CN114347887B - Method for converting a generic vehicle into an autonomous vehicle, device for adapting said method and method for operating a device - Google Patents
Method for converting a generic vehicle into an autonomous vehicle, device for adapting said method and method for operating a device Download PDFInfo
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- CN114347887B CN114347887B CN202210095557.2A CN202210095557A CN114347887B CN 114347887 B CN114347887 B CN 114347887B CN 202210095557 A CN202210095557 A CN 202210095557A CN 114347887 B CN114347887 B CN 114347887B
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
- Y02W30/56—Reuse, recycling or recovery technologies of vehicles
Abstract
The application provides a method for modifying a common automobile into an automatic driving automobile, a device for adapting the method and a working method of the device, wherein the method for modifying the common automobile into the automatic driving automobile comprises the following steps: in response to a positioning signal that the vehicle reaches a preset position, a second stop block is lifted, so that a tire to be locked of the vehicle is positioned between the first stop block and the second stop block, and the preset position is a fixed position of an automobile of an automatic driving trailer; the elastic strip is ejected, so that the elastic strip moves around the tire to be locked until the elastic strip enters an inlet reserved by the storage mechanism; locking the elastic strip to lock the tire to be locked, and fixing the vehicle on an automatic driving trailer; the vehicle is carried by the autonomous trailer for travel. The utility model provides a can be fast with manual driving vehicle conversion into automatic driving vehicle, and have fine commonality and reliability.
Description
Technical Field
The present application relates to the technical field of vehicle locking devices, and in particular, to a method for modifying a general vehicle into an automatic driving vehicle, an automatic driving trailer renting method, a trailer, an automatic vehicle fixing device and an automatic vehicle fixing method.
Background
The development of the vehicle industry not only facilitates the travel of people, but also directly promotes the technical update and technical transformation of related industries, and promotes the modernization of departments such as coal, petroleum, electric power, geology and the like. However, the car may malfunction in use. The car owner can drive the car to go to a repair shop or a 4S shop for maintenance when suffering a small fault, and some large faults causing the car to break down can only wait for the trailer to rescue in situ.
In the prior art, the vehicles and the trailers are usually locked manually, the efficiency is low, the reliability of the vehicles locked manually is low, the vehicles and the trailers can be separated, the people can be injured by the instantaneous fracture of the binding belt, and even the rear-end collision accident between the vehicles and the rear vehicles occurs due to the change of instantaneous force.
With the progress of science and technology, new requirements are put forward on the development of the automobile industry, and automatic driving of automobiles is also generated. An automatic driving automobile (Autonomous vehicles; self-driving automobile) is also called an unmanned automobile, a computer driving automobile or a wheel type mobile robot, and is an intelligent automobile for realizing unmanned through a computer system. The automatic driving can greatly improve the intelligent level of road traffic and the traffic running efficiency, and along with the continuous progress and development of society, the automatic driving automobile gradually shows a trend approaching to practical use.
However, the current society still takes purchase and use of the manual driving automobile as the main way, if the manual driving automobile and the automatic driving automobile enter the automatic driving area at the same time, the traffic running efficiency is affected; if the stock manual driving automobile is replaced by the automatic driving automobile, the cost is high, and the environment is not protected.
Therefore, there is a need for a method and apparatus suitable for use in an autopilot scenario that can improve the efficiency and reliability of switching a conventional vehicle from a manual driving state to an autopilot state.
Disclosure of Invention
In order to solve or at least partially solve the above technical problems, the present application provides a method for modifying a general automobile into an automatic driving automobile, comprising the following steps:
in response to a positioning signal that the vehicle reaches a preset position, lifting the second stop block to enable a tire to be locked of the vehicle to be positioned between the first stop block and the second stop block, wherein the preset position is a fixed position of the automobile of the automatic driving trailer;
the elastic strip is spit out, so that the elastic strip moves around the tire to be locked until the elastic strip enters an inlet reserved by the storage mechanism;
locking the elastic strip to lock the tire to be locked, and fixing the vehicle on the automatic driving trailer;
the vehicle is carried by the autonomous trailer for travel.
The application also provides an automatic vehicle fixing method, which comprises the following steps:
in response to a positioning signal that the vehicle reaches a preset position, lifting the second stop block to enable a tire to be locked of the vehicle to be positioned between the first stop block and the second stop block;
the elastic strip is spit out, so that the elastic strip moves around the tire to be locked until the elastic strip enters an inlet reserved by the storage mechanism;
the elastic strip is locked to lock the tire to be locked.
Preferably, before the step of raising the second stopper, further comprising:
acquiring tire size information of a vehicle;
and adjusting the position of the first stop block and/or the second stop block according to the tire size information.
Preferably, before the step of raising the second stopper, further comprising: acquiring wheel spaces of front wheels and rear wheels of a vehicle;
after the step of responding to the positioning signal that the vehicle reaches the preset position, the method further comprises the following steps:
in response to the positioning signal, the first stop is raised such that each of the four tires of the vehicle is positioned between the corresponding first stop and second stop.
Preferably, after the step of entering the elastic strip into the inlet, further comprising:
the storage mechanism tightens the elastic strip.
