CN206128772U - Intelligent automobile transfer robot based on UWB location - Google Patents

Intelligent automobile transfer robot based on UWB location Download PDF

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Publication number
CN206128772U
CN206128772U CN201620500496.3U CN201620500496U CN206128772U CN 206128772 U CN206128772 U CN 206128772U CN 201620500496 U CN201620500496 U CN 201620500496U CN 206128772 U CN206128772 U CN 206128772U
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CN
China
Prior art keywords
transfer robot
loading end
control unit
uwb
automobile
Prior art date
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Expired - Fee Related
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CN201620500496.3U
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Chinese (zh)
Inventor
张桂青
李成栋
高修崇
田崇翼
陶亮
汪明
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shandong Zhangkong Iot Technology Co Ltd
Shandong Jianzhu University
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Shandong Zhangkong Iot Technology Co Ltd
Shandong Jianzhu University
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Application filed by Shandong Zhangkong Iot Technology Co Ltd, Shandong Jianzhu University filed Critical Shandong Zhangkong Iot Technology Co Ltd
Priority to CN201620500496.3U priority Critical patent/CN206128772U/en
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Publication of CN206128772U publication Critical patent/CN206128772U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses an intelligent automobile transfer robot based on UWB location, the utility model discloses a set up running gear, elevating system, fixture, electrical control unit, central control unit and battery charging unit on two loading ends, can pass through central control unit command control, can be expert at according to the instruction that parking area major control system sent and sail the in -process and adjust the arm lock position in advance, only need slight action when arriving when the position is stopped to the automobile, can accomplish the centre gripping work to the automobile. The utility model discloses a current car haulage equipment of intelligent automobile transfer robot can show the promotion car transport time, improves the factor of safety among the car handling, and the safe quick intelligence of realization is parkked.

Description

A kind of intelligent automobile transfer robot positioned based on UWB
Technical field
This utility model is related to a kind of intelligent automobile transfer robot positioned based on UWB.
Background technology
With the development and the raising of living standards of the people of auto industry, per capita automobile occupancy volume is continuously increased in city, but It is that location available for parking day is becoming tight as the increase of urban population, the living space of people are less and less, in order to adapt to stop The needs of car, people start to use intelligent three-dimensional garage in a large number.At present, multi-storied garage mainly have planar movement, vertical lift and Several patterns such as tunnel stacking, there is the several methods, wherein car such as vehicle-containing, lifting comb and wheel clamping in the carrying of automobile Wheel is clipping fast with compact conformation, access vehicle speed, and the low advantage application of civil engineering cost is more and more extensive.Car carrying robot The existing mode navigated when running in garage mainly has electromagnetic type, video, laser type etc., by navigation system with real cars on hand The automatic access of automobile in storehouse.
The Chinese patent of entitled " a kind of car carrying robot " of Publication No. " CN 105220918A " discloses one The robot for carrying vehicle-containing is planted, this technical scheme is synchronously to cause load car for the multiple lifting bodies of robot are difficult to realize Automobile on plate occurs inclining, falls the shortcomings of security incident such as damage and propose.But, due to this vehicle-containing conveying robot People still has the process of an access vehicle-containing in Transport Vehicle, increased the time of Transport Vehicle, and work efficiency is than relatively low.
