CN117905322A - Omnidirectional attitude adjusting device and mechanical parking garage entrance and exit vehicle attitude adjusting rotating mechanism - Google Patents
Omnidirectional attitude adjusting device and mechanical parking garage entrance and exit vehicle attitude adjusting rotating mechanism Download PDFInfo
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Abstract
The invention discloses an omnidirectional gesture-adjusting device which is characterized by comprising a position and angle detection mechanism and a gesture-adjusting rotation mechanism; the position and angle detection mechanism is used for acquiring the actual position and angle of the vehicle or the goods by measuring the gesture of the vehicle or the goods; comparing the vehicle or goods offset and the offset direction with the reference position and the angle, and calculating the angle required to rotate; the gesture adjusting rotating mechanism controls the driving wheel to bear the vehicle or the goods to carry out omnidirectional displacement and rotation according to the calculated angle required to rotate, so that the position of the vehicle or the goods moves to the reference coordinate position; the gesture adjusting rotating mechanism comprises a bearing platform, a steerable riding wheel is arranged below the bearing platform, and the steerable riding wheel is driven by a motor. The invention realizes the omnidirectional gesture adjustment and rotation of the vehicle through a set of simple mechanism without arranging a limiting mechanism, thereby avoiding the damage of the vehicle caused by the collision between the vehicle and the limiting mechanism.
Description
Technical Field
The invention relates to the technical field of multi (high) layer mechanical parking equipment, in particular to an omnidirectional attitude-adjusting device and a mechanical parking garage entrance and exit vehicle attitude-adjusting rotating mechanism.
Background
In the field of multi-story (high-rise) mechanical parking equipment, a mechanical parking garage entrance is a key node position for interaction of a parking person and the mechanical parking garage. When a vehicle enters the entrance and the exit, the stopping posture of the vehicle is difficult to ensure that the requirements of parking garage carrying equipment on the stopping position and the angle of the vehicle are met, a corresponding vehicle position limiting mechanism is required to be arranged to limit the position of the vehicle entering the entrance and the exit, and a corresponding posture adjusting mechanism is arranged to adjust the position and the angle of the vehicle, so that the following vehicle carrying equipment can conveniently pick up and put the vehicle.
However, the existing entrance limiting and posture adjusting mechanism has the following two general problems:
(1) The mechanical garage entrance and exit is provided with a corresponding position limiting mechanism, so that the vehicle can only drive in after being aligned with the mechanical garage entrance and exit before entering the mechanical garage entrance and exit, and once entering the mechanical garage entrance and exit, the vehicle can not adjust the posture of the vehicle in a direction adjusting mode; if the posture of the vehicle is adjusted in the entrance and the exit in a direction adjusting manner, the vehicle possibly rubs the tire and even falls down to the groove, so that the vehicle is damaged, and the parking experience and the safety of a driver are poor; in addition, a wider vehicle warehouse-in channel is required to be arranged outside the entrance and the exit, otherwise, the vehicle is difficult to adjust the posture when entering the entrance and the exit of the mechanical parking garage.
(2) The vehicle gesture adjusting mechanism arranged at the entrance and exit of the mechanical parking garage can only realize the gesture adjustment of the vehicle in a single direction, such as transverse gesture adjustment, longitudinal gesture adjustment, angle gesture adjustment and the like, and if the vehicle direction needs to be rotated and adjusted, a rotary table needs to be arranged for vehicle direction adjustment, and the mechanism is complex; if the device has the function of adjusting the posture of the vehicle and also has the rotating function, the difficulty of realizing the mechanism is high and the complex failure rate of the mechanism is high.
In order to overcome the defects of the existing mechanical parking garage entrance and exit vehicle attitude adjustment and rotation mechanism, a mechanism and a control method are found, so that the mechanical parking entrance and exit parking experience and safety are improved, and meanwhile, the complexity of equipment mechanisms is reduced, so that the mechanical parking garage entrance and exit vehicle attitude adjustment and rotation mechanism is very practical.
Disclosure of Invention
The invention aims at: compared with the existing mode of adjusting the vehicle posture by a driver and a rotary table, the invention detects the vehicle coordinates through the vehicle position and angle detection mechanism, calculates the offset angle and the offset direction relative to the reference coordinates, controls the riding wheels to carry out omnibearing steering, drives the riding wheels to carry out omnibearing translation and rotation of the vehicle on the riding wheel bearing platform, does not need the self-posture adjustment of the vehicle and does not need a complex rotary mechanism, and the simple mechanism realizes the omnibearing posture adjustment and rotation of the vehicle.
