CN210105429U

CN210105429U - Automatic guide intelligence robot of parking

Info

Publication number: CN210105429U
Application number: CN201920073877.1U
Authority: CN
Inventors: 蔡颖杰; 李�杰; 杨建辉; 彭小修; 阙景阳
Original assignee: Shenzhen Science And Technology Ltd Of Yi Feng Robot
Current assignee: Shenzhen Science And Technology Ltd Of Yi Feng Robot
Priority date: 2019-01-16
Filing date: 2019-01-16
Publication date: 2020-02-21
Anticipated expiration: 2029-01-16

Abstract

The application discloses an automatic-guiding intelligent parking robot, which comprises a controller, a first acquisition device and a steering engine, wherein the first acquisition device and the steering engine are mutually coupled with the controller; the steering engine is positioned at least one corner of the automatic-guidance intelligent parking robot and used for controlling the motion direction of the automatic-guidance intelligent parking robot according to external environment information; the controller receives the external environment information collected by the first collecting device and controls the steering engine to further control the motion direction of the automatic guide intelligent parking robot. According to the automatic-guidance intelligent parking robot, the movement direction of the automatic-guidance intelligent parking robot is adjusted according to the external environment information, and the action error of the automatic-guidance intelligent parking robot can be reduced, so that the carrying efficiency of the automatic-guidance intelligent parking robot is improved.

Description

Automatic guide intelligence robot of parking

Technical Field

The application relates to the field of automatic-guidance intelligent parking robots, in particular to an automatic-guidance intelligent parking robot.

Background

When a vehicle is transported, a conventional automated guided intelligent parking robot moves along a predetermined trajectory and then transports the vehicle. This method of transporting the vehicle is inefficient and requires the vehicle to be stopped at a predetermined location for transport. And the automatic guiding intelligent parking robot may deviate from the track in the operation process due to the action error of the automatic guiding intelligent parking robot, so that the vehicle handling is failed.

That is, the existing automated guided intelligent parking robot has low mobility accuracy and low transportation efficiency.

Disclosure of Invention

The application provides an automatic guide intelligent parking robot, which can improve the action precision and the carrying efficiency of the automatic guide intelligent parking robot.

In order to solve the above technical problem, the first technical solution adopted by the present application is: the automatic guide intelligent parking robot comprises a controller, a first acquisition device and a steering engine, wherein the first acquisition device and the steering engine are mutually coupled with the controller; the steering engine is positioned at least one corner of the automatic-guidance intelligent parking robot and used for controlling the motion direction of the automatic-guidance intelligent parking robot according to external environment information; the controller receives the external environment information collected by the first collecting device and controls the steering engine to further control the motion direction of the automatic guide intelligent parking robot.

The beneficial effect of this application is: the robot comprises a controller, a first acquisition device and a steering engine, wherein the first acquisition device and the steering engine are mutually coupled with the controller; the steering engine is positioned at least one corner of the automatic-guidance intelligent parking robot and used for controlling the motion direction of the automatic-guidance intelligent parking robot according to external environment information; the controller receives the external environment information collected by the first collecting device and controls the steering engine to further control the motion direction of the automatic guide intelligent parking robot. According to the automatic guide intelligent parking robot, the steering engine is installed at least one corner of the automatic guide intelligent parking robot, the external environment information of the automatic guide intelligent parking robot is collected through the first collecting device, the steering engine adjusts the motion direction of the automatic guide intelligent parking robot according to the external environment information of the automatic guide intelligent parking robot, the action error of the automatic guide intelligent parking robot can be reduced, and therefore the carrying efficiency of the automatic guide intelligent parking robot is improved.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of an automated guided intelligent parking robot according to the present application;

fig. 2 is a schematic structural diagram of a first embodiment of the automated guided intelligent parking robot of fig. 1;

fig. 3 is a schematic structural diagram of a steering engine in the automatic guiding intelligent parking robot of fig. 2;

fig. 4 is a schematic structural diagram of a drum in the automated guided intelligent parking robot of fig. 2;

fig. 5 is a schematic structural diagram of a connection manner of a plurality of rollers in the automated guided intelligent parking robot of fig. 2;

FIG. 6 is a schematic structural diagram of a connection mode of rollers on two sides of a cross bar in the automatic guiding intelligent parking robot in FIG. 2;

fig. 7 is a schematic structural diagram of a second acquisition device in the automated guided intelligent parking robot of fig. 2;

fig. 8 is a schematic cross-sectional view illustrating the second collecting device of the automated guided intelligent parking robot of fig. 2 when the second collecting device is retracted;

fig. 9 is a schematic cross-sectional view of the automated guided intelligent parking robot of fig. 2 with the second collecting device extended;

fig. 10 is a schematic structural diagram of the automated guided intelligent parking robot of fig. 2 at a third driving device;

fig. 11 is a schematic view of a control method of the automated guided intelligent parking robot of fig. 2;

fig. 12 is a schematic structural diagram of a second embodiment of the automated guided intelligent parking robot of fig. 1;

fig. 13 is a schematic structural diagram of the automatic guiding intelligent parking robot of fig. 12 approaching a vehicle to be transported;

fig. 14 is a schematic structural diagram of the automated guided intelligent parking robot of fig. 12 at a second collecting device;

fig. 15 is a schematic diagram of the automated guided intelligent parking robot of fig. 12 when collecting information of a vehicle to be carried;

fig. 16 is a schematic diagram of the automated guided intelligent parking robot of fig. 12 acquiring horizontal plane coordinates of wheel centers;

fig. 17 is a schematic diagram of the automated guided intelligent parking robot of fig. 12 acquiring a vertical coordinate of the center of the first wheel.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Referring to fig. 1 to 3, fig. 1 is a schematic structural diagram of an embodiment of an automated guided intelligent parking robot according to the present application; FIG. 2 is a schematic diagram of an embodiment of the automated guided intelligent parking robot of FIG. 1; fig. 3 is a schematic structural diagram of a steering engine in the automated guided intelligent parking robot of fig. 2.

Referring to fig. 1 to 3, in the present embodiment, the automated guided intelligent parking robot 10 includes a controller 11, and a first acquisition device 13 and a steering engine 12 coupled to the controller 11. The first collecting device 13 is used for collecting external environment information of the automated guided intelligent parking robot 10. The steering engine 12 is located at least one corner of the automatic guidance intelligent parking robot 10 and is used for controlling the movement direction of the automatic guidance intelligent parking robot 10 according to external environment information. The controller 11 receives the external environment information acquired by the first acquisition device 13, and controls the steering engine 12 to control the movement direction of the automatic guidance intelligent parking robot 10. Because the steering engine 12 is installed at least one corner of the automatic-guidance intelligent parking robot 10, the external environment information of the automatic-guidance intelligent parking robot 10 is acquired through the first acquisition device 13, and the steering engine 12 adjusts the motion direction of the automatic-guidance intelligent parking robot 10 according to the external environment information of the automatic-guidance intelligent parking robot 10, the action error of the automatic-guidance intelligent parking robot 10 can be reduced, and the carrying efficiency of the automatic-guidance intelligent parking robot 10 is improved.