Authorization Notice No. is disclosed for " U of CN 204457020 ":" a kind of AGV automobile carriers, including two structures Dolly, and the bindiny mechanism of two dollies of connection, the dolly includes support body, the vehicle with walking machine being arranged on the support body Structure, universal wheel group, telescopic hydraulic linkage and electric control system." this technical scheme mainly has following some weak point:1、 The navigation system of the AGV that the patent is adopted is the modes such as electromagnetism, video, laser, if parking lot structure changes, navigation The improvement expenses of system is larger.2nd, dolly turning function described in the patent is that have differential to realize by dolly left and right sidesing driving wheel , this can increase space required during trolley travelling, and the time of required steering also can increase.3rd, the patent is being accessed in time Must be that dolly is pierced under automobile bottom and then obtains wheel position by sensor, adjust little truck position, and then holding-wheel, this The time needed for whole Transport Vehicle process can be greatly increased.4th, arm mechanism intermediate gaps are clamped non-adjustable, if wheel is less, Be likely to result in timing on clamping device, wheel is liftoff not yet, or wheel it is larger when, automobile is placed directly within clamping limb, Easily there is security incident during transport.5th, the width of automobile carrier only has single model described in the patent, In practical situation, automobile size difference is very big (such as the gap between Land Rover and Cherry QQ), if this may result in the patent institute Stating carrier can carry if Cherry QQ, and when automobile carrier described in the patent carries Land Rover, its structure will show Obtain excessively little so as to cause potential safety hazard, if automobile carrier just carries Land Rover described in the patent, it carries Cherry QQ When just probably bore less than under QQ underbodies.
Utility model content
This utility model is in order to solve the above problems, it is proposed that a kind of intelligent automobile transfer robot positioned based on UWB, This device can be according to instruction automatic running, quick in intelligent garage, the access automobile of safety.
To achieve these goals, this utility model is adopted the following technical scheme that:
A kind of intelligent automobile transfer robot positioned based on UWB, including walking mechanism, elevating mechanism, clamping device, electricity Gas control unit, central control unit, charhing unit and load carrier, wherein:
The load carrier include about two pieces the first loading ends arranged, the second loading ends, first loading end and Second loading end is supported by elevating mechanism and connected, and the both sides positioned at the second loading end of upper end are symmetrically laid with clamping automotive wheels The clamping device of tire;
First loading end and the second loading end can change size in actual design process according to practical situation.
The end of first loading end is provided with obstacle avoidance sensor, and the obstacle avoidance sensor sends the signal for gathering To control unit, UWB positioning labels are additionally provided with first loading end, to realize the positioning to robot;
The charhing unit is arranged on the first loading end, including the power storage module and wireless charging electric wire that are connected to Circle, the first loading end bottom is provided with walking mechanism;
The central control unit, builds electronic chart, according to vapour to be taken according to parking lot road information and actual environment The position of car and the position of transfer robot, determine track route, according to the existing of the track route and transfer robot planned Speed, calculates the acceleration of robot, sends the route information for making robot reach appointed place and the action for completing carrying Instruction;
The electric control unit communicates with central control unit, route information and move that reception central control unit sends Instructing, and control walking mechanism, elevating mechanism, clamping device or/and charhing unit carries out corresponding action, realizes specifying vapour The carrying of car.
Preferably, first loading end and the second loading end are integral structure, and are rectangle.
The walking mechanism, including four groups of controlled universal wheels and its driving steering motor, wherein, it is described controlled universal Wheel and its driving turn to rotation and walking that motor drives respectively four groups of controlled universal wheels, and the driving turns to motor It is connected with control unit, receives control instruction.
Four groups of controlled Universal wheel structures are identical, including two symmetrical universal wheels laid, and four groups controlled universal Wheel is arranged in four ends of the first loading end bottom.
The clamping device includes two guide rails and four groups of telescopic hydraulic bars, and the guide rail is arranged at the two of the second loading end End, every group of telescopic hydraulic bar includes two supporting rods, and four groups of telescopic hydraulic bars are symmetricly set in two-by-two the two ends of guide rail, stretch per group Hydraulic pushing device is provided with the outside of contracting hydraulic stem, hydraulic pushing device promotes supporting rod to be moved along guide rail and fixed, Realize the clamping and fastening of tire.
Preferably, the hydraulic pushing device is hydraulic drive oil cylinder.
In different telescopic oil cylinders, the telescopic hydraulic bar is provided with to penetrating photoelectricity every group of telescopic hydraulic rod set Sensor and range sensor, according to the data for penetrating photoelectric sensor and range sensor adjusting the position of telescopic hydraulic bar And length.
Preferably, the telescopic hydraulic bar is arc towards the side of automotive wheel.
