether the difference value obtained by subtracting the distance between the two fork arms from the wheel base of the vehicle and the difference value obtained by subtracting the wheel base of the vehicle from the distance between the two blocking arms are larger than or equal to a preset difference value or not, and sends the judgment result to the control instruction unit, if so, the control instruction unit controls the fork arm moving module to stop driving the left fork arm or the right fork arm, or controls the blocking arm moving module to stop driving the left blocking arm or the right blocking arm; when the two blocking arms are positioned between the two fork arms, the distance judging unit obtains the distance between the two fork arms and the distance between the two blocking arms, judges whether the difference value obtained by subtracting the distance between the two blocking arms from the wheel base of the vehicle and the difference value obtained by subtracting the wheel base of the vehicle from the distance between the two fork arms are larger than or equal to a preset difference value or not, and sends the judgment result to the control instruction unit, if so, the control instruction unit controls the fork arm moving module to stop driving the left fork arm or the right fork arm, or controls the blocking arm moving module to stop driving the left blocking arm or the right blocking arm;

s9: the control instruction unit controls the traveling module to drive the parking robot away from the vehicle from the side.

In the control method, it is determined whether or not the movement of the left shift arm or the right shift arm is subjected to resistance, or whether or not the movement of the left yoke or the right yoke is subjected to resistance, by determining whether or not the power of the drive motor of the shift arm moving device or the yoke moving device is increased or whether or not the current is increased when the moving rate is constant, or by determining whether or not the shift arm or the yoke is moved or whether or not the moving rate is slowed when the power of the drive motor of the shift arm moving device or the yoke moving device is constant, or by determining whether or not the detection result of the resistance sensor provided at a position corresponding to the shift arm or the yoke is greater than or equal to a predetermined resistance. When the determination result is yes, it indicates that the movement of the corresponding stopper arm or yoke receives resistance.

In step S6, when the control command unit controls the yoke moving module to stop driving the left yoke or the right yoke:

when the two blocking arms are respectively positioned at two sides of the two fork arms, the blocking arm moving module is controlled to move the left blocking arm or the right blocking arm towards the middle of the parking robot; when the two blocking arms are positioned between the two fork arms, the blocking arm moving module is controlled to move the left blocking arm or the right blocking arm towards the middle of the parking robot;

the resistance judging unit judges whether the movement of the left gear arm or the right gear arm is subjected to resistance or not, and sends the result to the control command unit, if not, the next judgment is carried out, and if so, the control command unit controls the gear arm moving module to stop driving the left gear arm or the right gear arm.

In step S6, if the two arms are provided with hub limiting seats, when the control command unit controls the yoke moving module to stop driving the left yoke or the right yoke:

when the two blocking arms are respectively positioned at two sides of the two fork arms, the blocking arm moving module is controlled to move the left blocking arm or the right blocking arm towards the middle of the parking robot; when the two blocking arms are positioned between the two fork arms, the blocking arm moving module is controlled to move the left blocking arm or the right blocking arm towards the two ends of the parking robot;

the resistance judging unit judges whether the resistance applied to the movement of the left gear arm or the right gear arm is greater than or equal to the preset maximum resistance or not, and sends the result to the control command unit, if not, the next judgment is carried out, and if so, the control command unit controls the gear arm moving module to stop driving the left gear arm or the right gear arm.

In step S9, the method further includes: the distance judging unit obtains the distance between the vehicle and the parking robot and judges whether the distance between the vehicle and the parking robot is larger than or equal to the first conveying distance, if so, the control command unit controls the advancing module to stop driving the parking robot, and if not, the next judgment is carried out.

In the parking robot control method, when the two blocking arms are respectively positioned at two sides of the two fork arms, the left fork arm and the right fork arm move away from each other to squeeze a tire, after the wheel base of the vehicle is obtained, the left fork arm and the right fork arm respectively move towards the middle of the parking robot, and the left blocking arm and the right blocking arm respectively move towards two ends of the parking robot; when the tire is extruded, the left fork arm and the right fork arm respectively move towards two ends of the parking robot, and the left gear arm and the right gear arm respectively move towards the middle of the parking robot; when a vehicle is placed, the left fork arm and the right fork arm respectively move towards the middle of the parking robot, and the left gear arm and the right gear arm respectively move towards the two ends of the parking robot. When the two blocking arms are positioned between the two fork arms, the left fork arm and the right fork arm move relatively to squeeze a tire, the left fork arm and the right fork arm move towards two ends of the parking robot respectively after the wheel base of the vehicle is obtained, and the left blocking arm and the right blocking arm move towards the middle of the parking robot respectively; when the tire is extruded, the left fork arm and the right fork arm respectively move towards the middle of the parking robot, and the left gear arm and the right gear arm respectively move towards the two ends of the parking robot; when a vehicle is placed, the left fork arm and the right fork arm respectively move towards two ends of the parking robot, and the left gear arm and the right gear arm respectively move towards the middle of the parking robot.