In the present embodiment, the automated guided intelligent parking robot 10 includes a transportation device 14 and ribs 16 arranged in a first direction, the transportation device 14 is used for transporting a vehicle to be transported in the first direction, and the ribs 16 are located on both sides of the transportation device 14 and arranged in the first direction. The steering engines 12 are detachably fixed at two ends of the flanges 16 to control the steering of the automatic guidance intelligent parking robot 10. The first acquisition device 13 is located on the steering engine 12, and the first acquisition device 13 acquires external environment information of the automated guided intelligent parking robot from four corners of the automated guided intelligent parking robot 10. In the present embodiment, the first direction is a direction in which the vehicle to be transported enters the automated guided intelligent parking robot 10. The steering engine 12 is located at the end of the flange 16, the first acquisition device 13 is located on the steering engine 12, the first acquisition device 13 can acquire external environment information of the automatic guidance intelligent parking robot 10 from four corners of the automatic guidance intelligent parking robot 10, the visual field is wide, the sight is not blocked, and therefore the accuracy of the action of the automatic guidance intelligent parking robot 10 is guaranteed. In addition, the steering engine 12 is detachably fixed at two ends of the flanges 16, the detachable connection mode comprises a screw connection mode, a clamping connection mode and the like, the detachable connection mode is convenient to install and detach, and the cost for refitting the existing automatic guiding intelligent parking robot 10 is reduced.

In the present embodiment, the steering engine 12 includes a steering engine base 121, a steering wheel 123, and a first drive device 122. The steering engine base 121 is connected with the end part of the flange 16 through a bolt. The steering wheel 123 is located at the lower part of the steering engine base 121, and specifically, the steering wheel 123 is a universal wheel or a roller capable of steering at a preset angle. The first driving device 122 is located at the upper part of the steering engine base 121, and the first driving device 122 drives the steering wheel 123 to steer so as to control the movement direction of the automatic guided intelligent parking robot 10. First collection system 13 is located the upper portion of steering wheel base 121, and first collection system 13 passes through detachable modes such as spiro union, joint to be fixed on the upper portion of steering wheel base 121. The first driving device 122 of the present application is used only to drive the steering wheel 123 to steer, and does not provide a driving force to roll the steering wheel 123. Compared with the prior art that the steering engine 12 needs to provide power to enable the steering wheel 123 to steer and also needs to provide power to enable the steering wheel 123 to roll, the first driving device 122 in the application has smaller power, is placed on the upper portion of the steering engine base 121 and cannot cause instability of the steering engine 12 during working, and can avoid pollution and damage caused by the fact that the first driving device 122 and the first collecting device 13 are too close to the ground when the automatic-guidance intelligent parking robot 10 runs. In other embodiments, the steering engine base 121 may also be fixed to the end of the rib 16 by clamping, welding, or joggling.

In the present embodiment, the transportation device 14 includes a center sill 142 and two transportation mechanisms 145. The two transportation mechanisms 145 are respectively used for transporting two rows of wheels of the vehicle to be transported, the center sill 142 is arranged along the first direction, and the two transportation mechanisms 145 are arranged on two sides of the center sill 142 and are respectively positioned between the center sill 142 and the flanges 16. The upper surface of rib 16 is higher than the upper surface of transport mechanism 145. The upper surface of the rib 16 is higher than the upper surface of the transportation mechanism 145, and when the transportation mechanism 145 transports two rows of wheels of a vehicle to be transported, the rib 16 can play a role in protection from two sides, so that the wheels are prevented from slipping off from the automatic guiding intelligent parking robot 10 in the transportation process.

Referring to fig. 4-6, fig. 4 is a schematic structural diagram of a drum in the automated guided intelligent parking robot of fig. 2; fig. 5 is a schematic structural diagram of a connection manner of a plurality of rollers in the automated guided intelligent parking robot of fig. 2; fig. 6 is a schematic structural view of a connection manner of rollers at both sides of a crossbar in the automatic-guidance intelligent parking robot of fig. 2.

With further reference to fig. 4-6, in the present embodiment, the transport mechanism 145 includes a plurality of rollers 141 having axes parallel to the second direction. The second direction is perpendicular to the first direction, and the plurality of rollers 141 are distributed along the first direction. The drum 141 includes a rotation shaft 1412 and a cylinder 1413. The shaft 1412 is rotatably coupled to the cylinder 1413. The two ends of the rotating shaft 1412 are respectively fixedly connected with the center sill 142 and the flanges 16, the cylinder 1413 is provided with chain wheels, and the chain wheels of the adjacent cylinder 141 are connected through a chain (not shown) so as to enable the plurality of cylinders 141 to rotate synchronously. In other embodiments, the sprockets of adjacent cylinder 141 may be connected by a shaft, which is not limited in the present application. In another embodiment, the rotating shaft 1412 is fixedly connected with the cylinder 1413, the rotating shaft 1412 and the cylinder 1413 do not rotate relatively, two ends of the rotating shaft 1412 are hinged to the middle beam 142 and the rib 16, respectively, and the rotating shaft 1412 and the cylinder 1413 rotate integrally.

Further, the chain wheels include a first chain wheel 1418 and a second chain wheel 1419 distributed along the second direction, the first chain wheels 1418 on the adjacent rollers 141 are connected by a first chain 144, or the second chain wheels 1419 on the adjacent rollers 141 are connected by a second chain (not shown), and the first chain 144 and the second chain are spaced apart to enable the rollers 141 on the two adjacent sides to rotate synchronously.

For clarity of the connection between the plurality of rollers 141 in the embodiment, 3 rollers 141 located at the edge are illustrated. The 3 rollers 141 are respectively: a first cylinder 1414, a second cylinder 1415, and a third cylinder 1416. The first sprocket 1418 on the first roller 1414 is coupled to the first sprocket 1418 on the second roller 1415 by a first chain 144. The second sprocket 1419 on the second drum 1415 is connected to the second sprocket 1419 on the third drum 1416 by a second chain. When the first roller 1414 rotates, the first chain 144 drives the second roller 1415 to rotate, the second roller 1415 drives the third roller 1416 to rotate, and so on, and the plurality of rollers 141 can be synchronously rotated by this connection. Similarly, the rollers 141 are connected in this way, so that only one of the rollers 141 rotates to drive all the rollers 141 to rotate synchronously, thereby transporting the wheels of the vehicle to be transported.