The elevating mechanism is hydraulic lift, specifically includes several raise-lower hydraulic bars and hydraulic pump, the lifting Hydraulic stem is fixed between the first loading end and the second loading end, for adjusting the distance of the first loading end and the second loading end, The hydraulic pump connects raise-lower hydraulic bar.
The electric control unit, including command reception module, electric cabinet, UWB positioning label and several anticollision sensings Device, the obstacle avoidance sensor is arranged on the end of the first loading end, and the UWB positioning label is arranged at the geometry of the first loading end Center, the command reception module is arranged in the geometric center lines of the first loading end, receive central control unit acceleration or Deceleration instruction, the steer motor and motor and hydraulic pump of the electric cabinet control walking mechanism.
The central control unit is connected with parking lot monitoring server, the electronic chart of the reception server, positional information With information of vehicles to be taken.
Preferably, it is described to treat that a pick-up information includes position, diameter, width, front wheels and rear wheels spacing and the parking of tire Position.
A kind of control method of the intelligent automobile transfer robot positioned based on above-mentioned UWB, is comprised the following steps:
(1) transfer robot is positioned according to UWB location technologies, it is determined according to the electronic chart in parking lot and is treated The shortest path of pick-up, plans driving path;
(2) according to the due acceleration of path computing transfer robot of planning, control it and run to vehicle location to be taken, Drive to vehicle bottom to be taken;
(3) information of vehicles to be taken is received, according to the front wheels and rear wheels spacing and diameter of wheel, the position of telescopic hydraulic bar is adjusted Put and spacing so as to corresponding with wheel, according to penetrating the data that photoelectric sensor and range sensor are detected, to flexible Hydraulic stem position and collapsing length are adjusted, so as to realize the clamping to automobile tire;
(4) complete after clamping process, adjust the distance between the first loading end and the second loading end, make automobile leave ground Face;
(5) EXIT is determined according to the electronic chart of UWB location technologies and parking lot and treats the shortest path of pick-up Footpath, plans driving path, makes transfer robot transport automobile to EXIT.
In the step (1), when transfer robot does not carry task, transfer robot is rested on wireless charging It is charged on the parking stall of function, if now there is automobile to stop into garage port, managing system of car parking is by photographic head to vapour Car carries out pattern recognition, the position of model, tire the vehicle of the automobile for detecting, front wheels and rear wheels spacing and parking stall Put, by being wirelessly transferred transfer robot is sent to, the positional information of wherein tire is obtained according to the map of coordinatograph, (ratio The origin that the upper right corner that garage first entrance goes out is whole garage coordinate system is such as set, tire is drawn according to camera mode identification Coordinate, be sent to transfer robot so that dolly can in advance adjust arm mechanism according to automobile tire position coordinate, So as to realize when transfer robot gets into bottom of car, automobile tire is placed exactly in the central purpose of each pair arm mechanism).
In the step (1), during path planning, empty wagons parking stall is made full use of, carry out the determination of optimal path, and avoided The parking stall of parking.
In the step (1), electronic chart is generated by the way of Mapinfo Software Creates, makes each parking stall of parking lot Position it is corresponding with the coordinate on electronic chart.
In the step (1), the first loading end of transfer robot and the length of the second loading end, width and parking stall Length, width are adapted.
In the step (2), if path planning turns round, controllable universal wheel group is set to rotate 90 ° in corner.
The beneficial effects of the utility model are:
(1) this utility model autonomous navigation system is navigated using architecture and map, when parking lot structure or is stopped Bus or train route line changes, and only need to change respective virtual electronic chart, simple with location navigation, the few advantage of improvement expenses;
(2) this utility model walking mechanism is controllable universal wheel, and when robot needs to turn to, robot integrally need not Rotate, only need to rotate universal wheel group, can be time-consuming, reduce security risk;
(3) this utility model arm mechanism can be sent by central control unit instruction control according to parking lot master control system Instruction adjust jig arm position in advance in the process of moving, only need mild action when automobile stop position is reached, you can complete Clamping work to automobile;
(4) this utility model arm mechanism surface has to penetrating photoelectric sensor and range sensor, is capable of achieving to automobile The clip position of tire is certain, is unlikely to pine or tension;Information of vehicles to be taken according to sending adjusts in advance jig arm position, because The time of the process that automobile is taken out in this transfer robot clamping can greatly shorten;
(5) this utility model may be designed as some robots that differ in size in actual design engineering, when cart be parked in into When at mouthful, then larger transfer robot is called to be carried;When dolly is parked in porch, then less carrying implement is called Device people carried.