The application also provides an automatic fixing device of a vehicle, comprising:
a first stop and a second stop;
the second moving mechanism is connected with the second stop block;
the conveying mechanism and the storage mechanism can be locked, and an outlet of the conveying mechanism is positioned on the side of any one of the first stop block or the second stop block; the inlet of the containing mechanism is positioned on the side of the other containing mechanism;
the positioning sensor is respectively in communication connection with the second moving mechanism, the conveying mechanism and the storage mechanism, and sends out a positioning signal when the vehicle reaches a preset position;
the second moving mechanism responds to the positioning signal to lift the second stop block, so that the tire to be locked of the vehicle is positioned between the first stop block and the second stop block;
the conveying mechanism spits out the elastic strip in response to the positioning signal, so that the elastic strip moves around the tire to be locked until the elastic strip enters an inlet reserved by the storage mechanism;
the storage mechanism and the conveying mechanism lock the elastic strip to lock the tire to be locked.
Preferably, the method further comprises:
the acquisition device is in communication connection with the first moving mechanism and/or the second moving mechanism and is used for acquiring the tire size information of the vehicle and sending out a tire size signal;
the first moving mechanism can adjust the position of the first stop block according to the tire size signal;
the second moving mechanism can adjust the position of the second stop block according to the tire size signal.
Preferably, the method further comprises:
the first stop block and the second stop block are respectively arranged in four groups and correspond to four tires of the vehicle;
the acquisition device is also used for acquiring the wheel track of the front and rear wheels of the vehicle and sending out a wheel track signal;
the first moving mechanism can adjust the position of the first stop block according to the track signal;
the second moving mechanism can adjust the position of the second stop block according to the track signal.
The second moving mechanism responds to the positioning signals to lift four groups of second stop blocks, and the first moving mechanism responds to the positioning signals to lift at least two groups of first stop blocks positioned in the same row, so that four tires of the vehicle are positioned between the corresponding first stop blocks and the second stop blocks.
Preferably, two sets of first stop blocks positioned in the same row are fixedly arranged in the four sets of first stop blocks and the four sets of second stop blocks.
Preferably, the positioning sensor is mounted on a fixedly arranged first stop; or alternatively, the process may be performed,
the positioning sensor is arranged between any group of first stop blocks and any group of second stop blocks;
preferably, the second moving mechanism includes:
the hydraulic platform and the elevator of setting on hydraulic platform, first dog and/or second dog setting are on the elevator, and the elevator is used for driving first dog and/or second dog and moves in the direction of height, and hydraulic platform is used for driving elevator and first dog and/or second dog and moves in the horizontal direction.
Preferably, the first stop and/or the second stop are provided with openings, which constitute the outlet and/or the inlet.
Preferably, in each opening, the diameter of the opening corresponding to the inlet is gradually reduced from outside to inside for guiding the elastic strip into the opening.
Preferably, the elastic strip tends to bend towards the tire under the action of self-elasticity, and a plurality of holes are formed in the elastic strip at equal intervals along the length direction of the elastic strip.
Preferably, the housing mechanism includes: a gear driven by the motor and a disc brake arranged on the shaft of the gear, wherein the intervals of teeth of the gear are consistent with the intervals of the holes;
the inlet is opposite to the gear to be connected with the elastic strip, and the hole of the elastic strip is meshed with the teeth of the gear so as to drive the elastic strip to move through the gear.
The tire to be locked is locked by means of the first stop block, the second stop block and the elastic strip, and the vehicle can be locked fast. The positions of the first stop block and the second stop block can be adjusted according to actual needs so as to adapt to tires with different sizes, and the universality of the automatic fixing device of the vehicle is improved.
The application also provides a post-locking automatic driving method for a vehicle, which comprises the following steps:
in response to a positioning signal that the vehicle reaches a preset position, a second stop block is lifted, so that a tire to be locked of the vehicle is positioned between the first stop block and the second stop block, and the preset position is a fixed position of an automobile of an automatic driving trailer;
the elastic strip is ejected, so that the elastic strip moves around the tire to be locked until the elastic strip enters an inlet reserved by the storage mechanism;
locking the elastic strip to lock the tire to be locked, and fixing the vehicle on an automatic driving trailer;
the vehicle is carried by the autonomous trailer for travel.
By means of the vehicle automatic fixing method and device, the vehicle is fixed on the automatic driving trailer, and switching between manual driving vehicles and automatic driving vehicles can be achieved.
The application also provides a trailer comprising a vehicle body and the automatic vehicle fixing devices arranged on the vehicle body, wherein the number of the automatic vehicle fixing devices is 2 or 4.
The application also provides an automatic driving trailer leasing method, which comprises the following steps:
acquiring a lease address and a target address uploaded by a user;
automatically driving to a leasing address, and locking a target vehicle on an automatic driving trailer by using the automatic vehicle fixing method; automatically driving to the target address.
Drawings
In order to more clearly illustrate the embodiments of the present application, a brief description of the associated drawings will be provided below. It is understood that the drawings in the following description are only for illustrating some embodiments of the present application, and that one of ordinary skill in the art can obtain many other technical features and connection relationships not mentioned herein from the drawings.