In this embodiment, the transportation mechanism 145 includes a plurality of cross bars 143 arranged along the second direction, and both ends of the cross bars 143 are respectively connected to the center sill 142 and the flanges 16. The cross bar 143 is positioned between the adjacent two rollers 141. A third chain wheel 161 is arranged above the cross bar 143, and a fourth chain wheel 162 is correspondingly arranged above each two adjacent rollers 141. The rotating shafts 1412 of the third sprocket 161 and the fourth sprocket 162 are fixed on the ribs 16, and the height of the third sprocket 161 is lower than that of the fourth sprocket 162. The first sprocket 1418 is located on a side of the second sprocket 1419 adjacent the rib 16. The first chain 144 engages with the bottom of the first sprocket 1418, the top of the third sprocket 161, and the bottom of the fourth sprocket 162 on the two rollers 141 on both sides of the cross bar 143, respectively, so that the two rollers 141 on both sides of the cross bar 143 rotate synchronously. In another embodiment, the height of the cross bar 143 is greater than the diameter of the first sprocket 1418, and a through hole may be provided in the cross bar 143 so that the first chain 161 directly passes through the through hole to connect the first sprockets 1418 on both sides. By providing the cross bar 143, the strength of the automated guided intelligent parking robot 10 can be enhanced, and deformation, damage, or the like can be avoided when transporting a vehicle. In addition, the second chain 144 is positioned above the plurality of rollers 141, is not easily contaminated and damaged, and is convenient to maintain.

In order to explain the connection manner of the rollers 141 on both sides of the crossbar 143 in the present embodiment, the first roller 1414 and the second roller 1415 on both sides of the crossbar 143 are exemplified. A third sprocket 161 is provided above the cross bar 143. A fourth chain wheel 162 is arranged above the first roller 1414 and the second roller 1415. The rotating shafts 1412 of the third sprocket 161 and the fourth sprocket 162 are fixed to the rib 16. Third sprocket 161 is lower in height than fourth sprocket 162, and first sprocket 1418 is located on the side of second sprocket 1419 adjacent to rib 16. The first chain 144 is engaged with the bottom of the first sprocket 1418, the top of the third sprocket 161, and the bottom of the fourth sprocket 162 on the first 1414 and the second 1415 rollers, respectively, so that the first 1414 and the second 1415 rollers on both sides of the cross bar 143 rotate synchronously. The second chain wheel 1419 on the second roller 1415 is connected with the second chain wheel 1419 on the third roller 1416 through a first chain, so that the third roller 1416 is driven to rotate synchronously.

In this embodiment, a pressing plate 163 is disposed at one end of the rotating shaft 1412 connected to the middle beam 142, the pressing plate 163 is screwed on the middle beam 142, and the pressing plate 163 is disposed at two sides of the rotating shaft 1412 to fix the rotating shaft 1412. The pressing plates 163 are disposed at both sides of the rotation shaft 1412 to prevent the drum 141 from being displaced.

Referring to fig. 7-9, fig. 7 is a schematic structural diagram of a second collecting device in the automated guided intelligent parking robot of fig. 2; fig. 8 is a schematic cross-sectional view illustrating the second collecting device of the automated guided intelligent parking robot of fig. 2 when the second collecting device is retracted; fig. 9 is a schematic cross-sectional view illustrating the second collecting device of the automated guided intelligent parking robot of fig. 2 when the second collecting device is extended.

With further reference to fig. 7-9, in the present embodiment, the automated guided intelligent parking robot 10 further includes a second collecting device 17. The second collecting device 17 is coupled to the controller 11, and the second collecting device 17 is detachably disposed on the rib 16. The second pickup device 17 includes a sensor base 172, an inner rail 173, and an outer rail 174. The inner guide 173 and the outer guide 174 are disposed along a second direction, and the outer guide 174 is sleeved on the inner guide 173, so that the outer guide 174 and the inner guide 173 can slide relatively along the second direction. The sensor base 172 is provided with a plurality of sensors 171 for collecting information of the vehicle to be carried.

Further, an outer rail 174 is fixed to the rib 16 by means of a bolt connection, and a second driving device 175 is provided inside the outer rail 174. The output end of the second driving device 175 is connected to the inner rail 173, the second driving device 175 drives the inner rail 173 to move in the second direction to extend or retract the sensor base 172, and the plurality of sensors 171 collect information of the vehicle to be carried when the sensor base 172 is extended. The second driving device 175 is coupled to the controller 11, and the controller 11 controls the second driving device 175 to control the operation states of the plurality of sensors 171. The sensor base 172 in this embodiment can be close to or away from the rib 16, so as to extend out when the wheel information of the vehicle to be carried needs to be collected, so as to collect information from the direction of the visual angle just opposite to the direction in which the wheel enters the transportation mechanism 145, and thus the accuracy of information collection can be ensured. And retracted after the wheel information is collected, thereby preventing the wheels from getting caught on the vehicle while being transported on the transport mechanism 145.

In the present embodiment, the 3 sensors 171 have different heights, and the sensor base 172 is fixedly connected to the inner rail 173. In other embodiments, the sensor base 172 is movably connected to the inner rail 173, and the sensor base 172 moves up and down relative to the inner rail 173 to change the height of the sensor base 172; the surface of the sensor base 172 is provided with a slide rail in which the plurality of sensors 171 slide to adjust the distance between the plurality of sensors 171.

Referring to fig. 10, fig. 10 is a schematic structural diagram of a third driving device in the automated guided intelligent parking robot of fig. 2.

With further reference to fig. 10, in the present embodiment, the automated guided intelligent parking robot 10 further includes a third driving device 18, and the third driving device 18 is fixed to the center sill 142. The output end of the third driving device 18 is connected to the transmission shaft 182 through a third chain 181 to drive the transmission shaft 182 to rotate. Two ends of the transmission shaft 182 are hinged to the middle beam 142, and are respectively and fixedly connected with the end parts of the driving rollers 1417 on two sides of the middle beam 142. The structure of the driving roller 1417 is similar to that of the plurality of rollers 141, except that the barrel of the driving roller 1417 is fixedly connected to the rotating shaft, and the rotating shaft of the driving roller 1417 rotates to drive the barrel to rotate, thereby driving the plurality of rollers 141 to rotate synchronously.

In this embodiment, the automated guided intelligent parking robot 10 further includes a clamping device 15, and the clamping device 15 is movably connected to the transportation device 14. One end of the first clamping portion 151 is hinged to the clamping device 15. The second picking device 17 is located on the side of the first roller 1414 distal from the first nip 151. When the automated guided intelligent parking robot 10 approaches the wheel 19 of the vehicle to be transported, the second collecting device 17 obtains coordinates of 3 points on the wheel 19 of the vehicle to be transported through the three sensors 171. In other embodiments, the second capturing device 17 may comprise 4, 5 or more sensors 171, just to ensure that the second capturing device 17 is able to acquire the coordinates of at least 3 points on the wheel 19 of the vehicle to be handled.