Taking the two blocking arms respectively positioned at the two sides of the two fork arms as an example, when the left blocking arm or the right blocking arm moves towards the middle of the parking robot, when the left blocking arm or the right blocking arm receives resistance for the first time, the left blocking arm or the right blocking arm is shown to have touched the wheel, and the left blocking arm or the right blocking arm can stop moving continuously. When the left gear arm and the right gear arm contact the tire at the same time, if the midpoint between the left gear arm and the right gear arm is coincident with the midpoint between the left fork arm and the right fork arm, and simultaneously and respectively moving the left fork arm and the right fork arm to the two ends of the parking robot, and keeping the moving displacement of the left fork arm and the right fork arm the same, when the distance between the left fork arm and the right fork arm is larger than the difference value of the wheel base of the vehicle minus the width of the two fork arms, indicating that the distance between the tire contact position of the left yoke and the tire contact position of the right yoke is greater than the wheel base of the vehicle, and therefore, when it is detected that the distance between the left yoke and the right yoke is greater than the difference between the wheel base of the vehicle minus the width of the two yokes, it indicates that the entire vehicle has been lifted by the left and right forks without the need to continue moving the left and right forks, otherwise the wheel may fall back over the left fork onto the ground. And the left gear arm or the right gear arm is moved to the middle of the parking robot again until the left gear arm or the right gear arm receives resistance for the second time, so that the left gear arm touches the wheels again, and the front and back movement caused by bumping can be prevented when the vehicle is carried. And move the left fender arm to the middle of the car parking robot again until receiving the resistance for the second time, show that the left fender arm has touched the wheel again, further, if keep off the arm and be equipped with the spacing seat of tire, when detecting that the resistance that left fender arm or right fender arm received is greater than or equal to predetermined maximum resistance, show that the tire bracket of left fender arm or right fender arm has held in the palm one side of wheel, because of the back-and-forth movement that jolts produced when can prevent the transport vehicle.

The invention has the following beneficial effects:

1. the invention introduces the barrier arm structure, which can help the fork arm of the parking robot to center when lifting the vehicle, so as to control the fork arm to stop moving in time, and avoid the failure of lifting the vehicle caused by the fact that the lighter end directly passes over the fork arm because the front and rear counterweight difference of the vehicle is larger;

2. the control system and the control method comprehensively consider various collisions and errors which may occur in the parking process, have high feasibility, and particularly determine the central point between two wheels after the stop arm is firstly contacted with the tire (namely, the movement is subjected to resistance), and the left fork arm and the right fork arm move away from each other with the same displacement, so that the left fork arm and the right fork arm can be easily judged at which positions to stop moving, the states of the tire and the corresponding fork arm are directly and effectively reflected, and the situation that the tire falls off again due to excessive movement of the fork arm is avoided.

Drawings

Fig. 1 is a perspective view of a parking robot according to embodiment 1 of the present invention;

fig. 2 is a perspective view of a tire bracket of a fork arm of a parking robot according to an embodiment of the present invention;

fig. 3 is a bottom view of another tire bracket of a parking robot yoke according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a parking robot control system according to an embodiment of the present invention;

fig. 5 is a perspective view of a parking robot according to embodiment 2 of the present invention;

fig. 6 is a perspective view of a parking robot according to embodiment 5 of the present invention;

wherein 100 is a frame, 110 is a front plate, 120 is a rear plate, 130 is a middle plate, 140 is an active traveling device, 200 is a left yoke, 300 is a right yoke, 310 is a yoke moving device, 311 is a moving motor, 312 is an L-shaped mounting plate, 313 is a first guide slider mechanism, 314 is a second guide slider mechanism, 315 is a rack, 330 is a hub stopper, 331 is a tire bracket, 332 is a rolling member, 333 is a fixing bracket, 334 is a fixing block, 3341 is a first fixing block, 3342 is a second fixing block, 3343 is a third fixing block, 335 is a spring, 336 is a rolling bushing, 337 is a roller shaft, 338 is a pedestal, 3381 is a lateral bracket, 3382 is a first longitudinal bracket, 3383 is a second longitudinal bracket, 3384 is a first rear bracket, 3385 is a front bracket, 3386 is a second rear bracket, 339 is a spacer, 400 is a photosensor 511, 500 is a left stopper arm, 510 is a moving motor, the reference numeral 512 denotes an L-shaped mounting plate, 513 denotes a third rail slider mechanism, 514 denotes a fourth rail slider mechanism, 515 denotes a rack, and 600 denotes a right arm.