Fig. 1 is a schematic structural view of an automatic fixing device for a vehicle according to a first embodiment of the present application;
fig. 2 is a block diagram of a vehicle automatic fixing device and a trailer according to first, fourth to sixth embodiments of the present application;
fig. 3 is a schematic top view of a vehicle automatic fixing device according to the first to third embodiments of the present application;
fig. 4 is a schematic structural view of an automatic fixing device for a vehicle according to the first to third embodiments of the present application;
fig. 5 is a schematic structural view of a receiving mechanism of an automatic vehicle fixing device according to a third embodiment of the present disclosure;
fig. 6 is a schematic structural view of a vehicle automatic fixing device and a trailer according to a fourth embodiment of the present application;
fig. 7 is a schematic view of a use state of a vehicle automatic fixing device and a trailer according to a fifth embodiment of the present application;
fig. 8 is a schematic structural view of an automatic vehicle fixing device and a trailer according to a fifth embodiment of the present application.
Reference numerals and names in the drawings are as follows:
11. a first stopper; 12. a second stopper; 13. an opening;
21. a first moving mechanism; 22. a second moving mechanism; 221. a hydraulic platform; 222. a lifter;
3. a storage mechanism; 31. a motor; 32. a gear; 33. a disc brake;
4. a conveying mechanism;
5. an elastic strip; 51. a hole;
61. positioning a sensor; 62. an acquisition device;
7. the tire is to be locked;
8. a trailer; 81. a tail plate; 82. a control module; 83. a vehicle body; 84. an automatic travel sensor.
Detailed Description
The following describes the technical solutions in the embodiments of the present application in detail with reference to the drawings in the embodiments of the present application.
The inventor of the application finds that the efficiency of manually locking the vehicle is lower; in addition, the firmness of the locking of the vehicle may not be ensured when the vehicle encounters extreme weather such as typhoons, heavy rain and the like.
In view of this, the application provides an automatic vehicle fixing device and an automatic vehicle fixing method, so as to be convenient for locking different brands and different models of vehicles quickly, and have good universality and reliability.
Embodiment one
The application provides an automatic fixing device of vehicle, combines fig. 1, fig. 2 to show, includes:
a first stopper 11 and a second stopper 12;
a second moving mechanism 22 connected to the second stopper 12;
the storage mechanism 3, the conveying mechanism 4 and the elastic strip 5 mounted on the conveying mechanism 4, the conveying mechanism 4 and the storage mechanism 3 can be locked, and the outlet of the conveying mechanism 4 is positioned on the side of either the first stop block 11 or the second stop block 12; the inlet of the containing mechanism 3 is positioned on the side of the other;
a positioning sensor 61, which is communicatively connected to the second moving mechanism 22, the conveying mechanism 4, and the storage mechanism 3, respectively, and which emits a positioning signal when the vehicle reaches a preset position;
the second moving mechanism 22 lifts the second block 12 in response to the positioning signal so that the tire 7 to be locked of the vehicle is located between the first block 11 and the second block 12;
the conveying mechanism 4 spits the elastic strip 5 in response to the positioning signal, so that the elastic strip 5 moves around the tyre 7 to be locked until the elastic strip 5 enters an inlet reserved by the storage mechanism 3;
the housing mechanism 3 and the conveying mechanism 4 lock the elastic strip 5 to lock the tire 7 to be locked.
The first dog 11 and the second dog 12 that this application set up can restrict the displacement of vehicle for wait to lock the tire 7 and be located between first dog 11 and the second dog 12, the elastic strip 5 that sets up can be around waiting to lock the tire 7 motion and lock it, consequently can lock the vehicle fast, compare in manual locking, efficiency is higher, and the reliability is better.
The elastic strip 5 may be coiled steel with a certain curvature, and the elastic strip 5 with a certain curvature can better advance along the outer contour of the tire, so as to ensure that the elastic strip 5 can move around the tire 7 to be locked and enter the inlet reserved by the storage mechanism 3. Compared with manual locking, personnel do not need to be aside in the automatic locking process, the possibility of accidents is reduced, and better safety is achieved. Of course, the elastic strip 5 may be made of metal such as aluminum.
Of course, the positioning sensor 61 can sense the position of the vehicle and convert it into a usable output signal, and may be a contact sensor or a proximity sensor, and when the vehicle reaches the preset position, it may send a positioning signal and send the positioning signal to the second moving mechanism 22, so that the second block 12 is lifted, and the tire 7 to be locked of the vehicle is fixed between the first block 11 and the second block 12. Preferably, the positioning sensor 61 may be mounted on the first stopper to increase the response speed of the vehicle automatic fixing device.
It will be appreciated that different brands, different models of vehicles, may vary in tire size. Thus, in the present embodiment, referring to fig. 2, the vehicle automatic fixing device may further include:
the acquiring device 62 and the first moving mechanism 21, wherein the acquiring device 62 is in communication connection with the first moving mechanism 21 and/or the second moving mechanism 22 and is used for acquiring the tire size information of the vehicle and sending out a tire size signal;
the first moving mechanism 21 is capable of adjusting the position of the first stopper 11 according to the tire size signal;
the second movement mechanism 22 is capable of adjusting the position of the second stop in accordance with the tire size signal.
The acquiring device 62 can acquire the tire size information of the vehicle, and the first moving mechanism 21 and/or the second moving mechanism 22 can adjust the positions of the first stop block 11 and/or the second stop block 12 according to the tire size signals acquired by the acquiring device 62, so that the vehicle automatic fixing device can be quickly locked for different vehicles, and the efficiency and the applicability of the vehicle automatic fixing device are improved.