In the present embodiment, the first clamping portion 151 is in a retracted state (i.e., the state in fig. 2) at an initial position. When the transportation device 14 and the clamping device 15 approach the wheel 19 at the same time, the first roller 1414 and the first clamping portion 151 are moved from the initial position at the same time. Here, the first clamping portion 151 is first unfolded to enable the wheel 19 to enter between the first drum 1414 and the first clamping portion 151 with respect to the automated guided intelligent parking robot 10. The transportation device 14 and the clamping device 15 continue to approach the wheel 19 simultaneously, and bring the first roller 1414 and the first clamping portion 151 to continue to approach the wheel 19, so that the first roller 1414 contacts a first side of the wheel 19, and during the movement of the first roller 1414 into contact with the wheel 19, the first clamping portion 151 moves across the wheel 19 by translation and retracts to contact the wheel 19 from a second side of the wheel 19, and the first roller 1414 and the first clamping portion 151 contact the wheel 19 from both sides of the wheel 19 at the same time after completing their respective movements. At this point, the gripping of the wheel 19 is completed.

Referring to fig. 11, fig. 11 is a schematic diagram illustrating a control method of the automated guided intelligent parking robot of fig. 2.

With further reference to fig. 11, in the present embodiment, the controller 11 implements, according to the wheel information acquired by the second acquisition device 17: acquiring wheel information of a vehicle to be carried; determining second motion information of the first nip 151 based on the wheel information, the initial position information of the first roller 1414, the first motion information of the first roller 1414, and the initial position information of the first nip 151; the first roller 1414 is controlled to move according to the first movement information, and the first clamping part 151 is controlled to move according to the second movement information, so that the first roller 1414 and the first clamping part 151 simultaneously contact different positions of the wheel 19 of the vehicle to be carried, and the wheel 19 is grabbed.

In the present embodiment, the wheel information of the vehicle to be transported includes the center coordinates and the radius of the wheel 19. Coordinates of 3 points on the wheel 19 of the vehicle to be carried are acquired, wherein the ordinate of the 3 points is different. The center of the wheel 19 is M points. The circular coordinates and the radius of the wheel 19 are obtained from the coordinates of the 3 points. In other embodiments, the number of the points on the wheel 19 may be 4, 5, or more, and it is only necessary to ensure that the coordinates of at least 3 points on the wheel 19 are obtained, and the vertical coordinates of at least 3 points are different, which is not limited in this application.

In the present embodiment, the coordinate differences between the three sensors 171 with different heights and 3 points on the wheel 19 are obtained by the three sensors 171 with different heights provided on the automated guided intelligent parking robot 10; the coordinates of 3 points on the wheel 19 are obtained from the coordinates of the three sensors 171 different in height and the difference in coordinates of the three sensors 171 different in height from the 3 points on the wheel 19. Obviously, in the preset coordinate system, the coordinates of the 3 sensors 171 are known quantities, and the preset coordinates are not limited in this application and can be determined according to actual situations.

In one specific embodiment, the three sensors 171 are located at points a, B, and C, respectively, in the initial position. The three sensors 171 respectively acquire 3 points on the wheel 19, respectively a point D, a point E, and a point F, and the ordinate of the point D, the point E, and the point F is the same as the ordinate of the points a, B, and C, respectively. Therefore, coordinates of the D point, the E point, and the F point on the wheel 19 are obtained as (X), respectively₁,Y₁)、(X₂,Y₂)、(X₃,Y₃)。

Further, the center coordinates and the radius of the wheel 19 are calculated by equation (4),

wherein (X)₁,Y₁)、(X₂,Y₂)、(X₃,Y₃) The coordinates of 3 points on the wheel 19 are respectively, (X, Y) are the coordinates of the center of the wheel 19, and R is the radius of the wheel 19.

Obviously, 3 unknowns can be solved by 3 equations, and the coordinates of the center of the circle and the radius of the wheel 19 can be obtained by solving the equation set in the formula (4).

In the present embodiment, the second movement information of the first nip 151 is determined based on the center coordinates of the wheel 19, the radius of the wheel 19, the initial position information of the first roller 1414, the first movement information of the first roller 1414, and the initial position information of the first nip 151.

In this embodiment, the first roller 1414 and the first nip 151 are both circular rollers 141, and the first movement information includes a first horizontal movement distance and the second movement information includes a second horizontal movement distance.

In the present embodiment, when first roller 1414 is at the initial position, the center of first roller 1414 is at point Q. Accordingly, the initial position information of the first roller 1414 at the initial position is: the initial coordinate of the circle center Q point is (X)₄,Y₄),Y₄Is an initial ordinate, X, of the center of the first roller 1414₄Is the initial abscissa of the center of the first roller 1414. The position of the first clamp 151 relative to the first roller 1414 at the initial position is fixed and known. Therefore, the initial coordinates of the center of the first nip 151 are obtained from the initial coordinates of the center of the first roller 1414 and the relative position of the first roller 1414 and the first nip 151. Accordingly, the initial position information of the first clamping portion 151 at the initial position is: the initial coordinate of the circle center is (X)₅,Y₅),Y₅An initial ordinate, X, of the center of the first clamping portion 151₅Which is an initial abscissa of the center of the first clamping portion 151. The relative position of the first roller 1414 and the first clamping portion 151 depends on the specific design of the automated guided intelligent parking robot 10, which is not limited in this application.

In order to allow the first roller 1414 and the first clamp 151 to simultaneously grip the tire from both sides of the wheel 19, the first roller 1414 and the first clamp 151 need to reach both sides of the wheel 19 at the same time, respectively, and the distance that the first roller 1414 and the first clamp 151 need to move needs to be calculated first. Assuming that the first drum 1414 reaches a first side of the wheel 19 after moving for a first horizontal movement distance, and the first clamping portion 151 reaches a second side of the wheel 19 after moving for a second horizontal movement distance, the first side of the wheel 19 is located at a side of the wheel 19 close to the automated guided intelligent parking robot 10.

The first roller 1414 moves a first horizontal movement distance L to reach the first side of the wheel 19, i.e. the center of the first roller 1414 moves from point Q to point G₁Is the length of QGA roller 1414 is tangent to the wheel 19. Because the translation is carried out, the Q point is the same as the longitudinal coordinate of the G point; the first roller 1414 is tangent to the wheel 19 and the length of the MG is the sum of the radii of the first roller 1414 and the wheel 19. Determining a first horizontal movement distance L of the first roller 1414 according to the initial ordinate of the center of circle of the first roller 1414, the initial abscissa of the center of circle of the first roller 1414 and the radius of the first roller 1414₁Satisfies the relationship shown in the formula (1),

wherein X is the horizontal coordinate of the circle center of the wheel 19, R is the radius of the wheel 19, Y₄Is an initial ordinate, X, of the center of the first roller 1414₄Is an initial abscissa, R, of the center of the first roller 1414₁Is the radius of the first roller 1414, L₁Is a first horizontal movement distance.