Detailed Description

In order to more clearly illustrate the technical solutions of the present invention, the following description is given with reference to specific embodiments and accompanying drawings, and it is obvious that the embodiments in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other embodiments can be obtained according to these embodiments without any inventive work.

Example 1

The present embodiment relates to a parking robot, as shown in fig. 1, including:

the bicycle frame 100, the bicycle frame 100 is a straight-line structure, and the length of the bicycle frame is fixed;

the active walking device 140 is mounted on the frame 100, and is used for driving the frame 100 to move;

the left fork arm 200 and the right fork arm 300 are symmetrically and identically structured, the left fork arm 200 and the right fork arm 300 are respectively arranged on the same side of the frame 100, and the distance between the left fork arm 200 and the right fork arm 300 is adjustable;

universal wheels installed on the left and

right yokes

200 and 300 to meet the driving requirements of the parking robot and serving as a support structure;

the left and right blocking

arms

500 and 600 are symmetrically and identically structured, and the left and right blocking

arms

500 and 600 are movably installed on the frame 100, are respectively located at both sides of the left and

right forks

200 and 300, and are respectively used in combination with the left and

right forks

200 and 300, for limiting the forward and backward movement of the vehicle and confirming whether the wheels have been lifted during the process of clamping the vehicle by the left and

right forks

200 and 300.

The left blocking arm 500 and the right blocking arm 600 are located on the same horizontal plane as the left fork arm 200 and the right fork arm 300, the left blocking arm 500 and the left fork arm 200 share a slide rail, and the right blocking arm 600 and the right fork arm 300 share a slide rail. The lengths of the left and right shift

arms

500 and 600 are shorter than the lengths of the left and

right yoke

200 and 300. The cross sections of the left and right blocking

arms

500 and 600 are rectangular. In other embodiments, the cross-section of the left and right retaining

arms

500 and 600 may be circular, oval, square, triangular, polygonal, or other irregular shapes. The left blocking arm 500 and the right blocking arm 600 are sleeved with elastic protective sleeves.

The left and right blocking

arms

500 and 600 are connected to a blocking arm moving device 510, and the movement of the left and right blocking

arms

500 and 600 on the frame 100 is realized by the blocking arm moving device 510. The arm blocking moving device 510 comprises a moving motor 511, an L-shaped mounting plate 512, a third guide rail sliding block mechanism 513, a fourth guide rail sliding block mechanism 514 and a rack 515, wherein the L-shaped mounting plate 512 is connected with the left blocking arm 500 or the right blocking arm 600 and is also connected with the third guide rail sliding block mechanism 513 or the fourth guide rail sliding block mechanism 514, and the third guide rail sliding block mechanism 513 and the fourth guide rail sliding block mechanism 514 are fixed on the frame 100; the movable motor 511 is installed on the L-shaped mounting plate 512, a driving gear is installed on an output shaft of the movable motor 511, the driving gear is meshed with a rack 515 fixed on the frame 110, the movable motor 511 drives the driving gear to rotate, and the driving gear is meshed with the rack so as to drive the L-shaped mounting plate 512 to move on the frame 110.

The left yoke 200 and the right yoke 300 are connected with a yoke moving device 310, and the distance between the left yoke 200 and the right yoke 300 can be adjusted by the yoke moving device 310, the yoke moving device 310 comprises a moving motor 311, an L-shaped mounting plate 312, a first guide rail slider mechanism 313, a second guide rail slider mechanism 314 and a rack 315, the L-shaped mounting plate 312 is connected with the left yoke 200 or the right yoke 300 and is simultaneously connected with the first guide rail slider mechanism 313 and the second guide rail slider mechanism 314, and the first guide rail slider mechanism 313 and the second guide rail slider mechanism 314 are fixed on the frame 100; the movable motor 311 is installed on the L-shaped mounting plate 312, the output shaft of the movable motor 311 is installed with a driving gear, the driving gear is engaged with a rack fixed on the frame 110, the movable motor 311 drives the driving gear to rotate, and the driving gear is engaged with the rack so as to drive the L-shaped mounting plate 312 to move on the frame 110. In a further embodiment, the left arm 500 and the left yoke 200 share a rail and a rack, and the right arm 600 and the right yoke 300 share a rail and a rack.