The acquisition device 62 may be an optical sensor provided at the first stopper 11, and adjusts the wheel base of the front and rear wheels of the vehicle (the positions of the first stopper 11 and the second stopper 12), the wheel base of the left and right wheels of the vehicle (the positions of the first stopper 11 and the first stopper 11, the positions of the second stopper 12 and the second stopper 12) and the size of the tire by measurement of the distance. Of course, the present application may also be used to obtain the tire size signal containing the vehicle data by connecting with the vehicle of the user, even with a mobile phone, or obtain the tire size signal manually input by the user to adjust the position of the first stop 11 and/or the second stop 12, and the specific choice thereof is not limited to the present application.
Referring to fig. 2 and 4, the second moving mechanism 22 may include: a hydraulic platform 221 and an elevator 222 provided on the hydraulic platform 221; the first block 11 and/or the second block 12 are/is arranged on the lifter 222, the lifter 222 is used for driving the first block 11 and/or the second block 12 to move in the height direction, and the hydraulic platform 221 is used for driving the lifter 222 and the first block 11 and/or the second block 12 to move in the horizontal direction. The hydraulic platform 221 and the lifter 222 arranged on the hydraulic platform 221 can quickly adjust the positions of the first stop block 11 and the second stop block 12, so that the efficiency of locking the vehicle is improved.
In this embodiment, referring to fig. 1 and 4, the vehicle automatic fixing device may be installed on the ground, for example, a parking lot, a parking apron, etc., and the ground may be a horizontal plane or an inclined plane. The vehicle owner operates the manual driving vehicle and drives into the target position, and the automatic vehicle fixing device can be used for rapidly locking the tire 7 to be locked, so that on one hand, the vehicle can be prevented from being stolen, on the other hand, extreme weather such as typhoons, storm and the like can be better handled, and compared with manual locking, the automatic vehicle fixing device is high in efficiency and high in reliability.
The embodiment also provides an automatic vehicle fixing method, which comprises the following steps:
in response to a positioning signal that the vehicle reaches a preset position, raising the second block 12 so that the tire 7 to be locked of the vehicle is located between the first block 11 and the second block 12;
the elastic strip 5 is ejected, so that the elastic strip 5 moves around the tyre 7 to be locked until the elastic strip 5 enters an inlet reserved by the storage mechanism 3;
the elastic strip 5 is locked to lock the tire 7 to be locked.
The first stopper 11 and the second stopper 12 provided in the present application are capable of restricting the displacement of the vehicle such that the tire 7 to be locked is located between the first stopper 11 and the second stopper 12. The elastic strip 5 can move around the tire 7 to be locked and lock the tire, so that the vehicle can be locked quickly, and the vehicle has better reliability compared with manual locking.
Prior to the step of raising the second block 12, it may further include:
acquiring tire size information of a vehicle;
the position of the first stopper 11 and/or the second stopper 12 is adjusted according to the tire size information. The present embodiment can adjust the position of the first stopper 11 and/or the second stopper 12 by acquiring the tire size information of the vehicle, and thus can better match different vehicles.
Prior to the step of raising the second stopper, it may further include: acquiring wheel spaces of front wheels and rear wheels of a vehicle;
after the step of responding to the positioning signal that the vehicle reaches the preset position, the method may further include:
in response to the positioning signal, the first block 11 is lifted so that the four tires of the vehicle are each located between the corresponding first block 11 and second block.
The position of the first stop block 11 and/or the second stop block 12 is adjusted by the aid of the obtained tire size signals, so that the vehicle automatic fixing device can be fast locked for different vehicles, and efficiency and applicability of the vehicle automatic fixing device are improved.
After the step of entering the elastic strip 5 into the inlet, it may further comprise: the accommodating mechanism 3 tightens the elastic strip 5. The conveying mechanism 4 drives the elastic strip 5 to move, and the storage mechanism 3 can provide pressure pointing to the elastic strip 5, so that the elastic strip 5 can keep proper tensioning degree, and the vehicle can be firmly locked on the automatic vehicle fixing device, and the reliability of the automatic vehicle fixing device is improved.
If the elastic strip 5 is too tight when being tensioned, the elastic strip may break, and the service life is affected; if the elastic strip 5 is slightly loosened, the connection between the vehicle and the ground is not firm, and the locking effect is affected.
According to the embodiment of the application, the tire 7 to be locked is locked by means of the first stop block 11, the second stop block 12 and the elastic strip 5, so that the vehicle can be locked quickly, and the efficiency is improved. The positions of the first stop block 11 and the second stop block 12 can be adjusted according to actual needs so as to adapt to tires with different sizes, and the universality of the automatic fixing device of the vehicle is improved.
Second embodiment
A second embodiment of the present application provides an automatic vehicle securing device. The second embodiment is a further development of the first embodiment, the main development being that in the second embodiment of the present application, as shown in fig. 4, the first stop 11 and/or the second stop 12 may be provided with openings 13, the openings 13 constituting the outlet and/or the inlet. Compared with the case where the opening 13 is provided on one side of the first stopper 11 or the second stopper 12, the present embodiment provides the opening 13 on the first stopper 11 and/or the second stopper 12, and does not require the opening structure of the ejection elastic strip 5, thereby achieving miniaturization.