Similarly, the first clamping portion 151 reaches the second side of the wheel 19 after moving the second horizontal movement distance, the center of the circle of the first clamping portion 151 moves from the initial position to the point W, the ordinate of the point W is the same as the initial ordinate of the center of the circle of the first clamping portion 151, and the first clamping portion 151 is tangent to the wheel 19. The length MW is the sum of the radii of the first clamping portion 151 and the wheel 19. Determining a second horizontal movement distance of the first clamping part 151 according to the circle center coordinate of the wheel 19, the radius of the wheel 19, the initial ordinate of the circle center of the first clamping part 151, the initial abscissa of the circle center of the first clamping part 151 and the radius of the first clamping part 151, wherein the second horizontal movement distance L is₂Satisfies the relationship shown in the formula (2),

wherein X is the horizontal coordinate of the circle center of the wheel 19, R is the radius of the wheel 19, Y₅An initial ordinate, X, of the center of the first clamping portion 151₅An initial abscissa, R, of the center of the first clamping portion 151₂Is the radius of the first clamping portion 151, L₂For the second horizontal movement distanceAnd (5) separating.

In the present embodiment, after the first horizontal movement distance and the second horizontal movement distance are acquired, the horizontal movement time of the first roller 1414 is determined from the first horizontal movement distance and the first horizontal movement speed of the first roller 1414, and the horizontal movement time of the first nip 151 and the horizontal movement speed of the first nip 151 are determined from the horizontal movement time of the first roller 1414 and the second horizontal movement distance.

In this embodiment, the controller 11 controls the first roller 1414 to move at the first horizontal movement speed V₁Uniform motion is carried out, namely the first horizontal motion distance and the first horizontal motion speed V₁Is the horizontal movement time T of the first roller 1414₁. In other embodiments, the controller 11 may control the first roller 1414 to move at variable speeds, and calculate the horizontal movement time T of the first roller 1414 according to the first horizontal movement distance and the acceleration and speed of the first roller 1414₁That is, the present application does not limit this.

In one embodiment, the first clamping portion 151 translates from an initial position to flush with the wheel 19 and expands and contracts during translation to flush with the wheel 19. Therefore, the horizontal movement time of the first roller 1414 and the horizontal movement time of the first nip 151 are the same.

The horizontal movement time of the first drum 1414, the second horizontal movement distance, the horizontal movement time of the first nip 151, and the horizontal movement speed of the first nip 151 satisfy the relationship as shown in formula (3),

wherein, T₁Time of horizontal movement, T, of the first roller 1414₂Is the horizontal movement time, L, of the first clamping part 151₂For the second horizontal movement distance, V₂Is the horizontal movement speed of the first clamping part 151.

In another embodiment, the first clamping portion 151 is initially deployed for an initial period of time T, then translated to be flush with the wheel 19, and then retracted during translation to be flush with the tire. The development time T is determined according to the performance of the automated guided intelligent parking robot 10, such as 1s, 2s, and the like. Therefore, the sum of the horizontal movement time of the first nip 151 and the unwinding time of the first nip 151 is the same as the horizontal movement time of the first drum 1414.

The horizontal movement time of the first roller 1414, the second horizontal movement distance, the horizontal movement time of the first nip 151, and the horizontal movement speed of the first nip 151 satisfy the relationship shown in equation (5),

wherein, T₁Is the horizontal movement time of the first roller 1414, T is the unwinding time of the first nip 151, T₂Is the horizontal movement time, L, of the first clamping part 151₂For the second horizontal movement distance, V₂Is the horizontal movement speed of the first clamping part 151.

In the present embodiment, the second motion information is determined. The first roller 1414 is controlled to move according to the first movement information, and the first clamping part 151 is controlled to move according to the second movement information, so that the first roller 1414 and the first clamping part 151 simultaneously contact different positions of the wheel 19 of the vehicle to be carried, and the wheel 19 is grabbed.

In a particular embodiment, the controller 11 controls the first roller 1414 and the first clamp 151 to move simultaneously from the initial positions. Controller 11 controls first roller 1414 at speed V₂And simultaneously controlling the first clamping part 151 to translate from the initial position to be flush with the wheel 19 at the speed V1, and unfolding and folding the first clamping part in the process of translating to be flush with the wheel. The first roller 1414 and the first nip 151 move the first roller 1414 for a horizontal movement time T₁And then simultaneously contact the wheels 19 from both sides, respectively, to complete the gripping of the wheels 19.

In a particular embodiment, the controller 11 controls the first roller 1414 and the first clamp 151 to move simultaneously from the initial positions. Wherein controlThe controller 11 controls the first roller 1414 at a speed V₂And meanwhile, the first clamping portion 151 is controlled to be firstly unfolded within the unfolding time T at the initial position, then translated to be flush with the wheel 19, and then folded in the process of translating to be flush with the wheel 19. The first roller 1414 and the first nip 151 move the first roller 1414 for a horizontal movement time T₁And then simultaneously contact the wheels 19 from both sides, respectively, to complete the gripping of the wheels 19.

The robot comprises a controller, a first acquisition device and a steering engine, wherein the first acquisition device and the steering engine are mutually coupled with the controller; the steering engine is positioned at least one corner of the automatic-guidance intelligent parking robot and used for controlling the motion direction of the automatic-guidance intelligent parking robot according to external environment information; the controller receives the external environment information collected by the first collecting device and controls the steering engine to further control the motion direction of the automatic guide intelligent parking robot. According to the automatic guide intelligent parking robot, the steering engine is installed at least one corner of the automatic guide intelligent parking robot, the external environment information of the automatic guide intelligent parking robot is collected through the first collecting device, the steering engine adjusts the motion direction of the automatic guide intelligent parking robot according to the external environment information of the automatic guide intelligent parking robot, the action error of the automatic guide intelligent parking robot can be reduced, and therefore the carrying efficiency of the automatic guide intelligent parking robot is improved.

Referring to fig. 12, 13 and 14, fig. 12 is a schematic structural diagram of a second embodiment of the automated guided intelligent parking robot of fig. 1; fig. 13 is a schematic structural diagram of the automatic guiding intelligent parking robot of fig. 12 approaching a vehicle to be transported; fig. 14 is a schematic structural diagram of the automated guided intelligent parking robot of fig. 12 at the second collecting device.

It should be noted that the difference between the automatic guiding intelligent parking robot 20 in the present embodiment and the automatic guiding intelligent parking robot 10 in the previous embodiment is that the position and the structure of the second acquisition device are different, the method for acquiring the information of the vehicle to be transported is different, and other structures are the same and will not be described again.