The first rail slider mechanism 313 of the left yoke 200 and the third rail slider mechanism 513 of the left stopper arm 500 share a rail, the second rail slider mechanism 314 of the left yoke 200 and the fourth rail slider mechanism 514 of the left stopper arm 500 share a rail, and the left yoke 200 and the left stopper arm 500 share a rack 315/515. Similarly, the first rail slider mechanism 313 of the right yoke 200 shares a rail with the third rail slider mechanism 513 of the right arm 500, the second rail slider mechanism 314 of the right yoke 200 shares a rail with the fourth rail slider mechanism 514 of the right arm 500, and the right yoke 200 and the right arm 500 share one rack 315/515. In other embodiments, the yoke and the catch arm may not share a slide or rack.

The universal wheel comprises a wheel, a rotating body, a bevel gear set and a motor; the bevel gear set comprises a ring gear horizontally placed and a pinion driven by a motor; the wheel is located the centre bore of rotator, just the inner circle of rotator and ring gear inboard respectively with the wheel hub fixed connection of wheel, driving motor drives the initiative of wheel through driving the bevel gear group and turns to.

The universal wheel is characterized in that wheels of the universal wheel are mounted on a wheel shaft, the wheel shaft is fixedly mounted in a wheel hub through a fixing piece, the rotating body is a crossed roller bearing, an outer ring of the crossed roller bearing is fixed on a left fork arm 200 or a right fork arm 300, the motor drives a pinion through a speed reducer 7 and is mounted on a motor fixing frame, the motor fixing frame is mounted on the left fork arm 200 or the right fork arm 300, the bur wheel set is a spiral bevel gear with arc teeth, and an included angle between a central shaft of the pinion and a central shaft of the annular gear is 90 degrees.

When the universal wheel is used, the outer ring of the rotating body is fixedly arranged on a base of the equipment. When the motor is not started, the inner ring and the outer ring of the rotating body are relatively static, and the universal wheel cannot rotate freely. When the motor is started, the motor drives the pinion to rotate, and the pinion drives the annular gear to rotate by an angle alpha, the annular gear drives the inner ring of the rotating body and the hub to rotate by the angle alpha, and the outer ring of the rotating body is fixed on the equipment base and cannot rotate. Wherein the range of the angle alpha is more than or equal to 0 degree and less than or equal to 360 degrees. And the speed and the running time of the motor can be adjusted to control the alpha at will, so that the purpose of rotating the rolling direction of the wheel in any direction is achieved.

As shown in fig. 1, 3 and 4, the left yoke 200 and the right yoke 300 are provided with a hub stopper 330 at positions corresponding to the tire, and a tire bracket 331 is installed in the hub stopper 330.

The tire carriage 331 includes a rolling assembly 332, a fixing block 334, and a spring 335. The rolling assembly 332 includes a rolling sleeve 336, a roller axle 337, and a pedestal 338. The rolling shaft sleeves 336 are sleeved on the roller shafts 337, and the roller shafts 337 are arranged in two or more rows and mounted on the shaft bracket 338. The pedestal 338 includes a transverse support 3381, two first longitudinal supports 3382, and one or more second longitudinal supports 3383. The lateral support 3381 is located at the rear side of the rolling assembly 332. All of the first longitudinal supports 3382 and the second longitudinal supports 3383 are parallel to each other. The first longitudinal support 3382 is two sheet-like structures which are rotatably connected, namely a first rear support 3384 and a front support 3385, and the second longitudinal support 3383 is two sheet-like structures which are rotatably connected, namely a second rear support 3386 and a front support 3385. The first rear brackets 3384 are disposed at left and right sides of the rolling assembly 332, and the second rear brackets 3386 are disposed at a middle portion of the rolling assembly 332 and are fixedly connected to the transverse bracket 3381. The roller shaft 337 is mounted between the two longitudinal brackets. A first fixed block 3341 is fixedly mounted on the outer side of the first rear side 3384 end of the first longitudinal support 3382, a third fixed block 3343 is fixedly mounted on the outer side of the front side 3385 end of the first longitudinal support, and a second fixed block 3342 is fixedly mounted on the outer side of the front side 3385 close to the rotary connecting structure. One end of the plate-shaped spring 335 is fixed to the first fixing block 3341 and passes through the second fixing block 3342 and the third fixing block 3343.