The technical scheme of the invention is as follows:
the invention discloses an omnidirectional gesture-adjusting device, which comprises a position and angle detection mechanism and a gesture-adjusting rotation mechanism;
the position and angle detection mechanism is used for acquiring the actual position and angle of the vehicle or the goods by measuring the gesture of the vehicle or the goods; comparing the vehicle or goods offset and the offset direction with the reference position and the angle, and calculating the angle required to rotate; and the gesture adjusting rotating mechanism controls the driving wheel to bear the vehicle or the goods to carry out omnidirectional displacement and rotation according to the calculated angle required to rotate, so that the position of the vehicle or the goods moves to the reference coordinate position.
Preferably, the position and angle detection mechanism comprises laser detection equipment, a data acquisition processing terminal and a coordinate resolving module;
The laser detection equipment is arranged at four corners of a parking area in a reference coordinate plane, detects the position and the angle of a vehicle or goods in real time, and detects and alarms whether the vehicle is out of limit and stops in a limited area;
The data acquisition and processing terminal acquires data of the laser detection equipment and classifies and gathers the data;
the coordinate resolving module is used for comparing the acquired coordinates with the reference coordinates, resolving offset and angle values, and calculating the angle required to rotate by the vehicle or goods.
Preferably, the coordinate resolving method of the coordinate resolving module includes:
Step one: finding out a mutation point area from the collected and collected data, namely a turning point of the appearance of the vehicle or the goods, dividing the data into front and rear vehicle or goods end face detection data sets and vehicle or goods side face data sets by taking the turning point of the appearance of the vehicle or the goods as a demarcation point;
step two: the Y value to be moved is determined by comparing the data sets of the front end face and the rear end face of the vehicle with the reference coordinates;
Step three: comparing the data sets of the left side surface and the right side surface of the vehicle with the reference coordinates to determine an X value to be moved;
Step four: and determining the angle phi of the vehicle required to rotate by comparing the data sets of the four detection points on the left side surface and the right side surface with the reference coordinates.
Preferably, the gesture adjusting rotating mechanism comprises a bearing platform, and a steerable riding wheel is arranged below the bearing platform and driven by a motor.
Preferably, the steerable riding wheel comprises omni-directional wheels, or riding wheels, a steering mechanism and a steering motor.
Preferably, after the displacement value X\Y and the angle value phi are determined, the rotating speed and the rotating distance of the riding wheel are converted according to the displacement value X\Y and the diameter of the riding wheel to which the gesture adjusting rotating mechanism belongs, and the direction, the rotating speed and the rotating distance of the motor of each steering mechanism are converted according to the angle value phi and the steering mechanism to which the gesture adjusting rotating mechanism belongs; or respectively calculating the rotation direction and the rotation speed of each omnidirectional wheel according to the displacement value X\Y and the angle value phi.
Preferably, the method further comprises an omnidirectional displacement and rotation control method of the gesture adjusting rotation mechanism:
platform displacement control: firstly, controlling a riding wheel steering mechanism through a steering motor, and controlling the rotation angle of each riding wheel, wherein the rotation angles of the riding wheels are consistent and parallel; driving each riding wheel to rotate by a motor in the same direction so as to drive the vehicle or goods to move;
And (3) platform rotation control: firstly, controlling the steering mechanism of each riding wheel through a motor, and controlling the rotation angle of each riding wheel; and then the motors drive the riding wheels to rotate in the same direction, so as to drive the vehicles or cargoes to rotate.
Preferably, the method further comprises an omnidirectional displacement and rotation control method of the gesture adjusting rotation mechanism:
platform displacement control: the omni-directional wheels at different positions are respectively driven by a motor, and omni-directional displacement is carried out through matching of different rotation directions and speeds;
and (3) platform rotation control: the omni-wheels at different positions rotate by matching with the same speed through different rotation directions.
The invention also discloses a mechanical parking garage entrance and exit vehicle attitude-adjusting rotating mechanism, which adopts an omnidirectional attitude-adjusting device to measure the actual position and angle of the vehicle, calculates the offset and the offset direction of the vehicle and obtains the angle of the vehicle needing to rotate; according to the calculated angle required to rotate, the speed, angle and direction of each riding wheel of the gesture adjusting rotating mechanism are controlled, and the gesture adjusting rotating mechanism can perform omnidirectional translation and rotation at any angle within the whole range of the plane of the platform.
Preferably, the method for adjusting the comprehensive deviation of the vehicle and the posture of the vehicle further comprises the following steps: when the vehicle simultaneously generates X-direction offset, Y-direction offset and angle offset; firstly, according to the offset angle and the offset direction of the vehicle coordinate relative to the reference coordinate, adjusting the angle of the vehicle to reduce the difference value between the angle of the vehicle and the reference coordinate until the vehicle stops within the allowable error precision; and then, according to the displacement offset X\Y of the vehicle coordinate relative to the reference coordinate and the displacement direction, the displacement of the reference coordinate in the X direction and the displacement of the reference coordinate in the Y direction are sequentially adjusted, so that the difference between the vehicle coordinate and the reference coordinate is reduced until the vehicle coordinate and the reference coordinate stop within the allowable error precision.