(6) this utility model set of cells is charged as wireless charging mode, can reduce robot operating procedure, connects robot Continuous work.
Description of the drawings
Fig. 1 is dimensional structure diagram of the present utility model;
Fig. 2 is the first loading end structural representation of the present utility model;
Fig. 3 is the second loading end structural representation of the present utility model;
Fig. 4 is hydraulic system principle figure of the present utility model;
Side view when Fig. 5 is bearing automobile of the present utility model;
Fig. 6 is application schematic diagram of the present utility model.
Wherein, the 1, first loading end;2nd, the second loading end;3rd, push cylinder;4th, telescopic oil cylinder;5th, raise-lower hydraulic bar;6、 Universal wheel group;7th, telescopic hydraulic bar clasps wheel side;8th, push-and-pull hydraulic stem;9th, alignment sensor;10th, hydraulic pump;11st, compress Motor;12nd, central control module;13rd, set of cells;14th, Wireless charging coil;15th, electric cabinet;16th, anticollision sensor; 17th, telescopic hydraulic bar;18th, guide rail, 20, command information receiving unit, 21, photoelectricity opposite type sensor, 22, range sensor;
301-308, push cylinder, 6011,6021,6012,6022,6013,6023,6014,6024 universal wheel groups drive Turn to motor, 501-504, raise-lower hydraulic bar group.
Specific embodiment:
Below in conjunction with the accompanying drawings the utility model is described in further detail with embodiment.
A kind of intelligent automobile transfer robot, the transfer robot include vehicle frame, be arranged on it is controlled on the vehicle frame Universal wheel group, arm mechanism and electric control system.In the transfer robot also include wireless instructions information receiving unit, Central control module, battery component, wireless charging management assembly, sensor cluster, anticollision monitoring assembly.The universal wheel Group, arm mechanism are connected with electric control system.The electric control system and wireless instructions information receiving unit with The central control module connection.
Transfer robot navigation mode is navigated using high accuracy digital map navigation mode, and the high accuracy map is by sensing Collection of the device to parking lot road environment information, is then generated by way of modeling.
Controlled universal wheel is four groups eight, is directly driven by motor.The direction of controlled universal wheel is turned to electricity by four Machine is controlled, and the motor and steer motor are controlled by electric control system, and the electric control system is controlled with central authorities Module is connected and according to central control module instruction action.
Transfer robot is provided with arm mechanism described in four groups, arm mechanism is clamped described in four groups and is symmetrically arranged at the vehicle frame two Side.The clamping arm mechanism adopts controlled hydraulic actuating device, the hydraulic to be controlled by electric control system.
The surface of clamping arm contact wheel is provided with photoelectricity opposite type sensor 21 and range sensor 22, and the photoelectricity is to penetrating biography Sensor 21 and range sensor 22 are connected with central control module.
Including loading end 1 and loading end 2, and the raise-lower hydraulic bar 5 of two loading ends of connection, it is arranged on the loading end 1 Universal wheel group 6, raise-lower hydraulic bar 5, electric cabinet 15, wireless charging mutual inductor 14, set of cells 13, alignment sensor 9, hydraulic pressure Pump 10, compression motor 11, central control module 12, anticollision sensor 16, command information receiving unit 20 is arranged on described Push cylinder 3, telescopic oil cylinder 4, push-and-pull hydraulic stem 8, guide rail 18 on loading end 2 and the flexible liquid being arranged on telescopic oil cylinder Depression bar 17.By arranging Wireless charging coil 14 on loading end 1, parking lot coordinates can realize robot not to this utility model Discontinuous, especially in parking peak period, transfer robot not enough power supply will largely effect on parking efficiency.