Preferably, in each opening 13, the diameter of the opening 13 corresponding to the inlet may gradually decrease from outside to inside, so as to guide the elastic strip 5 into the opening 13, thereby realizing guiding effect, so that the elastic strip 5 can be accurately ejected towards the tire position, and improving the degree of automation.
Embodiment III
The inventors of the present application found that when the tire 7 to be locked is fixed by means of the elastic strip 5, the degree to which the elastic strip 5 is tensioned by the housing mechanism 3 varies depending on the size of the wheel. For this reason, the inventor of the present application has performed an optimization design in the above embodiment, and by adding a transmission assembly, the locking effect of the automatic fixing device of the vehicle is improved.
In this embodiment, the elastic strip 5 may tend to bend toward the tire under the action of its own elastic force, so as to ensure that the elastic strip 5 can wrap the tire after being ejected.
In the embodiment of the present application, in order to further ensure that the elastic strip 5 forms a reliable lock after being ejected, a further fixing manner may be added to the elastic strip 5 and the storage mechanism 3: as shown in fig. 4 and 5, the elastic strip 5 may be provided with a plurality of holes 51 at equal intervals along its length direction;
the housing mechanism 3 may further include: a gear 32 driven by the motor 31, and a disc brake 33 provided on the shaft of the gear 32, the interval of teeth of the gear 32 being in conformity with the interval of the holes 51;
the inlet is opposite to the gear 32 to be connected with the elastic strip 5, and the hole 51 of the elastic strip 5 is meshed with the teeth of the gear 32 to drive the elastic strip 5 to move through the gear 32.
In this embodiment, the elastic strip 5 is pushed by the motor 31 to move along the arc of the tire, and the elastic strip 5 can be bent towards the tire under the action of self-elasticity, so that the tire can be fastened. The elastic strip 5 and the storage mechanism 3 are connected through the gear 32, and the elastic strip 5 is tensioned by means of the disc brake 33 arranged on the shaft of the gear 32, so that the elastic strip is locked on the storage mechanism 3, and the reliability of the automatic fixing device of the vehicle is further improved.
Fourth embodiment
The inventor of the application finds that the manual locking of the vehicle and the trailer is low in efficiency, the manual locking of the vehicle is low in reliability, the vehicle and the trailer can be separated, the instant fracture of the binding belt can hurt people, and even the vehicle is changed by instant force to cause a rear-end collision accident with the rear vehicle.
In view of this, this application provides a vehicle automatic fixing device and trailer to the quick locking is different brands, different models, and has fine commonality and reliability.
The trailer 8 of the present application may include a vehicle body 83 and vehicle automatic fixing devices provided on the vehicle body 83, wherein the number of vehicle automatic fixing devices may be 2. That is, the front wheels of the vehicle may be locked to the trailer 8. Compared with manual locking, personnel do not need to be aside in the automatic locking process, the possibility of accidents is reduced, and better safety is achieved.
In an application scenario of the present embodiment, referring to fig. 6, the vehicle automatic fixing device may be installed on a trailer 8, and the trailer 8 may be applied to a scenario such as a road fault, a city violation, and an emergency rescue. The vehicle owner operates the vehicle and drives on the incline with the aid of the tail plate 81 on the trailer 8, and the first movement mechanism 21 and/or the second movement mechanism 22 are able to adjust the position of the first stop 11 and/or the second stop 12 in dependence on the tire size signal.
When the front wheel contacts the first stop 11, the positioning sensor 61 can send out a positioning signal, and the tail plate 81 is retracted; the second moving mechanism 22 lifts the second block 12 in response to the positioning signal so that the tire 7 to be locked of the vehicle is located between the first block 11 and the second block 12. In addition, as shown in fig. 6, the conveying mechanism 4 may eject the elastic strip 5 in response to the positioning signal, so that the elastic strip 5 moves around the tire 7 to be locked until the elastic strip 5 enters the inlet reserved by the housing mechanism 3; the housing means 3 and the conveying means 4 can lock the elastic strip 5 to lock the tyre 7 to be locked. After the vehicle is locked to the trailer 8, the trailer 8 may be started by the control module 82 on the trailer 8.
The vehicle automatic fixing device of the embodiment has simple structure and high automation degree, so that the operation efficiency can be improved, and the quick locking can be realized.
It should be noted that when the trailer 8 is in the idle state, the second stop block 12 is not lifted, so that a gap exists on the surface of the trailer 8, which results in a significant bump when the vehicle is driven in, and affects the driving experience.
For this purpose, in the present embodiment, the entrance reserved for the housing means 3 may be provided with a baffle plate, which may be connected to the lifter 222 or the hydraulic platform 221. When the second stopper 12 is not lifted, the provided baffle can eliminate the gap, so that the vehicle can more smoothly drive into the target position, and the shock is reduced. When the front wheel contacts the first stop, the positioning sensor 61 emits a positioning signal, and the second moving mechanism 22 is able to move the shutter in response to the positioning signal and raise the second stop 12 so that the tire 7 to be locked of the vehicle is located between the first stop 11 and the second stop 12.
Of course, the baffle may not be provided, but the gap may be provided smaller, for example, the width of the gap may be smaller than the diameter of the tire. Wherein the size of the gap may also be adjusted according to different adaptations of the vehicle in response to the tire size signal.