In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:
1. The invention is different from unidirectional gesture adjustment, realizes omnidirectional translation and rotation at any angle within 360 degrees, and realizes omnidirectional translation and rotation of vehicles or cargoes on a platform by controlling the speed, angle and direction of each riding wheel to which the gesture adjustment rotating mechanism belongs.
2. According to the invention, the vehicle gesture adjustment and rotation of the mechanical parking garage entrance and exit are realized by controlling the steerable load platform, the mechanical parking garage entrance and exit does not need to be provided with a corresponding position limiting mechanism, the vehicle is prevented from being damaged by the collision between the vehicle and the limiting mechanism, and the adaptability of the mechanical parking garage to the vehicle type and the parking experience are improved.
3. The invention realizes the omnidirectional gesture adjustment and rotation of the vehicle through a set of simple mechanism, reduces the complexity of the mechanism and reduces the failure rate.
4. According to the invention, accurate omnidirectional attitude and rotation are realized, the actual position and angle of the vehicle are measured through the vehicle position and angle detection system, the offset and offset direction of the vehicle and the reference position and angle are determined, and the angle to be rotated is accurately calculated; and the speed, angle and direction of each riding wheel of the gesture adjusting rotating mechanism are precisely controlled to carry out omnidirectional displacement and rotation.
Drawings
The invention will now be described by way of example and with reference to the accompanying drawings in which:
Fig. 1 is a front view of a mechanical parking garage entrance-exit vehicle attitude-adjusting rotation mechanism in a mechanical parking garage according to a second embodiment.
Fig. 2 is a schematic view of a B-direction diagram of a mechanical parking garage entrance-exit vehicle attitude-adjusting rotation mechanism in the second embodiment.
Fig. 3 is a schematic view of a vehicle posture adjustment rotating mechanism at the entrance and exit of a mechanical garage in a second embodiment.
Fig. 4 is a schematic diagram of the platform and the vehicle in the second embodiment, which are offset to the left in the X direction.
Fig. 5 is a schematic diagram of the platform and the vehicle in the X direction offset rightward in the second embodiment.
Fig. 6 is a schematic diagram showing the upward displacement of the platform and the vehicle Y direction in the second embodiment.
Fig. 7 is a schematic diagram showing the downward offset of the platform and the vehicle Y direction in the second embodiment.
Fig. 8 is a schematic diagram showing the clockwise offset of the platform and the vehicle angle in the second embodiment.
Fig. 9 is a schematic diagram showing a counter-clockwise offset of the platform and the vehicle angle in the second embodiment.
FIG. 10 is a schematic view of a 180 degree offset of the platform and vehicle angle in either a clockwise or counterclockwise direction in the second embodiment.
Fig. 11 is a schematic diagram of the X-direction offset, Y-direction offset, and angular offset of the platform and the vehicle in the second embodiment.
Reference numerals:
1 a-position 1 Mecanum wheel, 1 b-position 1 Mecanum wheel drive motor;
2 a-position 2 Mecanum wheel, 2 b-position 2 Mecanum wheel drive motor;
a 3 a-position 3 Mecanum wheel, a 3 b-position 3 Mecanum wheel drive motor;
4 a-position 4 Mecanum wheel, 4 b-position 4 Mecanum wheel drive motor;
5-a platform; 6-example vehicle;
7-a rear left vehicle position and posture detecting device; 8-right rear side vehicle position and posture detecting means;
9-left front side vehicle position and posture detection means; 10-right front side vehicle position and posture detection device.
Detailed Description
All of the features disclosed in this specification, or all of the steps in a method or process disclosed, may be combined in any combination, except for mutually exclusive features and/or steps.
Any feature disclosed in this specification (including any accompanying claims, abstract) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. That is, each feature is one example only of a generic series of equivalent or similar features, unless expressly stated otherwise.
The features and capabilities of the present invention are described in further detail below in connection with examples.
The invention discloses an omnidirectional gesture-adjusting device, which comprises a position and angle detection mechanism and a gesture-adjusting rotation mechanism; the position and angle detection mechanism is used for acquiring the actual position and angle of the vehicle or the goods by measuring the gesture of the vehicle or the goods; comparing the vehicle or goods offset and the offset direction with the reference position and the angle, and calculating the angle required to rotate; and the gesture adjusting rotating mechanism controls the driving wheel to bear the vehicle or the goods to carry out omnidirectional displacement and rotation according to the calculated angle required to rotate, so that the position of the vehicle or the goods moves to the reference coordinate position.