The tire bracket 331 is fixedly connected to the hub stopper 330 through a first rear bracket 3384. Still further, the diameters of all or two or more rows of the rolling sleeves 336 distant from the lateral support 3381 are gradually reduced as the distance from the lateral support 3381 increases. Still further, the outermost row of rolling sleeves 336 is a triangular pad 339. Still further, the transverse support 3382 is a block structure, and one or more transverse fixing supports 333 are disposed at the bottom of the first rear support 3384 and the second rear support 3386.

The roller hub limiting seat 330 of the left yoke 200 is located on the left side, and the roller hub limiting seat 330 of the right yoke 300 is located on the right side, so that the left yoke 200 and the right yoke 300 move away when the vehicle is lifted off the ground. When the vehicle is lifted off the ground, the left fork arm 200 and the right fork arm 300 are inserted between two rows of wheels of the vehicle, and the left fork arm 200 and the right fork arm 300 move away from each other to lift both rows of tires off the ground.

The frame 100 is provided with a photoelectric sensor 400 on the same side as the left yoke 200 and the right yoke 300 for detecting parameters such as the position of the vehicle and the wheel base of the vehicle.

The frame 100 is composed of a front plate 110, a rear plate 120 and a middle plate 130, wherein the middle plate 130 is fixedly connected with the front plate 110 and the rear plate 120 respectively.

Example 2

The present embodiment relates to a parking robot, as shown in fig. 5. This parking robot has a similar structure to that of embodiment 1, and only the structures of the left range arm 500 and the right range arm 600 are different.

The positions of the left and

right arms

500 and 600 corresponding to the tire are provided with a hub limiting seat 330, and the tire bracket 331 is arranged in the hub limiting seat 330.

Example 3

The present embodiment relates to a control system and a control method applied to embodiment 1.

As shown in fig. 4, the control system of the parking robot based on center coincidence includes a traveling module, a yoke moving module, a barrier arm moving module, a measuring module, a navigation module, and a general controller.

The traveling module comprises an active traveling device 140 and universal wheels and is used for driving the parking robot to move according to a traveling control instruction sent by the master controller;

the fork arm moving module comprises a fork arm moving device 310 and is used for driving the fork arm to move;

a barrier arm moving module including a barrier arm moving device 510 for driving the barrier arm to move;

a measuring module including a photoelectric sensor 400 for detecting a wheel base of the vehicle;

The embodiment further includes a control method of the parking robot control system based on center coincidence, where the method includes:

the distance judging unit obtains the distance between the two fork arms and the distance between the two blocking arms, judges whether the difference value between the axle distance of the vehicle and the distance between the two fork arms and whether the difference value between the distance between the two blocking arms and the axle distance of the vehicle is larger than or equal to a preset difference value or not, judges whether the midpoint between the left blocking arm and the right blocking arm is coincident with the midpoint between the left fork arm and the right fork arm or not, controls the command unit to control the fork arm moving module to stop driving the fork arms to move if all judgment results are yes, controls the blocking arm moving module to stop driving the blocking arms to move, and maintains the current situation if one or two judgment results are not;

s5: the control instruction unit controls the gear arm moving module to simultaneously and respectively move the left gear arm and the right gear arm to the middle of the parking robot;

s6: the control instruction unit controls the fork arm moving module to adjust the positions of the left fork arm and the right fork arm, so that the middle point between the left gear arm and the right gear arm is coincided with the middle points of the left fork arm and the right fork arm, the left fork arm and the right fork arm are moved to the two ends of the parking robot respectively, and the moving displacement of the left fork arm and the moving displacement of the right fork arm are kept the same;

the distance judging unit judges whether the distance between the two fork arms is larger than the difference value obtained by subtracting the widths of the two fork arms from the wheel base of the vehicle or not, if not, the next judgment is carried out, if so, the control instruction unit controls the fork arm moving module to stop driving the left fork arm and the right fork arm, and controls the baffle arm moving module to move the left baffle arm or the right baffle arm to the middle of the parking robot;