With reference to fig. 12, 13, and 14, when the controller 11 executes the computer program, it realizes: acquiring horizontal plane coordinates of centers of a first wheel 291, a second wheel 292 and a third wheel 293 of the vehicle 29 to be transported, wherein the first wheel 291 and the second wheel 292 are coaxially arranged; determining horizontal plane coordinates of a fourth wheel 294 of the vehicle 29 to be carried according to the horizontal plane coordinates of the centers of the first wheel 291, the second wheel 292, and the third wheel 293, wherein the fourth wheel 294 is arranged coaxially with the third wheel 293; the automatic guided intelligent parking robot 20 is controlled to move according to the horizontal plane coordinates of the first wheel 291, the second wheel 292, the third wheel 293 and the fourth wheel 294 to carry the vehicle 29 to be carried.

In the present embodiment, the automated guided intelligent parking robot 20 includes an automated guided intelligent parking robot main body 24 and a clamping device 25, and the clamping device 25 is movably connected to the automated guided intelligent parking robot main body 24. Both ends of the first clamping portion 2414 are hinged to the automatic guidance intelligent parking robot main body 24, and one end of the second clamping portion 251 is hinged to the clamping device 25. The second collecting device 23 is fixed to a corner of the automated guided intelligent parking robot 20, and the second collecting device 23 collects data from a side surface of the vehicle 29 to be transported. The second collecting device 23 is any one of an ultrasonic ranging sensor, a laser ranging sensor, an infrared ranging sensor, and a radar sensor. The automated guided intelligent parking robot 20 includes two clamping devices 25 that are symmetrical to each other, and therefore the two sides of the automated guided intelligent parking robot 20 where the clamping devices 25 are disposed are both provided with one second acquisition device 23, and the second acquisition device 23 that needs to be activated is determined according to the position where the vehicle 29 to be transported enters. In the present embodiment, only one second capture device 23 is disposed at one end of the automated guided intelligent parking robot 20, the number of the second capture devices 23 is not limited, the number of the second capture devices 23 may be 2 or more, and the calculation accuracy may be increased. The second collecting device 23 is installed at any front and rear corners of the automated guided intelligent parking robot 20, and the second collecting device 23 scans obstacles in a set area, so as to obtain area section information of wheels in the area.

In the present embodiment, the direction of the automated guided intelligent parking robot 20 is taken as the X axis, the direction perpendicular to the X axis on the horizontal plane is taken as the Z axis, and the directions perpendicular to the X axis and the Z axis are taken as the Y axis. The automated guided intelligent parking robot 20 approaches the vehicle 29 to be transported along the X-axis direction, and the vehicle 29 to be transported includes 4 wheels, namely, a first wheel 291, a second wheel 292, a third wheel 293, and a fourth wheel 294. The first wheel 291 and the second wheel 292 are coaxially disposed, and the fourth wheel 294 and the third wheel 293 are coaxially disposed. In other embodiments, the wheels of the vehicle 29 to be handled may be 6, 8 or more, which is not limited in the present application.

In this embodiment, the automated guided intelligent parking robot body 24 is provided with ribs 142 on both sides thereof, and the steering engine 22 is provided at the end of each rib 142. The steering engine 22 includes a steering engine base 221, a steering wheel 223, and a first drive device 222. The steering engine base 221 is connected with the end part of the flange 142 through a bolt. The steering wheel 223 is located at the lower part of the steering engine base 221, and specifically, the steering wheel 223 is a universal wheel or a roller capable of steering at a preset angle. The first driving device 222 is located at the upper part of the steering engine base 221, and the first driving device 222 drives the steering wheel 223 to turn so as to control the movement direction of the automatic guided intelligent parking robot 20. The steering engine 22 is provided with a first acquisition device 27, and the first acquisition device 27 is used for acquiring external environment information of the automated guided intelligent parking robot 20. The steering engine 22 is used for controlling the movement direction of the automatic guidance intelligent parking robot 20 according to the external environment information. The controller 11 receives the external environment information acquired by the first acquisition device 27, and controls the steering engine 22 to control the movement direction of the automatic guidance intelligent parking robot 20. The first acquisition device 27 is located on the upper portion of the steering engine base 221, and the first acquisition device 27 is fixed on the upper portion of the steering engine base 221 in a detachable mode such as a threaded connection mode and a clamping connection mode. The first driving device 222 of the present application is used only to drive the steering wheel 223 to steer, and does not provide a driving force to roll the steering wheel 223. Compared with the prior art that the steering engine 22 needs to provide power to enable the steering wheel 223 to steer and provide power to enable the steering wheel 223 to roll, the first driving device 222 in the application has smaller power, is placed on the upper portion of the steering engine base 221, cannot cause instability of the steering engine 22 during working, and can avoid pollution and damage caused by the fact that the first driving device 222 and the first collecting device 27 are too close to the ground when the intelligent parking robot 20 is automatically guided to run. In other embodiments, the steering engine base 221 may be fixed to the end of the rib 142 by snapping, welding, or joggling.

In this embodiment, the second collecting device 23 is fixed to the bottom of the steering engine base 221 by screwing, clamping, welding, or the like, so as to collect wheel information. In other embodiments, the second collecting device 23 may also be located on the upper portion of the steering engine base 221 or directly connected to the end portion of the flange 142 by bolts, and it is only necessary to ensure that the second collecting device 23 can collect the wheel information, which is not limited in this application.

To specifically describe the control method of the automated guided intelligent parking robot 20 according to the present application, referring to fig. 15-17, fig. 15 is a schematic diagram of fig. 12 when the automated guided intelligent parking robot collects information of a vehicle to be transported; fig. 16 is a schematic diagram of the automated guided intelligent parking robot of fig. 12 acquiring horizontal plane coordinates of wheel centers; fig. 17 is a schematic diagram of the automated guided intelligent parking robot of fig. 12 acquiring a vertical coordinate of the center of the first wheel.

In the present embodiment, a three-dimensional coordinate system is established with the position of the second acquisition device 23 as the origin of coordinates. The direction of the automatic guidance intelligent parking robot 20 is taken as the X axis, the direction perpendicular to the X axis in the horizontal direction is taken as the Z axis, and the direction perpendicular to the X axis and the Z axis is taken as the Y axis. Therefore, when the ground is horizontal, the XZ plane is the horizontal plane. The X-axis coordinate is a horizontal coordinate, the Y-axis coordinate is a vertical coordinate, and the Z-axis coordinate is a vertical coordinate.