The position and angle detection mechanism comprises laser detection equipment, a data acquisition and processing terminal and a coordinate resolving module; the laser detection equipment is arranged at four corners of a parking area in a reference coordinate plane, detects the position and the angle of a vehicle or goods in real time, and detects and alarms whether the vehicle is out of limit and stops in a limited area; the data acquisition and processing terminal acquires data of the laser detection equipment and classifies and gathers the data; and the coordinate resolving module is used for comparing the acquired coordinates with the reference coordinates, resolving offset and angle values and calculating the angle required to rotate by the vehicle or the goods. The coordinate resolving method of the coordinate resolving module comprises the following steps: step one: finding out a mutation point area from the collected and collected data, namely a turning point of the appearance of the vehicle or the goods, dividing the data into front and rear vehicle or goods end face detection data sets and vehicle or goods side face data sets by taking the turning point of the appearance of the vehicle or the goods as a demarcation point; step two: the Y value to be moved is determined by comparing the data sets of the front end face and the rear end face of the vehicle with the reference coordinates; step three: comparing the data sets of the left side surface and the right side surface of the vehicle with the reference coordinates to determine an X value to be moved; step four: and determining the angle phi of the vehicle required to rotate by comparing the data sets of the four detection points on the left side surface and the right side surface with the reference coordinates.
The gesture-adjusting rotating mechanism comprises a bearing platform, a steerable riding wheel is arranged below the bearing platform, and the steerable riding wheel is driven by a motor; the steerable riding wheel comprises omni-directional wheels, or riding wheels, a steering mechanism and a steering motor. After the displacement value X\Y and the angle value phi are determined, the rotating speed and the rotating distance of the riding wheel are converted according to the displacement value X\Y and the diameter of the riding wheel to which the gesture-adjusting rotating mechanism belongs, and the direction, the rotating speed and the rotating distance of the motor of each steering mechanism are converted according to the angle value phi and the steering mechanism to which the gesture-adjusting rotating mechanism belongs; or respectively calculating the rotation direction and the rotation speed of each omnidirectional wheel according to the displacement value X\Y and the angle value phi.
The omnidirectional gesture adjusting device can be used for a plurality of application occasions in which the gesture of a vehicle or goods needs to be adjusted, and is not limited to a specific occasion. The embodiment discloses the use of an omnidirectional attitude-adjusting device in an entrance and an exit of a mechanical parking garage, in particular discloses a vehicle attitude-adjusting rotating mechanism of the entrance and the exit of the mechanical parking garage, which comprises a vehicle position and angle detecting mechanism and an attitude-adjusting rotating mechanism;
the vehicle position and angle detection mechanism comprises a laser radar (including the laser radar but not limited to the laser radar) and a data acquisition and processing terminal; the laser radars are respectively arranged at four corners of the pre-parking position, the laser radars are used for measuring the entering vehicle, warning is given if the vehicle exceeds the limit, and the vehicle is not out of limit and is parked in the limited area; the control system also comprises data acquisition (laser radar feedback) according to the data acquisition system, data collection, vehicle position coordinate establishment, vehicle coordinate and reference coordinate data comparison, displacement and angle algorithm control data generation, algorithm control data conversion engineering control data and mechanism control operation according to the engineering control data.
The gesture-adjusting rotating mechanism is provided with a platform, the platform is arranged on a driving mechanism, the driving mechanism adopts a riding wheel bearing platform, and the riding wheel is driven by a motor, and the gesture-adjusting rotating mechanism also comprises a steering mechanism and a steering motor (the steering mechanism is contained but not limited to the steering mechanism, the steering motor is contained but not limited to the steering motor, and the steering mechanism and the steering motor are not needed when the riding wheel adopts an omnidirectional wheel (such as Mecanum wheel); meanwhile, the speed, the angle and the direction of the riding wheel are controlled, so that the omnidirectional movement and the rotation of the platform are realized. When the system is applied to the gesture adjustment and rotation of a vehicle to be parked in a mechanical garage, the platform can be controlled to move omnidirectionally and rotate according to engineering control data calculated by the vehicle position and angle detection system, so that the vehicle position moves to a reference coordinate position, and the positioning coordinate requirement of the operation of the carrying equipment on the parked vehicle is met.