the resistance judging unit judges whether the movement of the left gear arm or the right gear arm is subjected to resistance or not, and sends the result to the control instruction unit, if not, the next judgment is carried out, and if so, the control instruction unit controls the gear arm movement module to stop driving the left gear arm or the right gear arm;

when the left gear arm and the right gear arm contact the tire at the same time, if the midpoint between the left gear arm and the right gear arm is coincident with the midpoint between the left fork arm and the right fork arm, and simultaneously and respectively moving the left fork arm and the right fork arm to the two ends of the parking robot, and keeping the moving displacement of the left fork arm and the right fork arm the same, when the distance between the left fork arm and the right fork arm is larger than the difference value of the wheel base of the vehicle minus the width of the two fork arms, indicating that the distance between the tire contact position of the left yoke and the tire contact position of the right yoke is greater than the wheel base of the vehicle, and therefore, when it is detected that the distance between the left yoke and the right yoke is greater than the difference between the wheel base of the vehicle minus the width of the two yokes, indicating that the entire vehicle has been lifted by the left and right forks without continuing to move the left and right forks, otherwise the wheel may drop over the left fork and onto the ground again;

s8: the control instruction unit controls the fork arm moving module to simultaneously and respectively move the left fork arm and the right fork arm to the middle of the parking robot, and simultaneously controls the blocking arm moving module to simultaneously and respectively move the left blocking arm and the right blocking arm to the two ends of the parking robot;

the distance judging unit obtains the distance between the two fork arms and the distance between the two blocking arms, judges whether the difference value between the axle distance of the vehicle and the distance between the two fork arms and the difference value between the distance between the two blocking arms and the axle distance of the vehicle are larger than or equal to a preset difference value or not, and sends the judgment result to the control instruction unit, if yes, the control instruction unit controls the fork arm moving module to stop driving the left fork arm or the right fork arm, or controls the blocking arm moving module to stop driving the left blocking arm or the right blocking arm;

s9: the control instruction unit controls the traveling module to drive the parking robot to drive away from the vehicle from the side;

the distance judging unit obtains the distance between the vehicle and the parking robot and judges whether the distance between the vehicle and the parking robot is larger than or equal to the first conveying distance, if so, the control command unit controls the advancing module to stop driving the parking robot, and if not, the next judgment is carried out.

In the control method of the parking robot, the left fork arm and the right fork arm move away from each other to squeeze a tire, after the wheel base of the vehicle is obtained, the left fork arm and the right fork arm respectively move towards the middle of the parking robot, and the left gear arm and the right gear arm respectively move towards the two ends of the parking robot; when the tire is extruded, the left fork arm and the right fork arm respectively move towards two ends of the parking robot, and the left gear arm and the right gear arm respectively move towards the middle of the parking robot; when a vehicle is placed, the left fork arm and the right fork arm respectively move towards the middle of the parking robot, and the left gear arm and the right gear arm respectively move towards the two ends of the parking robot.

Taking the left blocking arm and the left fork arm as an example, when the left blocking arm moves towards the middle of the parking robot, when the left blocking arm receives resistance for the first time, the left blocking arm is shown to touch the wheel, and the left blocking arm can stop moving continuously. When the wheel is subjected to extrusion force of the left fork arm and climbs the left fork arm, the position of the wheel rises because of leaving the ground, so that the wheel can not be touched due to the fact that the wheel originally touches the left blocking arm of the wheel, and the wheel can not be touched any more and can not be subjected to resistance when moving towards the middle of the parking robot. Therefore, when the left arm is detected to move to the middle of the parking robot, resistance is not applied, which indicates that the wheel is lifted by the left fork arm, and the left fork arm does not need to be moved, otherwise the wheel may cross the left fork arm and fall onto the ground again. And the left baffle arm is moved towards the middle of the parking robot again until the left baffle arm receives resistance for the second time, which shows that the left baffle arm touches the wheels again, so that the front and back movement caused by bumping can be prevented when the vehicle is transported.

Example 4

The present embodiment relates to a lateral gripping parking robot control system and a control method thereof, which are applied to embodiment 2.

As shown in fig. 4, the control system of the parking robot based on center coincidence is similar to the control system in embodiment 3, and only the function of the resistance determination unit of the overall controller is different, specifically:

the resistance determination unit is also configured to determine whether the resistance to movement of the left shift arm or the right shift arm is greater than or equal to a predetermined maximum resistance.