In the present embodiment, the first wheel 291, the second wheel 292, and the third wheel 293 are scanned along the horizontal plane (i.e., the XZ plane) by the second capturing device 23 to obtain the horizontal plane coordinates of the three end points of the first rectangle 295, the second rectangle 296, and the third rectangle 297 formed by cutting the first wheel 291, the second wheel 292, and the third wheel 293 along the scanning horizontal plane. The horizontal plane coordinates of the centers of the first rectangle 295, the second rectangle 296, and the third rectangle 297 are determined from the horizontal plane coordinates of the respective three end points of the first rectangle 295, the second rectangle 296, and the third rectangle 297 near the second capturing device 23, thereby acquiring the horizontal plane coordinates of the centers of the first wheel 291, the second wheel 292, and the third wheel 293. Obviously, the wheel is a cylinder, the interface of the scanned horizontal plane after cutting the cylinder is necessarily a rectangle, and the horizontal plane coordinate of the center of the rectangle is the horizontal plane coordinate of the center of the wheel.

In this embodiment, the second capturing device 23 is used to obtain the relative position information of the first rectangle 295, the second rectangle 296, and the third rectangle 297 near the three end points of the second capturing device 23; the horizontal plane coordinates of the first rectangle 295, the second rectangle 296, and the third rectangle 297 near the respective three end points of the second acquisition means 23 are determined based on the relative position information of the second acquisition means 23 and the respective three end points of the first rectangle 295, the second rectangle 296, and the third rectangle 297 near the second acquisition means 23, and the horizontal plane coordinates of the second acquisition means 23.

The example of obtaining three endpoint horizontal coordinates on the first rectangle 295 near the second capture device 23 is described. Assume that the three endpoints of the first rectangle 295 are a1, a2, and a3, respectively. The length of the line segment Oa1 and the angle of the line segment Oa1 with respect to the X-axis are acquired by the second acquisition means 23. The X-axis coordinate of a1 is obtained as X according to the length of the section Oa1 and the angle of the section Oa1 relative to the X-axis_a1Z axis coordinate is Z_a1. I.e. a1 with a horizontal plane coordinate of (X)_a1,Z_a1). Similarly, the horizontal plane coordinate of a2 is obtained as (X)_a2,Z_a2) The horizontal plane coordinate of a3 is (X)_a3,Z_a3)。

In one particular embodiment, the horizontal plane coordinate (X0) is the midpoint of the line segment a2a3 because the center a0 of the first rectangle 295 is the midpoint_a0,Z_a0) And the horizontal plane coordinate (X) of a2_a2,Z_a2) A3 horizontal plane coordinate (X)_a3,Z_a3) Satisfies the relationship shown in the formula (6),

in another specific embodiment, the line segment a2a0, the line segment a1a0, and the line segment a3a0 are equal and all have the radius R of the circle circumscribed by the first rectangle 295₁. Therefore, the horizontal plane coordinate (X) of a0_a0,Z_a0) And the horizontal plane coordinate (X) of a1_a1,Z_a1) A2 horizontal plane coordinate (X)_a2,Z_a2) And a3 has a horizontal plane coordinate of (X)_a3,Z_a3) And the radius R of the circumscribed circle of the first rectangle 295₃Satisfies the relationship shown in the formula (7),

based on the same calculation method, the horizontal plane coordinates (X) of the center a0 of the first rectangle 295 can be acquired separately_a0,Z_a0) The horizontal plane coordinate (X) of the center b0 of the second rectangle 296_b0,Z_b0) The horizontal plane coordinate (X) of the center c0 of the third rectangle 297_c0,Z_c0)。

In the present embodiment, the curve equation of the symmetry axis of the vehicle 29 to be carried on the scanning horizontal plane is determined from the horizontal plane coordinates of the centers of the first wheel 291 and the second wheel 292. The horizontal plane coordinates of the center of the third wheel 293 are determined from the axis of symmetry HI of the vehicle 29 to be carried on the scanning horizontal plane and the horizontal plane coordinates of the center of the third wheel 293. Obviously, due to the obstruction of obstacles such as the vehicle chassis, the information of the fourth wheel 294 cannot be directly collected, and the horizontal plane coordinates of the fourth wheel 294 of the vehicle 29 to be transported are determined according to the horizontal plane coordinates of the centers of the first wheel 291, the second wheel 292, and the third wheel 293, so that the vehicle 29 to be transported can be accurately positioned. By acquiring the positions of the four wheels in real time, it can be ensured that the automated guided intelligent parking robot 20 can accurately carry the vehicle.

In a particular embodiment, the axis of symmetry of vehicle 29 in the scanning horizontal plane is HI, where H is the midpoint of a0b0 and I is the midpoint of c0d0, and vehicle 29 is symmetric about the HI axis. The equation of the curve of the symmetry axis of the vehicle to be carried 29 on the scanning horizontal plane is the formula shown in formula (8),

Z＝kX+c(8)

the curve equation of the horizontal plane coordinates of the centers of the first wheel 291 and the second wheel 292 and the symmetry axis of the vehicle on the scanning horizontal plane satisfies the relationship shown in equation (9),

wherein (X)_a0,Z_a0) Is a horizontal plane coordinate of the center of the first wheel 291, (X)_b0,Z_b0) Which is the horizontal plane coordinate of the center of the second wheel 292.

Obviously, the skew angle of the vehicle 29 to be transported relative to the automatic-guidance intelligent parking robot 20 can be obtained according to the slope k of the symmetry axis HI, and the controller 11 adjusts the position of the automatic-guidance intelligent parking robot 20 according to the skew angle of the vehicle 29 to be transported relative to the automatic-guidance intelligent parking robot 20, so that the vehicle 29 to be transported can enter the automatic-guidance intelligent parking robot 20 just opposite to the automatic-guidance intelligent parking robot, thereby avoiding transportation failure caused by inaccurate alignment of the vehicle 29 to be transported and the automatic-guidance intelligent parking robot 20, improving the transportation success rate and the transportation safety degree, and improving the efficiency.

In the present embodiment, the radius of the first wheel 291 is acquired. According to the radius of the first wheel 291, the horizontal coordinates of the first wheel 291, the second wheel 292, the third wheel 293 and the fourth wheel 294 control the movement of the automated guided intelligent parking robot 20 to transport the vehicle 29 to be transported.

In one particular embodiment, the radius of the first wheel 291 is determined based on the horizontal plane coordinates of the three endpoints of the first rectangle 295 and the height of the second acquisition device 23 from the ground.

a1 has a horizontal plane coordinate of (X)_a1,Z_a1) And a2 has a horizontal plane coordinate of (X)_a2,Z_a2) The height h of the second pickup device 23 and the radius R of the first wheel 291 satisfy the relationship shown in the formula (10),

further, the coordinate (X) of the center M of the first wheel 291 on the vertical plane (XY plane) can be obtained according to the radius of the first wheel 291_M,Y_M)，(X_M,Y_M) Satisfies the relationship shown in the formula (11),

similarly, vertical plane coordinates of the radii and centers of the second wheel 292, the third wheel 293, and the fourth wheel 294 are obtained.