Existing AGV transfer robots air navigation aid is adopted similar to following method:According to installed in transfer robot On sensor and ground on medium navigating to transfer robot.The breakage of the medium on ground has dirt general Navigation accuracy can be largely effected on.This utility model is positioned using indoor high-precision location technique ultra broadband UWB, through optimized algorithm The positioning precision within 5cm is can reach with data processing.The alignment sensor of this utility model intelligent robot is arranged on and is held The geometric center point of section 1, according to the actual scale in parking lot some locating base stations are arranged, and are capable of achieving to the real-time position of transfer robot Put and be accurately positioned, further according to the high-precision electronic map that parking lot road information and actual environment build, and to carrying implement The operating path and existing speed of device people planning, can calculate the due acceleration of transfer robot such that it is able to realize carrying It is robot autonomous to run to specified parking stall.The high accuracy map and location information are stored in managing system of car parking service Device, transfer robot only needs to receive acceleration or deceleration instruction execution corresponding actions by command reception component 20.
As shown in Figure 1 and Figure 2, according to this utility model the above embodiments, the universal wheel group 6 includes four groups of eight drives It is dynamic to turn to motor 6011,6021,6012,6022,6013,6023,6014,6024., wherein 6011,6021,6014, The 6024 one end bottoms for being located at the loading end 1 side by side, 6012,6022,6013,6023 are located at side by side the other end of loading end 1 Bottom.
As shown in Fig. 2 according to this utility model the above embodiments, the electric cabinet 15, Wireless charging coil 14, battery Group 13, alignment sensor 9, hydraulic pump 10, compression motor 11, central control module 12, command reception component 20 are sequentially arranged at institute State in the geometric center lines of loading end 1, the anticollision sensor 16 is located at four angles position of the loading end 1.The liter Descending liquid depression bar 5 includes 501,502,503,504 4 groups, wherein 501,504 are located at side by side one end top of the loading end 1, 502nd, 503 the other end bottom of loading end 1 is located at side by side.
UWB positioning labels are used to receive pulse, realize the positioning to transfer robot geometric center point;Obstacle avoidance sensor can With infrared, radar, ultrasound wave etc., distance of the transfer robot away from barrier in the detection transfer robot direction of motion;Instruction connects Receiving sensor is used to receive the control command that managing system of car parking is sended over, and sends the central authorities' control in transfer robot to Molding block, transfer robot performs relevant action according to dependent instruction.
As shown in figure 3, according to this utility model the above embodiments, the loading end 2 includes push cylinder 3, flexible oil Cylinder 4, push-and-pull hydraulic stem 8, guide rail 18 and the telescopic hydraulic bar 17 being arranged on telescopic oil cylinder.The push cylinder 3 include 301, 302nd, 303,304,305,306,307,308 8 groups, described 301,308 are located at side by side inside one end of the loading plate 2, described 304th, 305 the inside of the other end of the loading plate 2 is located at side by side, described 302,303,306,307 are located at the loading plate 2 The inside of horizontal geometric center lines both sides.The telescopic oil cylinder 4 includes four sets, and the inside of the loading plate 2 is sequentially arranged at respectively. The telescopic hydraulic bar 17 clasps the arc that the side 7 of wheel is set to laminating automobile tire, the surface of side 7 for clasping wheel It is provided with photoelectricity opposite type sensor 21 and range sensor 22.The data that the photoelectricity opposite type sensor 21 is detected are for feeding back tune Section telescopic hydraulic bar 17, the range data detected by the range sensor 22 is used for feedback regulation push-and-pull hydraulic stem 8.It is described In the regracting telescopic oil cylinder 4 of telescopic hydraulic bar 17, the guide rail 18 is used for fixation when moving forward and backward to telescopic oil cylinder 4, makes to stretch Contracting cylinder action is relatively reliable firm.Loading end 2 described in this utility model is an entirety, makes total firmer It is reliable.