Working principle:
* Vehicle position and angle detection means:
a) The laser radar is arranged at four corners of a parking area in a reference coordinate plane, and after a vehicle enters the parking area, the laser radar detects the posture of the vehicle in the parking area, including the position and the angle of the vehicle;
b) The data acquisition processing terminal acquires the data of the laser radars, detects the data of the four laser radars according to the collection, and takes the corresponding data classification collection as a calculation basis;
c) Finding a mutation point area in the data according to the collected data, namely turning points of the vehicle appearance, and dividing the data into front and rear vehicle end face detection data sets and vehicle side face data sets by taking the turning points of the vehicle appearance as demarcation points;
d) The Y value to be moved is determined by comparing the data sets of the front end face and the rear end face of the vehicle with the reference coordinate, the X value to be moved is determined by comparing the data sets of the left side face and the right side face of the vehicle with the reference coordinate, and the angle phi of the vehicle to be rotated is determined by comparing the data sets of four detection points of the left side face and the right side face with the reference coordinate;
e) According to the displacement value X\Y and the angle value phi determined in the previous step, the rotation speed and the rotation distance of the riding wheel are converted according to the displacement value X\Y and the diameter of the riding wheel of the gesture adjusting rotating mechanism, and the direction, the rotation speed and the rotation distance of the motor of each steering mechanism are converted according to the angle value phi and the steering mechanism of the gesture adjusting rotating mechanism (if the omni-wheel is adopted, the rotation speed and the direction of the four omni-wheels are required to be controlled at the moment, the displacement and the rotation of the platform can be controlled, and according to the displacement value X\Y and the angle value phi, the rotation direction and the rotation speed of each omni-wheel are respectively calculated, so that the displacement and the rotation of the platform can be realized at the same time);
f) And controlling the motor according to the engineering control data determined in the previous step to enable the platform to run, and simultaneously, acquiring data of the laser radar in real time by the data acquisition processing terminal so as to enable the position coordinates of the vehicle to be consistent with the reference coordinates through movement and rotation of the platform in the running process, and stopping the gesture adjustment rotating mechanism when the stopping precision is reached.
* The omnidirectional attitude-adjusting (vehicle attitude-adjusting) rotating mechanism of the mechanical parking garage entrance and exit vehicle taking the riding wheel and the riding wheel steering mechanism as the first embodiment and the control method are as follows:
a) Displacement control of the platform: the multiple riding wheels bear the weight of the platform, after controlling the rotation angle of each riding wheel (the angles of each riding wheel are consistent and parallel) through the motor, drive each riding wheel to rotate and the direction is consistent through the motor, drive the platform to move, the angle and the direction of the platform to move are related to the rotation angle of the riding wheels, and the movement speed of the platform is related to the rotation speed of the riding wheels;
B) Rotation control of the platform: the supporting wheel bearing platforms are controlled by motors, the rotating angles of the supporting wheels are controlled (the supporting wheel angles and the rotating directions are in certain correlation), the supporting wheels are driven by the motors to rotate and have the same direction, the platform is driven to rotate, the rotating angles of the platform are related to the rotating turns of the supporting wheels, and the rotating speed of the platform is related to the rotating speed of the supporting wheels;
c) The platform drives the vehicle parked thereon to realize full-displacement posture adjustment and rotation.
* The mechanical parking garage entrance vehicle omnidirectional attitude-adjusting (vehicle attitude-adjusting) rotating mechanism taking Mecanum wheels (omnidirectional wheels) as the second embodiment comprises the following steps:
A) Displacement control of the platform: the Mecanum wheel bearing platform is used for carrying Mecanum wheels at different positions;
The platform is driven by motors respectively, and the omni-directional displacement of the platform is realized through the matching of different rotation directions and speeds; the moving angle and direction of the platform are related to the rotating direction and speed of each Mecanum wheel, the moving speed of the platform is related to the rotating speed of each Mecanum wheel, and the control process needs to calculate each wheel according to the displacement and angle;
B) Rotation control of the platform: the Mecanum wheel bearing platform is used for carrying Mecanum wheels at different positions;
the platform rotation is realized through matching of the same speed in different rotation directions; the rotation angle of the platform is related to the number of turns of the Mecanum wheel, and the rotation speed of the platform is related to the rotation speed of the Mecanum wheel;
c) The platform drives the vehicle parked thereon to realize full-displacement posture adjustment and rotation.
As shown in fig. 1,2 and 3, in a third embodiment, the invention provides a mechanical parking garage entrance-exit vehicle omni-directional posture-adjusting (vehicle posture-adjusting) rotating mechanism and a control method, comprising a posture-adjusting rotating mechanism and a vehicle position and angle detecting system. The gesture adjusting rotating mechanism consists of a Mecanum wheel 1a at a position 1, a Mecanum wheel driving motor 1b at a position 1, a Mecanum wheel 2a at a position 2, a Mecanum wheel driving motor 2b at a position 2, a Mecanum wheel 3a at a position 3, a Mecanum wheel driving motor 3b at a position 3, a Mecanum wheel 4a at a position 4, a Mecanum wheel driving motor 4b at a position 4, a platform 5 and a control system; the vehicle position and angle detection system is composed of a left rear vehicle position and posture detection device 7, a right rear vehicle position and posture detection device 8, a left front vehicle position and posture detection device 9, a right front vehicle position and posture detection device 10 and a data acquisition system.
In this embodiment, since four mecanum wheels are used as the carrying wheel carrying platform and the vehicle on the platform, the vehicle only needs to be stopped within the range of Φm in fig. 3 when entering the mechanical parking garage entrance platform.