The present embodiment further includes a control method of the parking robot control system based on center coincidence, where the method is similar to the method in embodiment 3, and is different only from S6, and specifically includes:

the resistance judging unit judges whether the resistance applied to the movement of the left gear arm or the right gear arm is greater than or equal to the preset maximum resistance or not, and sends the result to the control instruction unit;

when the left gear arm and the right gear arm contact the tire at the same time, if the midpoint between the left gear arm and the right gear arm is coincident with the midpoint between the left fork arm and the right fork arm, and simultaneously and respectively moving the left fork arm and the right fork arm to the two ends of the parking robot, and keeping the moving displacement of the left fork arm and the right fork arm the same, when the distance between the left fork arm and the right fork arm is larger than the difference value of the wheel base of the vehicle minus the width of the two fork arms, indicating that the distance between the tire contact position of the left yoke and the tire contact position of the right yoke is greater than the wheel base of the vehicle, and therefore, when it is detected that the distance between the left yoke and the right yoke is greater than the difference between the wheel base of the vehicle minus the width of the two yokes, it indicates that the entire vehicle has been lifted by the left and right forks without the need to continue moving the left and right forks, otherwise the wheel may fall back over the left fork onto the ground.

Example 5

The present embodiment relates to a parking robot, as shown in fig. 6. The parking robot has a similar structure to that of embodiment 1, except that positions of the left and right shift

arms

500 and 600 and positions of the hub stoppers 330 of the left and

right yokes

200 and 300 are different.

Wherein, the left blocking arm 500 and the right blocking arm 600 are both positioned between the left fork arm 200 and the right fork arm 300;

the hub stopper 330 of the left yoke 200 is located on the right side thereof, and the hub stopper 330 of the right yoke 300 is located on the left side thereof, and the hub stopper 330 is mounted on the position corresponding to the tire. When the vehicle is lifted off the ground, the left yoke 200 and the right yoke 300 move relatively. When the vehicle is lifted off the ground, the left fork arm 200 and the right fork arm 300 are inserted into the front side of the front wheel and the rear side of the rear wheel of the vehicle, and the left fork arm 200 and the right fork arm 300 move relatively to lift both rows of tires off the ground.

Example 6

The present embodiment relates to a control system and a control method applied to embodiment 5.

As shown in fig. 4, the control system of the center-coincident-based parking robot is the same as that in embodiment 1.

the distance judging unit obtains the distance between the two fork arms and the distance between the two blocking arms, judges whether the difference value of the distance between the vehicle and the two blocking arms and the difference value of the distance between the two fork arms and the distance between the vehicle are larger than or equal to a preset difference value or not, judges whether the midpoint between the left blocking arm and the right blocking arm is coincident with the midpoint between the left fork arm and the right fork arm or not, if all judgment results are yes, the control instruction unit controls the fork arm moving module to stop driving the fork arms to move, controls the blocking arm moving module to stop driving the blocking arms to move, and if one or two judgment results are not, the current situation is maintained;

s5: the control instruction unit controls the gear arm moving module to simultaneously move the left gear arm and the right gear arm to two ends of the parking robot respectively;

s6: the control instruction unit controls the fork arm moving module to adjust the positions of the left fork arm and the right fork arm, so that the middle point between the left gear arm and the right gear arm is coincided with the middle points of the left fork arm and the right fork arm, the left fork arm and the right fork arm are moved towards the middle of the parking robot respectively, and the moving displacement of the left fork arm and the moving displacement of the right fork arm are kept the same;

the distance judging unit judges whether the distance between the two fork arms is smaller than the wheel base of the vehicle or not, if not, the next judgment is carried out, if so, the control instruction unit controls the fork arm moving module to stop driving the left fork arm and the right fork arm, and controls the baffle arm moving module to move the left baffle arm or the right baffle arm to the two ends of the parking robot;

when the left gear arm and the right gear arm are in contact with the tire at the same time, if the middle point between the left gear arm and the right gear arm is coincident with the middle point between the left fork arm and the right fork arm, and the left fork arm and the right fork arm are moved towards the middle of the parking robot respectively at the same time, and the movement displacement of the left fork arm and the right fork arm is kept the same, when the distance between the left fork arm and the right fork arm is smaller than the axle distance of the vehicle, the whole vehicle is lifted by the left fork arm and the right fork arm, the left fork arm and the right fork arm do not need to be moved continuously, otherwise, the wheel possibly passes over the left fork arm and falls onto the ground again;