Preferably, the photoelectricity opposite type sensor is arranged at the outer end point 25cm of telescopic hydraulic bar 17, the distance Sensor 22 is arranged at the outer end point 15cm of telescopic hydraulic bar 17.
With reference to Fig. 4, according to this utility model the above embodiments, the hydraulic system only needs to a compression motor 11, The total quantity of the motor of whole transfer robot is this reduces, transfer robot reliability of operation is improve.
Intelligent automobile transfer robot walking process:With reference to Fig. 6, introduce transfer robot and walk in No. 7 parking stalls side Process to No. 3 parking stalls and No. 10 parking stalls is accurate to transfer robot according to the alignment system in parking lot first Positioning, calculates the distance of transfer robot position to corner a, sends travel commands to transfer robot afterwards, and order is carried Robot runs, and during transfer robot is run to corner a, parking lot alignment system carries out reality to transfer robot Shi Dingwei simultaneously calculates the due acceleration of transfer robot and sends to transfer robot, with real-time adjustment transfer robot fortune Scanning frequency degree.After operation is to a of turning, four groups of universal wheels rotate simultaneously in universal wheel group 6, wherein universal wheel group 6011,6021, 6013rd, 6023 realize that universal wheel dextrorotation turn 90 degrees by motor operation, universal wheel group 6012,6022,6014,6024 90 degree of universal wheel rotate counterclockwise is realized by motor operation.After the completion of rotation, transfer robot is entered by above-mentioned steps Row is laterally run between No. 3 parking stalls and No. 10 parking stalls.Loading end is not sent out all the time during transfer robot whole service Raw rotation, only rotates to change transfer robot traffic direction by universal wheel.Wherein road width root is laterally run in parking lot According to transfer robot Design of length, the longitudinally running road width in parking lot is according to transfer robot width design.
Wherein, the positioner for recognizing its length, width is both provided with each parking stall, for recognizing that vehicle stops The approximate location put, described positioner can include limit switch, infrared switch or other localizers.
According to the electronic chart for building, by the way of Mapinfo is generated, positioning and electronic chart is set highly to overlap, If there is deviation in Practical Project, carry out system debug and coordinate system is modified;Pick-up transfer robot road in bicycle parking Footpath planning strategy is according to the shortest path under the premise in anti-collision;According to cook up come path and transfer robot it is existing Speed can calculate due acceleration, transfer robot is only along two traffic directions of X-axis and Y-axis in electronic chart.
Intelligent automobile transfer robot storage/access car process:With reference to Fig. 6 and Fig. 1, transfer robot is introduced with optional position extremely Entrance goes out the process of pick-up, knows the porch that method for distinguishing is detected using camera mode according to managing system of car parking first The position of vehicle tyre, the data of the spacing between diameter, two front-wheels and two trailing wheels, transfer robot is in operation to entrance Push-and-pull hydraulic stem 8 and telescopic hydraulic bar 17 are adjusted during place so that the spacing often covered between arm mechanism is slightly larger than tire The width of corresponding height so that the distance for being symmetrically arranged at two sets of telescopic hydraulic rod end points of loading end 2 is slightly less than two front-wheels and two Spacing between trailing wheel.Now transfer robot pierces automobile lower, and causes arm mechanism to be directed at each automobile tire, this When, telescopic hydraulic bar 17 is flexed outward, and when to penetrating photoelectric sensor and having detected shelter, telescopic hydraulic bar 17 stops dynamic Make, then, the action of push-and-pull hydraulic stem 8 is clamped to automobile tire, push away when the range data that range sensor 22 is obtained is 0 Draw the stopping action of hydraulic stem 8.After the completion of clamping process, automobile is lifted disengaging ground by raise-lower hydraulic bar action, afterwards, is carried Robot can be by above-mentioned walking process carrier vehicle to specified location.The process of pick-up is then according to the automobile tire for having stored Data, adjust in advance the position of jig arm during operation to parking stall, to realize the purpose of quick pick-up.This is adjusted in advance The method of whole jig arm position and the efficiency of Transport Vehicle is greatly improved using the method for photoelectricity opposite type sensor and range sensor With the fastness that automobile is clamped in handling process, can solve the problem that the automobile in prior art on transfer robot occurs security incident Problem.When to automobile clamping where appropriate, just can with practical situation improve the transfer robot speed of service, so as to shorten Transport Vehicle Time.