The position and the position of the vehicle are detected by a left rear vehicle position and posture detecting device 7, a right rear vehicle position and posture detecting device 8, a left front vehicle position and posture detecting device 9 and a right front vehicle position and posture detecting device 10 in fig. 3, data are collected by a data acquisition system and vehicle coordinates are calculated, meanwhile, the vehicle coordinate data are transmitted to a posture adjusting rotating mechanism control system, and the control system calculates the difference value between the vehicle coordinates and the reference coordinates and converts the difference value into engineering data for controlling the rotating speed and the direction of a motor.
A) Vehicle X-direction offset and vehicle attitude adjustment
As shown in fig. 4 and 5, the vehicle coordinates are offset by X in the X-axis direction with respect to the reference coordinates, where-X represents that the vehicle coordinates are offset to the left with respect to the reference coordinates, and +x represents that the vehicle coordinates are offset to the right with respect to the reference coordinates.
According to the offset X and the offset direction of the vehicle coordinate relative to the reference coordinate, which are detected by the vehicle position and angle detection system, when the vehicle coordinate is offset left and right relative to the reference coordinate, the gesture adjusting rotation mechanism control system converts the difference value between the vehicle coordinate and the reference coordinate into engineering data of motor control, namely the direction and the rotating speed.
As shown in fig. 4, the motor controls the mecanum wheel 1a to rotate counterclockwise, 2a to rotate clockwise, 3a to rotate clockwise, and 4a to rotate counterclockwise, so that the platform and the vehicle move rightward. (note: the rotation direction of the motor is observed in the direction D).
As shown in fig. 5, the platform and the vehicle move leftward by controlling the rotation of the mecanum wheel 1a clockwise, 2a counterclockwise, 3a counterclockwise, and 4a clockwise by the motor. (note: the rotation direction of the motor is observed in the direction D).
And the difference value between the vehicle coordinates and the reference coordinates is reduced in the process of driving the vehicle to move by the platform until the vehicle stops within the allowable error precision. The moving speed of the vehicle and the platform is determined by the speed of the Mecanum wheel, and when the difference between the vehicle coordinate and the reference coordinate is large, the corresponding speed is calculated according to a speed formula, namely the larger the difference is, the larger the maximum speed of the platform is.
The movement of the vehicle in the X direction is realized by controlling the rotation direction and the speed of the Mecanum wheel, so that the coordinates of the vehicle are overlapped with the reference coordinates.
B) Vehicle Y-direction offset and vehicle attitude adjustment
As shown in fig. 6 and 7, the vehicle coordinates are offset Y in the Y-axis direction with respect to the reference coordinates, where +y represents that the vehicle coordinates are offset upward with respect to the reference coordinates, and-Y represents that the vehicle coordinates are offset downward with respect to the reference coordinates.
According to the offset Y and the offset direction of the vehicle coordinate relative to the reference coordinate, which are detected by the vehicle position and angle detection system, when the vehicle coordinate is offset up and down relative to the reference coordinate, the gesture adjusting rotary mechanism control system converts the difference value between the vehicle coordinate and the reference coordinate into engineering data of motor control, namely the direction and the rotating speed.
As shown in fig. 6, the motor controls the mecanum wheel 1a to rotate clockwise, 2a to rotate clockwise, 3a to rotate clockwise, and 4a to rotate clockwise, so that the platform and the vehicle move downwards. (note: the rotation direction of the motor is observed in the direction D).
As shown in fig. 7, the platform and the vehicle move upward by controlling the rotation of the mecanum wheel 1a in the counterclockwise direction, the rotation of the mecanum wheel 2a in the counterclockwise direction, the rotation of the mecanum wheel 3a in the counterclockwise direction, and the rotation of the mecanum wheel 4a in the counterclockwise direction by the motor. (note: the rotation direction of the motor is observed in the direction D).
And the difference value between the vehicle coordinates and the reference coordinates is reduced in the process of driving the vehicle to move by the platform until the vehicle stops within the allowable error precision. The moving speed of the vehicle and the platform is determined by the speed of the Mecanum wheel, and when the difference between the vehicle coordinate and the reference coordinate is large, the corresponding speed is calculated according to a speed formula, namely the larger the difference is, the larger the maximum speed of the platform is.
The movement of the vehicle in the Y direction is realized by controlling the rotation direction and the speed of the Mecanum wheel, so that the coordinates of the vehicle are overlapped with the reference coordinates.
C) Vehicle angular offset and vehicle attitude adjustment
As shown in fig. 8 and 9, the vehicle coordinates are angularly offset from the reference coordinates by an amount a, where +a represents a clockwise offset of the vehicle coordinates from the reference coordinates and-a represents a counterclockwise offset of the vehicle coordinates from the reference coordinates.
According to the offset angle A and the offset direction of the vehicle coordinate relative to the reference coordinate, which are detected by the vehicle position and angle detection system, when the vehicle coordinate is offset relative to the reference coordinate, the gesture adjusting rotation mechanism control system converts the angle difference value between the vehicle coordinate and the reference coordinate into engineering data of motor control, namely the direction and the rotating speed.