When the vehicle needs to be separated from the trailer 8, an unlocking signal can be sent to the second moving mechanism 22, the conveying mechanism 4 and the storage mechanism 3 respectively; in response to the unlocking signal, the housing mechanism 3 can release the elastic strip 5 through the motor 31 to return to the initial position; the tailboard 81 of the trailer 8 is lowered again; the second moving mechanism 22 lowers the second stopper 12 in response to the unlock signal and raises the tail plate 81 so that the vehicle smoothly slides down.
Fifth embodiment
The inventors of the present application found that when the vehicle is four-wheel-driven, it is necessary to fix all four tires of the vehicle.
In view of this, a fifth embodiment of the present application provides an automatic vehicle fixing device. The fifth embodiment is different from the above-described embodiments mainly in that in the above-described embodiments, the vehicle automatic fixing device vehicle front wheels, whereas in the third embodiment of the present application, the vehicle automatic fixing device may lock 2 front wheels or 4 front and rear wheels of the vehicle.
Specifically: referring to fig. 7 and 8, the first stopper 11 and the second stopper may have four sets and are provided corresponding to each of the four tires of the vehicle;
the acquisition device 62 is further used for acquiring wheel tracks of front and rear wheels of the vehicle and sending out wheel track signals;
the first moving mechanism 21 can adjust the position of the first stop block 11 according to the track signal;
the second moving mechanism 22 can adjust the position of the second stop block according to the track signal;
the second moving mechanism 22 raises four sets of second stoppers in response to the positioning signal, and the first moving mechanism 21 raises at least two sets of first stoppers 11 located in the same row in response to the positioning signal, so that four tires of the vehicle are located between the corresponding first stoppers 11 and second stoppers. Compared with the first and second embodiments, the vehicle automatic fixing device of the second embodiment of the present application can be applied to not only two-wheel drive vehicles but also four-wheel drive vehicles, and has better versatility. In addition, when the front wheel and the rear wheel of the vehicle are locked, the stability is better.
In the present embodiment, two sets of first stoppers 11 located in the same row may be fixedly disposed among four sets of first stoppers 11 and second stoppers. That is, the first stoppers 11 for blocking the same row of front wheels of the vehicle are fixedly provided, and the first stoppers 11 for blocking the same row of rear wheels of the vehicle are telescopically provided so that the vehicle can smoothly advance and retreat.
The positioning sensor 61 can be mounted on the fixedly arranged first stop 11, i.e. a touch sensor. Specifically, when the wheel contacts the first stopper, the positioning sensor 61 can send a positioning signal (i.e., a pressure signal) to the second moving mechanism 22, thereby causing the second stopper 12 to lift, thereby fixing the tire 7 to be locked of the vehicle between the first stopper 11 and the second stopper 12.
Alternatively, the positioning sensor 61 may be a proximity sensor mounted between any one of the first and second blocks 11, and the proximity sensor may not be in direct contact with the vehicle, and may emit a positioning signal when the vehicle approaches the positioning sensor 61 to a set distance.
In an application scenario of the present embodiment, the vehicle automatic fixing device may be installed on the ground, for example, a parking lot, an apron, etc., and the four-wheel lock solid phase has better reliability than the two-wheel lock solid phase.
In another application scenario, referring to fig. 1, the vehicle automatic fixing device may be installed on a trailer 8, where a vehicle owner operates the vehicle to drive on an inclined plane by means of a tail board 81 on the trailer 8, and at this time, two sets of first stops 11 near the driver's seat of the trailer 8 are lifted, and two sets of first stops 11 and four sets of second stops far from the driver's seat of the trailer 8 are not lifted. The first movement mechanism 21 and/or the second movement mechanism 22 are capable of adjusting the position of the first stopper 11 and/or the second stopper 12 according to the tire size signal to be suitable for a size-sized vehicle.
In the present embodiment, the trailer 8 may include a vehicle body and vehicle automatic fixing devices provided on the vehicle body, wherein the number of the vehicle automatic fixing devices may be 4.
When the front wheel of the vehicle contacts two sets of first stops 11 near the driver's seat of the trailer 8, the positioning sensor 61 may send a positioning signal, the second moving mechanism 22 raises four sets of second stops in response to the positioning signal, and the first moving mechanism 21 raises at least two sets of first stops 11 located in the same row in response to the positioning signal, so that four tires of the vehicle are located between the corresponding first stops 11 and the second stops. In addition, as shown in fig. 5, the conveying mechanism 4 may eject the elastic strip 5 in response to the positioning signal, so that the elastic strip 5 moves around the tire 7 to be locked until the elastic strip 5 enters the inlet reserved by the housing mechanism 3; the housing means 3 and the conveying means 4 can lock the elastic strip 5 to lock the tyre 7 to be locked. After the vehicle is locked to the trailer 8, the tail plate 81 can be received and the trailer 8 is started by the control module 82 on the trailer 8.
When the vehicle needs to be separated from the trailer 8, an unlocking signal can be sent to the second moving mechanism 22, the conveying mechanism 4 and the storage mechanism 3 respectively; in response to the unlocking signal, the housing mechanism 3 can release the elastic strip 5 through the motor 31 to return to the initial position; the tailboard 81 of the trailer 8 is lowered again; the second moving mechanism 22 lowers the first stopper 11 and the second stopper 12 in response to the unlock signal, and raises the tail plate 81 so that the vehicle smoothly slides down.