In running, corner, porch ground is provided with wirelessly transfer robot provided by the utility model Charge coil, can be charged in these position short stays in transfer robot running to transfer robot, in case Only the situation of occurrence in peak period transfer robot not enough power supply, if can not still meet electricity needs, can set according to actual needs Put the quantity of wireless inductance coil.
Preferably, anticollision detection components described in the utility model are infrared ray sensor, and detection transfer robot is extremely The distance of barrier on transfer robot traffic direction, judges whether to occur according to the existing speed of transfer robot and acceleration Collision, and then corresponding instruction is sent to transfer robot motor, and this instruction priority instruction above all.
Wireless charging coil and set of cells are located at transfer robot bottom.
It is not new to this practicality although the above-mentioned accompanying drawing that combines is described to specific embodiment of the present utility model The restriction of type protection domain, one of ordinary skill in the art should be understood that on the basis of the technical solution of the utility model, ability Various modifications or deform still in protection model of the present utility model that field technique personnel make by need not paying creative work Within enclosing.

Claims (7)

1. a kind of intelligent automobile transfer robot positioned based on UWB, is characterized in that:Including walking mechanism, elevating mechanism, clamping Mechanism, electric control unit, central control unit, charhing unit and load carrier, wherein:
The load carrier includes about two pieces the first loading ends arranged, the second loading ends, first loading end and second Loading end is supported by elevating mechanism and connected, and positioned at the both sides of the second loading end of upper end clamping automobile tire is symmetrically laid with Clamping device;
The end of first loading end is provided with obstacle avoidance sensor, and the signal of collection is sent to control by the obstacle avoidance sensor Unit processed, is additionally provided with UWB positioning labels, to realize the positioning to robot on first loading end;
The charhing unit is arranged on the first loading end, including the power storage module and Wireless charging coil that are connected to, institute State the first loading end bottom and be provided with walking mechanism;
The central control unit, builds electronic chart, according to automobile to be taken according to parking lot road information and actual environment Position and the position of transfer robot, determine track route, according to the track route and the existing speed of transfer robot of planning, The acceleration of robot is calculated, the route information for making robot reach appointed place and the action command for completing carrying is sent;
The electric control unit communicates with central control unit, and the route information and action that reception central control unit sends refers to Making, and control walking mechanism, elevating mechanism, clamping device or/and charhing unit carries out corresponding action, realizes specifying automobile Carry.
2. a kind of intelligent automobile transfer robot positioned based on UWB as claimed in claim 1, is characterized in that:The walking Mechanism, including four groups of controlled universal wheels and its driving steering motor, wherein, the controlled universal wheel and its driving turn to step Stepper motor drives respectively the rotation and walking of four groups of controlled universal wheels, the driving to turn to motor and be connected with control unit, Receive control instruction.
3. a kind of intelligent automobile transfer robot positioned based on UWB as claimed in claim 2, is characterized in that:Described four groups Controlled Universal wheel structure is identical, including two symmetrical universal wheels laid, and four groups of controlled universal wheels be arranged in it is described Four ends of the first loading end bottom.
4. a kind of intelligent automobile transfer robot positioned based on UWB as claimed in claim 1, is characterized in that:The clamping Mechanism includes two guide rails and four groups of telescopic hydraulic bars, and the guide rail is arranged at the two ends of the second loading end, every group of telescopic hydraulic Bar includes two supporting rods, and four groups of telescopic hydraulic bars are symmetricly set in two-by-two the two ends of guide rail, the outside of every group of telescopic hydraulic bar Hydraulic pushing device is provided with, hydraulic pushing device promotes supporting rod to be moved along guide rail and fixed, realizes the clamping of tire With fastening.