In the present embodiment, the automatic guided intelligent parking robot 20 is controlled to move according to the positions of the 4 wheels so that the symmetry axis of the automatic guided intelligent parking robot 20 is parallel to the symmetry axis of the vehicle to be transported 29, and preferably, the automatic guided intelligent parking robot 20 coincides with the symmetry axis of the vehicle to be transported 29.

Further, after the vertical plane coordinates of the radii and centers of the first wheel 291, the second wheel 292, the third wheel 293, and the fourth wheel 294 are acquired, the first clamping portion 2414 and the second clamping portion 251 on both sides are controlled to simultaneously clamp the first wheel 291 and the second wheel 292, respectively, and then clamp the third wheel 293 and the fourth wheel 294 according to the same method. The control method is the same as the schematic diagram shown in fig. 11, and is not described herein again.

Different from the prior art, the steering engine is installed in at least one corner of the automatic-guidance intelligent parking robot, the external environment information of the automatic-guidance intelligent parking robot is collected through the first collecting device, the steering engine adjusts the moving direction of the automatic-guidance intelligent parking robot according to the external environment information of the automatic-guidance intelligent parking robot, the action error of the automatic-guidance intelligent parking robot can be reduced, and therefore the carrying efficiency of the automatic-guidance intelligent parking robot is improved.

The above embodiments are merely examples and are not intended to limit the scope of the present disclosure, and all modifications, equivalents, and flow charts using the contents of the specification and drawings of the present disclosure or those directly or indirectly applied to other related technical fields are intended to be included in the scope of the present disclosure.

Claims

1. An automatic-guidance intelligent parking robot is characterized by comprising a controller, a first acquisition device and a steering engine, wherein the first acquisition device and the steering engine are mutually coupled with the controller,

the first acquisition device is used for acquiring external environment information of the automatic guided intelligent parking robot;

the steering engine is positioned at least one corner of the automatic guidance intelligent parking robot and used for controlling the motion direction of the automatic guidance intelligent parking robot according to the external environment information;

the controller receives the external environment information acquired by the first acquisition device and controls the steering engine to further control the motion direction of the automatic guide intelligent parking robot.

2. The automated guided intelligent parking robot of claim 1, comprising a transportation means for transporting a vehicle to be carried in a first direction and a rib provided in the first direction on both sides of the transportation means,

the steering engines are detachably fixed at two ends of the flanges to control the steering of the automatic guide intelligent parking robot;

the first acquisition device is positioned on the steering engine and acquires the external environment information of the automatic guidance intelligent parking robot from four corners of the automatic guidance intelligent parking robot.

3. The automated guided intelligent parking robot of claim 2, wherein the steering engine comprises a steering engine base, a steering wheel and a first driving device, the steering engine base is connected with the end part of the rib through a bolt, the steering wheel is located on the lower portion of the steering engine base, the first driving device is located on the upper portion of the steering engine base, the first driving device drives the steering wheel to turn to control the movement direction of the automated guided intelligent parking robot, and the first collecting device is located on the upper portion of the steering engine base.

4. The automated guided intelligent parking robot of claim 2 wherein the transportation means comprises a center sill and two transportation mechanisms, the two transportation mechanisms are respectively used for transporting two rows of wheels of the vehicle to be transported, the center sill is arranged along the first direction, the two transportation mechanisms are arranged on two sides of the center sill and are respectively located between the center sill and the retaining edge, and the upper surface of the retaining edge is higher than the upper surface of the transportation mechanism.

5. The automated guided intelligent parking robot of claim 4, wherein the transportation mechanism comprises a plurality of rollers having axes parallel to a second direction, the second direction is perpendicular to the first direction, the plurality of rollers are distributed along the first direction, the rollers comprise a rotating shaft and a roller body, the rotating shaft is rotatably connected with the roller body, two ends of the rotating shaft are respectively fixedly connected with the center sill and the flanges, the roller body is provided with a chain wheel, and the chain wheels on the adjacent roller bodies are connected through a chain so as to enable the plurality of rollers to rotate synchronously.

6. The automated guided intelligent parking robot of claim 5 wherein the chain wheels comprise a first chain wheel and a second chain wheel distributed along the second direction, the first chain wheels on the adjacent rollers are connected by a first chain, or the second chain wheels on the adjacent rollers are connected by a second chain, and the first chain and the second chain are spaced apart to enable the rollers on the two adjacent sides to rotate synchronously.

7. The automated guided intelligent parking robot of claim 6, wherein the transportation mechanism comprises a plurality of cross bars arranged along the second direction, two ends of each cross bar are respectively connected with the center sill and the flanges, the cross bars are located between two adjacent rollers, a third sprocket is arranged above the cross bars, a fourth sprocket is correspondingly arranged above two adjacent rollers, rotating shafts of the third sprocket and the fourth sprocket are fixed on the flanges, the height of the third sprocket is lower than that of the fourth sprocket, the first sprocket is located on one side of the second sprocket close to the flanges, the first chains are respectively engaged with the bottoms of the first sprockets, the tops of the third sprockets and the bottoms of the fourth sprockets on two rollers on two sides of the cross bars, so as to enable the two rollers on two sides of the cross bars to synchronously rotate, the pressing plate is arranged at one end of the rotating shaft connected with the middle beam and is in threaded connection with the middle beam, and the pressing plates are located on two sides of the rotating shaft to fix the rotating shaft.

8. The automated guided intelligent parking robot of claim 7 further comprising a second acquisition device coupled to the controller, the second acquisition device configured to acquire information about the vehicle to be handled.

9. The automated guided intelligent parking robot of claim 8, wherein the second collecting device is coupled to the controller, the second collecting device is detachably disposed on the retaining edge, the second collecting device comprises a sensor base, an inner guide rail and an outer guide rail, the inner guide rail and the outer guide rail are disposed along the second direction, the outer guide rail is sleeved on the inner guide rail so as to enable the outer guide rail and the inner guide rail to slide relatively along the second direction, the sensor base is provided with a plurality of sensors for collecting information of the vehicle to be carried, the outer guide rail is fixed on the retaining edge in a bolt connection manner, a second driving device is disposed inside the outer guide rail, an output end of the second driving device is connected with the inner guide rail, and the second driving device drives the inner guide rail to move along the second direction, the sensor base is extended or retracted, and the sensors collect information of the vehicle to be carried when the sensor base is extended.

10. The automated guided intelligent parking robot of claim 8, wherein the second collecting device is fixed to the bottom of the steering engine base in a screwing, clamping or welding mode to collect information of the vehicle to be handled, or is directly connected with the end of the rib to collect information of the vehicle to be handled from the side of the vehicle to be handled.