Embodiment six
The inventors of the present application found that the stock of manually driven vehicles often does not have the conditions of automatic driving, and when the automatically driven vehicles are widely used, it is sometimes necessary to switch the stock of manually driven vehicles to travel on the automatic driving road.
In view of the above, the application provides a vehicle automatic driving method, so as to quickly convert manual driving vehicles with different brands and different models into automatic driving vehicles, and improve road running efficiency.
The method for modifying the common automobile into the automatic driving automobile in the embodiment comprises the following steps:
in response to a positioning signal that the vehicle reaches a preset position, lifting the second stop block to enable the tire 7 to be locked of the vehicle to be positioned between the first stop block 11 and the second stop block, wherein the preset position is a fixed position of the automobile of the automatic driving trailer 8;
the elastic strip 5 is ejected, so that the elastic strip 5 moves around the tyre 7 to be locked until the elastic strip 5 enters an inlet reserved by the storage mechanism 3;
locking the elastic strip 5 to lock the tyre 7 to be locked, and fixing the vehicle on the automatic driving trailer 8;
the vehicle is carried by the autopilot trailer 8 for travel.
The automated driving trailer 8 is a trailer 8 having an automated driving function. After binding the vehicle with the trailer 8, the automatic driving mode can be switched on: the parameters of the running surrounding environment are collected by an automatic running sensor 84 (a camera or a radar) on the trailer 8 and uploaded to an automatic driving control module 82 in time, and the control of the vehicle is realized by a software algorithm.
The present application uses the elastic strip 5 to lock the tyre 7 to be locked, so that the vehicle can be fixed on the automatic driving trailer 8. When the car owner drives the vehicle to feel tired, the manual driving vehicle can be quickly converted into the automatic driving vehicle.
The application also provides a method for renting the automatic driving trailer 8, which comprises the following steps:
acquiring a lease address and a target address uploaded by a user;
automatically driving to a leasing address, and locking a target vehicle on an automatic driving trailer 8 by using a vehicle automatic fixing method;
automatically driving to the target address.
According to the embodiment, the system automatically runs to the leasing address according to the obtained leasing address; by using the vehicle automatic fixing method, the target vehicle is locked on the automatic driving trailer 8, and automatically driven to the target address according to the target address, thereby realizing automatic driving. The trailer 8 can automatically travel to the target address without manually driving the trailer 8 to the leasing address, so that the intelligent level is improved.
Embodiment seven
The present inventors have found that the vehicle automatic fixing method and apparatus of the present application can be applied to a trailer 8 having an automatic driving function. Therefore, the embodiment of the application also provides a post-locking automatic driving method for a vehicle, which comprises the following steps:
in response to a positioning signal that the vehicle reaches a preset position, lifting a second stop block to enable a tire 7 to be locked of the vehicle to be positioned between a first stop block 11 and the second stop block, wherein the preset position is a fixed position of the automobile of the automatic driving trailer 8;
ejecting the elastic strip 5, and enabling the elastic strip 5 to move around the tire 7 to be locked until the elastic strip 5 enters an inlet reserved by the storage mechanism 3;
locking the elastic strip 5 to lock the tyre 7 to be locked, and fixing the vehicle on an automatic driving trailer 8;
the vehicle is carried by the autopilot trailer 8 for travel.
The automated driving trailer 8 is a trailer 8 having an automated driving function. When the manually driven vehicle is tired or enters a special place needing automatic driving, the automatic fixing method and the device for the vehicle can be used for fixing the vehicle on the automatic driving trailer 8, so that the switching between the manually driven vehicle and the automatic driving vehicle can be realized.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (15)
1. A method of converting a conventional automobile into an autonomous automobile, comprising the steps of:
in response to a positioning signal that a vehicle reaches a preset position, lifting a second stop block to enable a tire to be locked of the vehicle to be positioned between the first stop block and the second stop block, wherein the preset position is a fixed position of an automobile of an automatic driving trailer;
the elastic strip is ejected, so that the elastic strip moves around the tire to be locked until the elastic strip enters an inlet reserved by the storage mechanism;
locking the elastic strip to lock the tire to be locked, and fixing the vehicle on an automatic driving trailer;
the vehicle is carried by the autonomous trailer for travel,
wherein the elastic strip tends to bend towards the direction of the tire under the action of self-elasticity, a plurality of holes are arranged on the elastic strip at equal intervals along the length direction of the elastic strip,
the containing mechanism comprises a gear driven by a motor and a disc brake arranged on the shaft of the gear, the interval of teeth of the gear is consistent with the interval of the holes,
the inlet is opposite to the gear to be connected with the elastic strip, and the hole of the elastic strip is meshed with the teeth of the gear so as to drive the elastic strip to move through the gear.
2. An automatic vehicle fixing method is characterized by comprising the following steps:
in response to a positioning signal that the vehicle reaches a preset position, a second stop block is lifted, so that a tire to be locked of the vehicle is positioned between the first stop block and the second stop block;
the elastic strip is ejected, so that the elastic strip moves around the tire to be locked until the elastic strip enters an inlet reserved by the storage mechanism;
locking the elastic strip to lock the tyre to be locked,
wherein the elastic strip tends to bend towards the direction of the tire under the action of self-elasticity, a plurality of holes are arranged on the elastic strip at equal intervals along the length direction of the elastic strip,
the containing mechanism comprises a gear driven by a motor and a disc brake arranged on the shaft of the gear, the interval of teeth of the gear is consistent with the interval of the holes,
the inlet is opposite to the gear to be connected with the elastic strip, and the hole of the elastic strip is meshed with the teeth of the gear so as to drive the elastic strip to move through the gear.