5. a kind of intelligent automobile transfer robot positioned based on UWB as claimed in claim 4, is characterized in that:It is described per group In different telescopic oil cylinders, the telescopic hydraulic bar is provided with to penetrating photoelectric sensor and Distance-sensing telescopic hydraulic rod set Device, according to the data for penetrating photoelectric sensor and range sensor adjusting position and the length of telescopic hydraulic bar.
6. a kind of intelligent automobile transfer robot positioned based on UWB as claimed in claim 1, is characterized in that:The lifting Mechanism is hydraulic lift, specifically includes several raise-lower hydraulic bars and hydraulic pump, and the raise-lower hydraulic bar is fixed on first Between loading end and the second loading end, for adjusting the distance of the first loading end and the second loading end, the hydraulic pump connection rises Descending liquid depression bar.
7. a kind of intelligent automobile transfer robot positioned based on UWB as claimed in claim 1, is characterized in that:It is described electric Control unit, including command reception module, electric cabinet, UWB positioning label and several obstacle avoidance sensors, the obstacle avoidance sensor The end of the first loading end is arranged on, the UWB positioning label is arranged at the geometric center of the first loading end, the command reception Module is arranged in the geometric center lines of the first loading end, receives the acceleration or deceleration instruction of central control unit, described automatically controlled The steer motor and motor and hydraulic pump of case control walking mechanism.
CN201620500496.3U 2016-05-26 2016-05-26 Intelligent automobile transfer robot based on UWB location Expired - Fee Related CN206128772U (en)

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CN108166824A (en) * 2017-12-18 2018-06-15 重庆复融科技有限公司 It is realized with a low cost the support plate and conveyer method of vehicle transhipment
CN108320562A (en) * 2017-01-16 2018-07-24 重庆特斯联智慧科技股份有限公司 The garage navigation system and its control method based on bluetooth locked
CN109823318A (en) * 2019-03-25 2019-05-31 南京博内特信息科技有限公司 A kind of Internet of Things moves vehicle mobile robot device and its localization method
CN109914889A (en) * 2018-09-09 2019-06-21 张宝霞 Automobile storage system between Lou Dong
CN111179623A (en) * 2020-01-07 2020-05-19 金陵科技学院 Parking lot navigation method and device and intelligent parking lot system
CN112987745A (en) * 2021-03-04 2021-06-18 苏州车泊特智能科技有限公司 Quick vehicle access system based on RTK technology
CN114382332A (en) * 2022-03-25 2022-04-22 柳成荫(常州)智能科技有限公司 Vehicle moving robot and control and adjustment method thereof

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CN108320562A (en) * 2017-01-16 2018-07-24 重庆特斯联智慧科技股份有限公司 The garage navigation system and its control method based on bluetooth locked
CN108166824A (en) * 2017-12-18 2018-06-15 重庆复融科技有限公司 It is realized with a low cost the support plate and conveyer method of vehicle transhipment
CN109914889A (en) * 2018-09-09 2019-06-21 张宝霞 Automobile storage system between Lou Dong
CN109823318A (en) * 2019-03-25 2019-05-31 南京博内特信息科技有限公司 A kind of Internet of Things moves vehicle mobile robot device and its localization method
CN109823318B (en) * 2019-03-25 2020-12-22 南京溧水高新创业投资管理有限公司 Internet of things vehicle moving mobile robot device and positioning method thereof
CN111179623A (en) * 2020-01-07 2020-05-19 金陵科技学院 Parking lot navigation method and device and intelligent parking lot system
CN112987745A (en) * 2021-03-04 2021-06-18 苏州车泊特智能科技有限公司 Quick vehicle access system based on RTK technology
CN114382332A (en) * 2022-03-25 2022-04-22 柳成荫(常州)智能科技有限公司 Vehicle moving robot and control and adjustment method thereof
CN114382332B (en) * 2022-03-25 2022-06-10 柳成荫(常州)智能科技有限公司 Vehicle moving robot and control and adjustment method thereof

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