As shown in fig. 8, the motor controls the mecanum wheel 1a to rotate clockwise, 2a to rotate clockwise, 3a to rotate counterclockwise, and 4a to rotate counterclockwise, so that the platform and the vehicle rotate counterclockwise. (note: the rotation direction of the motor is observed in the direction D).
As shown in fig. 9, the motor controls the mecanum wheel 1a to rotate counterclockwise, 2a to rotate counterclockwise, 3a to rotate clockwise, and 4a to rotate clockwise, so that the platform and the vehicle rotate clockwise. (note: the rotation direction of the motor is observed in the direction D).
And the angle difference between the vehicle coordinates and the reference coordinates is reduced in the process of driving the vehicle to rotate by the platform until the vehicle stops within the allowable error precision. The moving speed of the vehicle and the platform is determined by the speed of the Mecanum wheel, and when the angle difference between the vehicle coordinate and the reference coordinate is larger, the corresponding speed is calculated according to a speed formula, namely the larger the difference is, the larger the maximum speed of the platform is.
By controlling the rotation direction and speed of the Mecanum wheel, the rotation of the vehicle in the angle direction is realized, so that the vehicle coordinate is overlapped with the reference coordinate.
As shown in fig. 10, according to the above control method, by controlling the rotation direction and speed of the mecanum wheel, 180 degrees rotation of the vehicle in the clockwise or counterclockwise direction can be achieved, that is, the turning function of the vehicle can be achieved.
D) Vehicle integrated offset and vehicle attitude adjustment
As shown in fig. 11, in actual use, it is difficult to accurately stop the vehicle on the reference coordinates, and at the same time, an X-direction shift, a Y-direction shift, and an angular shift of the vehicle may occur.
Firstly, according to the offset angle A and the offset direction of the vehicle coordinate relative to the reference coordinate, which are detected by the vehicle position and angle detection system, firstly, the angle of the vehicle is adjusted, so that the difference value between the vehicle angle and the reference coordinate is reduced until the vehicle stops within the allowable error precision, and the specific adjustment method is as shown in the item C. After the vehicle offset angle is adjusted, according to the displacement offset X\Y and the offset direction of the vehicle coordinate relative to the reference coordinate, which are detected by the vehicle position and angle detection system, the displacement of the reference coordinate in the X direction and the displacement of the reference coordinate in the Y direction are sequentially adjusted to reduce the difference between the vehicle coordinate and the reference coordinate until the difference is stopped within the allowable error precision, and the specific adjustment method refers to the item A and the item B.
The rotation direction and the speed of the Mecanum wheel are controlled in steps, so that the rotation of the vehicle in the angle direction and the movement of the vehicle in the X/Y direction are realized, the coordinates of the vehicle are overlapped with the reference coordinates, the adjustment of the posture of the vehicle is completed, and the requirement of the vehicle carrying equipment on the posture of the vehicle is met.
When the vehicle is removed by the handling device, the platform will move (note: no rotation is required) to bring the coordinates of the platform into agreement with the reference coordinates, the movement method referring to item a and item B. After the movement is completed, the platform allows the vehicle to enter.
In the description of this patent, three coordinate systems are therefore actually present, namely a reference coordinate system, a vehicle coordinate system, a platform coordinate system. However, the coordinate system of the platform is determined according to whether a vehicle exists on the platform, when the vehicle exists on the platform, the platform uses the coordinates of the vehicle, when the vehicle does not exist on the platform, the platform coordinate system is moved to coincide with the reference coordinate system, and after the movement is completed, the platform coordinate system adopts the reference coordinate.
The above examples merely illustrate specific embodiments of the application, which are described in more detail and are not to be construed as limiting the scope of the application. It should be noted that it is possible for a person skilled in the art to make several variants and modifications without departing from the technical idea of the application, which fall within the scope of protection of the application.
Claims (10)
1. An omnidirectional gesture-adjusting device is characterized by comprising a position and angle detection mechanism and a gesture-adjusting rotation mechanism;
the position and angle detection mechanism is used for acquiring the actual position and angle of the vehicle or the goods by measuring the gesture of the vehicle or the goods; comparing the vehicle or goods offset and the offset direction with the reference position and the angle, and calculating the angle required to rotate; and the gesture adjusting rotating mechanism controls the driving wheel to bear the vehicle or the goods to carry out omnidirectional displacement and rotation according to the calculated angle required to rotate, so that the position of the vehicle or the goods moves to the reference coordinate position.
2. The omni-directional gesture adjustment device according to claim 1, wherein the position and angle detection mechanism comprises a laser detection device, a data acquisition processing terminal and a coordinate resolving module;
The laser detection equipment is arranged at four corners of a parking area in a reference coordinate plane, detects the position and the angle of a vehicle or goods in real time, and detects and alarms whether the vehicle is out of limit and stops in a limited area;
The data acquisition and processing terminal acquires data of the laser detection equipment and classifies and gathers the data;
the coordinate resolving module is used for comparing the acquired coordinates with the reference coordinates, resolving offset and angle values, and calculating the angle required to rotate by the vehicle or goods.