3. The method of claim 2, further comprising, prior to the step of raising the second stop:
acquiring tire size information of the vehicle;
and adjusting the position of the first stop block and/or the second stop block according to the tire size information.
4. A method according to claim 3, further comprising, prior to the step of raising the second stop: acquiring wheel tracks of front and rear wheels of the vehicle;
after the step of responding to the positioning signal that the vehicle reaches the preset position, the method further comprises the following steps:
and in response to the positioning signal, lifting the first stop block so that four tires of the vehicle are positioned between the corresponding first stop block and the second stop block.
5. The method of claim 2, further comprising, after the step of entering the elastic strip into the inlet:
the storage mechanism tightens the elastic strip.
6. An automatic vehicle fixing device, characterized by comprising:
a first stop and a second stop;
the second moving mechanism is connected with the second stop block;
a housing mechanism, a conveying mechanism, and an elastic strip mounted on the conveying mechanism, the conveying mechanism and the housing mechanism being lockable, an outlet of the conveying mechanism being located on a side of either the first stop or the second stop; the inlet of the containing mechanism is positioned on the side of the other containing mechanism;
the positioning sensor is respectively in communication connection with the second moving mechanism, the conveying mechanism and the storage mechanism, and sends out a positioning signal when the vehicle reaches a preset position;
the second moving mechanism responds to the positioning signal to lift a second stop block, so that the tire to be locked of the vehicle is positioned between the first stop block and the second stop block;
the conveying mechanism responds to the positioning signal to spit out an elastic strip, so that the elastic strip moves around the tire to be locked until the elastic strip enters an inlet reserved by the storage mechanism;
the storage mechanism and the conveying mechanism lock the elastic strip to lock the tire to be locked,
wherein the elastic strip tends to bend towards the direction of the tire under the action of self-elasticity, a plurality of holes are arranged on the elastic strip at equal intervals along the length direction of the elastic strip,
the containing mechanism comprises a gear driven by a motor and a disc brake arranged on the shaft of the gear, the interval of teeth of the gear is consistent with the interval of the holes,
the inlet is opposite to the gear to be connected with the elastic strip, and the hole of the elastic strip is meshed with the teeth of the gear so as to drive the elastic strip to move through the gear.
7. The automatic vehicle securement device of claim 6, further comprising:
the acquisition device is in communication connection with the first moving mechanism and/or the second moving mechanism and is used for acquiring the tire size information of the vehicle and sending out a tire size signal;
the first moving mechanism can adjust the position of the first stop block according to the tire size signal;
the second movement mechanism is capable of adjusting a position of the second stop according to the tire size signal.
8. The automatic vehicle securement device of claim 7, further comprising:
the first stop block and the second stop block are four groups and are respectively and correspondingly arranged with four tires of the vehicle;
the acquisition device is also used for acquiring wheel tracks of front and rear wheels of the vehicle and sending out wheel track signals;
the first moving mechanism can adjust the position of the first stop block according to the track signal;
the second moving mechanism can adjust the position of the second stop block according to the track signal;
the second moving mechanism responds to the positioning signals to lift four groups of second stop blocks, and the first moving mechanism responds to the positioning signals to lift at least two groups of first stop blocks positioned in the same row, so that four tires of the vehicle are positioned between the corresponding first stop blocks and the second stop blocks.
9. The automatic vehicle securing device according to claim 8, wherein two of the four sets of first stoppers and second stoppers are fixedly disposed on the same row of first stoppers.
10. The vehicle automatic fixation device of claim 9, wherein the positioning sensor is mounted on the fixedly disposed first stop; or alternatively, the process may be performed,
the positioning sensor is arranged between any group of the first stop block and the second stop block.
11. The vehicle automatic fixation device of claim 6, wherein the second movement mechanism comprises:
the hydraulic platform is used for driving the lifter and the first stop block and/or the second stop block to move in the horizontal direction.
12. The automatic vehicle fixation device according to claim 6, characterized in that an opening is provided on the first stopper and/or the second stopper, the opening constituting the outlet and/or the inlet.
13. The vehicle automatic securement device of claim 12, wherein, in each of the openings, a diameter of the opening corresponding to the inlet is tapered from outside to inside for guiding the resilient strip into the opening.
14. A trailer comprising a vehicle body and the vehicle automatic fixing device according to any one of claims 6 to 13 provided on the vehicle body, wherein the number of the vehicle automatic fixing devices is 2 or 4.
15. An autopilot trailer rental method, comprising:
acquiring a lease address and a target address uploaded by a user;
automatically driving to the rental address, locking a target vehicle on the automated driving trailer by using the vehicle automatic fixing method according to any one of claims 2 to 5;
automatically driving to the target address.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210095557.2A CN114347887B (en) | 2022-01-26 | 2022-01-26 | Method for converting a generic vehicle into an autonomous vehicle, device for adapting said method and method for operating a device |
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| CN202210095557.2A CN114347887B (en) | 2022-01-26 | 2022-01-26 | Method for converting a generic vehicle into an autonomous vehicle, device for adapting said method and method for operating a device |
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