s8: the control instruction unit controls the fork arm moving module to simultaneously move the left fork arm and the right fork arm to two ends of the parking robot respectively, and simultaneously controls the blocking arm moving module to simultaneously move the left blocking arm and the right blocking arm to the middle of the parking robot respectively;

the distance judging unit obtains the distance between the two fork arms and the distance between the two blocking arms, judges whether the difference value between the axle distance of the vehicle and the distance between the two blocking arms and the difference value between the distance between the two fork arms and the axle distance of the vehicle are larger than or equal to a preset difference value or not, and sends the judgment result to the control instruction unit, if yes, the control instruction unit controls the fork arm moving module to stop driving the left fork arm or the right fork arm, or controls the blocking arm moving module to stop driving the left blocking arm or the right blocking arm;

In the control method of the parking robot, the left fork arm and the right fork arm move relatively to extrude the tire, after the wheel base of the vehicle is obtained, the left fork arm and the right fork arm move towards two ends of the parking robot respectively, and the left gear arm and the right gear arm move towards the middle of the parking robot respectively; when the tire is extruded, the left fork arm and the right fork arm respectively move towards the middle of the parking robot, and the left gear arm and the right gear arm respectively move towards the two ends of the parking robot; when a vehicle is placed, the left fork arm and the right fork arm respectively move towards two ends of the parking robot, and the left gear arm and the right gear arm respectively move towards the middle of the parking robot.

When the left gear arm or the right gear arm is moved towards the two ends of the parking robot, when the left gear arm or the right gear arm is subjected to resistance for the first time, the left gear arm or the right gear arm is shown to touch the wheels, and the parking robot can stop moving continuously. When the left gear arm and the right gear arm simultaneously contact with the tire, if the middle point between the left gear arm and the right gear arm coincides with the middle point of the left fork arm and the right fork arm, the left fork arm and the right fork arm are simultaneously moved towards the middle of the parking robot respectively, and the movement displacement of the left fork arm and the movement displacement of the right fork arm are kept the same, when the distance between the left fork arm and the right fork arm is smaller than the axle distance of the vehicle, the whole vehicle is lifted by the left fork arm and the right fork arm, the left fork arm and the right fork arm do not need to be moved continuously, and otherwise the wheel possibly passes over the left fork arm and falls onto the ground again. And the left gear arm or the right gear arm is moved towards the two ends of the parking robot again until the parking robot receives resistance for the second time, which shows that the left gear arm touches the wheels again, so that the front and back movement caused by bumping can be prevented when the vehicle is carried. And the left baffle arms are moved towards the two ends of the parking robot again until the left baffle arms receive resistance for the second time, so that the left baffle arms touch the wheels again, and the front and back movement caused by bumping can be prevented when the vehicle is conveyed.

The parts not involved in the present invention are the same as or can be implemented using the prior art.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A parking robot control system based on center coincidence is characterized in that the control system comprises a traveling module, a fork arm moving module, a stop arm moving module, a measuring module, a navigation module and a master controller;

2. A parking robot control system based on center coincidence as recited in claim 1 wherein the lateral grip parking robot further comprises:

3. The vehicle parking robot control system based on center coincidence as claimed in claim 2, wherein a hub limiting seat is provided at a position where the fork arm and the stopper arm contact with the tire, and a tire bracket is mounted on the hub limiting seat.

4. The parking robot control system based on center coincidence as claimed in claim 3, wherein the resistance determination unit is further configured to determine whether the resistance to the movement of the left shift arm or the right shift arm is greater than or equal to a predetermined maximum resistance when the hub restraining seat is provided on the shift arm.

5. A control method of a center coincidence based parking robot control system as claimed in any one of claims 1 to 4, wherein the method comprises:

6. The control method according to claim 5, wherein in step S6, after the control command unit controls the yoke moving module to stop driving the left yoke or the right yoke:

7. The control method according to claim 5, wherein in step S6, if the two blocking arms are provided with hub limiting seats, when the control command unit controls the fork arm moving module to stop driving the left fork arm or the right fork arm:

8. The control method according to claim 5, characterized by, in step S9, further comprising: the distance judging unit obtains the distance between the vehicle and the parking robot and judges whether the distance between the vehicle and the parking robot is larger than or equal to the first conveying distance, if so, the control command unit controls the advancing module to stop driving the parking robot, and if not, the next judgment is carried out.