3. The omni-directional gesture adjustment device of claim 2, wherein the coordinate resolving method of the coordinate resolving module comprises:
Step one: finding out a mutation point area from the collected and collected data, namely a turning point of the appearance of the vehicle or the goods, dividing the data into front and rear vehicle or goods end face detection data sets and vehicle or goods side face data sets by taking the turning point of the appearance of the vehicle or the goods as a demarcation point;
step two: the Y value to be moved is determined by comparing the data sets of the front end face and the rear end face of the vehicle with the reference coordinates;
Step three: comparing the data sets of the left side surface and the right side surface of the vehicle with the reference coordinates to determine an X value to be moved;
Step four: and determining the angle phi of the vehicle required to rotate by comparing the data sets of the four detection points on the left side surface and the right side surface with the reference coordinates.
4. The omni-directional gesture adjustment device according to claim 1 or 3, wherein the gesture adjustment rotating mechanism comprises a bearing platform, and a steerable riding wheel is arranged below the bearing platform and driven by a motor.
5. The omni-directional gesture adjustment device of claim 4 wherein the steerable support wheel comprises an omni-directional wheel, or a support wheel, a steering mechanism, and a steering motor.
6. The omni-directional gesture adjustment device according to claim 5, wherein after the displacement value X/Y and the angle value Φ are determined, the rotation speed and the rotation distance of the riding wheel are converted according to the displacement value X/Y and the diameter of the riding wheel to which the gesture adjustment rotating mechanism belongs, and the direction, the rotation speed and the rotation distance of the motor of each steering mechanism are converted according to the angle value Φ and the steering mechanism to which the gesture adjustment rotating mechanism belongs; or respectively calculating the rotation direction and the rotation speed of each omnidirectional wheel according to the displacement value X\Y and the angle value phi.
7. The omni-directional gesture adjustment device of claim 6 further comprising an omni-directional displacement and rotation control method of a gesture adjustment rotation mechanism:
platform displacement control: firstly, controlling a riding wheel steering mechanism through a steering motor, and controlling the rotation angle of each riding wheel, wherein the rotation angles of the riding wheels are consistent and parallel; driving each riding wheel to rotate by a motor in the same direction so as to drive the vehicle or goods to move;
And (3) platform rotation control: firstly, controlling the steering mechanism of each riding wheel through a motor, and controlling the rotation angle of each riding wheel; and then the motors drive the riding wheels to rotate in the same direction, so as to drive the vehicles or cargoes to rotate.
8. The omni-directional gesture adjustment device of claim 6 further comprising an omni-directional displacement and rotation control method of a gesture adjustment rotation mechanism:
platform displacement control: the omni-directional wheels at different positions are respectively driven by a motor, and omni-directional displacement is carried out through matching of different rotation directions and speeds;
and (3) platform rotation control: the omni-wheels at different positions rotate by matching with the same speed through different rotation directions.
9. A mechanical parking garage entrance and exit vehicle attitude and rotation mechanism, which is characterized in that the omnidirectional attitude and rotation device according to one of claims 1-8 is adopted to measure the actual position and angle of the vehicle, calculate the offset and the offset direction of the vehicle and obtain the angle of the vehicle which needs to rotate; according to the calculated angle required to rotate, the speed, angle and direction of each riding wheel of the gesture adjusting rotating mechanism are controlled, and the gesture adjusting rotating mechanism can perform omnidirectional translation and rotation at any angle within the whole range of the plane of the platform.
10. The mechanical parking garage entrance and exit vehicle attitude adjustment rotating mechanism according to claim 9, further comprising a vehicle comprehensive offset and vehicle attitude adjustment method: when the vehicle simultaneously generates X-direction offset, Y-direction offset and angle offset; firstly, according to the offset angle and the offset direction of the vehicle coordinate relative to the reference coordinate, adjusting the angle of the vehicle to reduce the difference value between the angle of the vehicle and the reference coordinate until the vehicle stops within the allowable error precision; and then, according to the displacement offset X\Y of the vehicle coordinate relative to the reference coordinate and the displacement direction, the displacement of the reference coordinate in the X direction and the displacement of the reference coordinate in the Y direction are sequentially adjusted, so that the difference between the vehicle coordinate and the reference coordinate is reduced until the vehicle coordinate and the reference coordinate stop within the allowable error precision.
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| CN202410114570.7A CN117905322A (en) | 2024-01-26 | 2024-01-26 | Omnidirectional attitude adjusting device and mechanical parking garage entrance and exit vehicle attitude adjusting rotating mechanism |
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