WO2020134095A1

WO2020134095A1 - Vehicle parking positioning apparatus and vehicle parking guide method

Info

Publication number: WO2020134095A1
Application number: PCT/CN2019/099498
Authority: WO
Inventors: 许大红; 石江涛; 张�杰; 胡祥瑞; 饶树林; 胡擘
Original assignee: 合肥泰禾光电科技股份有限公司
Priority date: 2018-12-26
Filing date: 2019-08-06
Publication date: 2020-07-02
Also published as: CN109444910B; CN109444910A

Abstract

Disclosed are a vehicle parking positioning apparatus (10) and a vehicle parking guide method, which relate to the technical field of vehicle positioning devices. The vehicle parking positioning apparatus (10) comprises a control system and multiple line laser ranging apparatuses (100). The line laser ranging apparatuses (100) comprise line lasers (120), cameras (130) and supporting frames (110); and the supporting frames (110) are mounted on the two sides and the tail part of a carriage (20) and together enclose a parking area. The cameras (130) and the line lasers (120) face the parking area; and the orientation of each camera (130) and the orientation of the corresponding line laser (120) form an included angle. The line lasers (120) are configured to form laser segments on the carriage (20). The cameras (130) are configured to acquire images of the laser segments and generate image data. The control system is configured to receive the image data, and calculate, according to the image data, the distance between each line laser ranging apparatus (100) and the carriage (20). The vehicle parking guide method is applied to the vehicle parking positioning apparatus (10). Therefore, parking position information can be obtained accurately, and the carriage (20) can be parked at a designated position accurately.

Description

Vehicle parking positioning device and vehicle parking guidance method

Cross-reference of related applications

This application requires the priority of the Chinese patent application with the application number 2018116064622 and titled "Vehicle parking positioning device and vehicle parking guidance method" submitted to the Chinese Patent Office on December 26, 2018, the entire content of which is incorporated by reference in this application in.

Technical field

The present application relates to the technical field of parking positioning equipment, and in particular, to a vehicle parking positioning device and a vehicle parking guidance method.

Background technique

In the field of production and logistics, the demand for mechanization and automation of cargo loading is strong. In the automatic loading system, it is necessary to stop the vehicle in the specified area before loading. However, it is difficult for the delivery vehicle to be accurately parked at an ideal position where the sides of the carriage are aligned with the prescribed area, and deviations are inevitable. This brings difficulties to the positioning and accuracy of the mechanical equipment in the loading system. In this case, an automatic loading system is needed to obtain the relative position information of the loading machinery and the carriage.

In response to the above problems, the generally adopted solution is not to obtain accurate parking position information of the vehicle, but to install a sensor measurement device or a visual recognition device on the mechanical equipment of the loading system to obtain and analyze the car in real time during the loading process The spatial distance information inside is used to assist the mechanical equipment to adjust the motion range and path in real time. This method positions the coordinate system on the mechanical equipment (such as a robot or a manipulator).

Summary of the invention

One of the purposes of the present application is to provide a vehicle parking positioning device and a vehicle parking guidance method, which can accurately obtain parking position information, and can ensure that the car is accurately parked at a designated position.

In a first aspect, the present application provides a vehicle parking positioning device. The vehicle parking positioning device includes a control system and a plurality of line laser distance measuring devices.

The line laser distance measuring device includes a line laser, a camera, and a bracket. A plurality of the brackets are respectively installed on both sides and the rear of the car, and together form a parking zone, and the area of the parking zone is larger than that of the car. area.

The camera and the in-line laser are both installed on the bracket and are arranged toward the parking area, and the orientation of the camera and the in-line laser are arranged at an angle.

The word line laser is configured to emit a word line laser and form a laser segment on the carriage.

The phase mechanism causes images of the laser segment to be acquired and image data to be generated.

The camera is communicatively connected to the control system, the control system is configured to receive the image data and calculate the distance between the line laser distance measuring device and the vehicle cabin based on the image data.

Optionally, the vehicle parking positioning device further includes a parking prompt device, and the parking prompt device includes a display screen and a voice prompter;

The display screen is in communication connection with the control system, and the display screen is configured to display the target parking position, the current parking position, and the cabin offset;

The voice prompter is in communication connection with the control system, and the voice prompter is configured to issue a voice prompt signal according to the calculation result of the control system.

Optionally, the emitting surface of the in-line laser emitting the in-line laser is perpendicular to the ground.

Optionally, a plurality of the line laser distance measuring devices provided on both sides of the carriage are staggered.

Optionally, the bracket includes a first bracket and a second bracket, the first bracket is installed on the ground and is arranged perpendicular to the ground, the second bracket is connected to an end of the first bracket, and the first The second bracket is parallel to the ground, and the camera and the line laser are both installed on the second bracket.

Optionally, the middle of the second bracket is connected to the end of the first bracket.

Optionally, the camera and the in-line laser are respectively installed at both ends of the second bracket.

Optionally, the number of the line laser distance measuring devices is greater than or equal to 3.

Compared with the prior art, the beneficial effects of the vehicle parking positioning device provided by the present application are:

The vehicle parking positioning device provided by the present application can be used to measure the laser segments formed by a line laser on the car through the line laser distance measuring devices respectively arranged on both sides and the rear of the car, and send the laser segments to the control The system calculates the distance between each line laser ranging device and the outer edge of the car through the control system according to the laser segment, and then determines whether the car is parked in the parking zone through the result calculated by the control system, which can accurately obtain Parking location information can ensure that the car is accurately parked at the designated location.

In a second aspect, the present application provides a vehicle parking guidance method, which is applied to a vehicle parking positioning device. The vehicle parking positioning device includes a control system and a plurality of line laser distance measuring devices. The line laser distance measuring device includes a line laser, a camera, and a bracket. A plurality of the brackets are respectively installed on both sides and the rear of the car, and together form a parking zone, and the area of the parking zone is larger than that of the car. area. The camera and the in-line laser are both installed on the bracket and are arranged toward the parking area, and the orientation of the camera and the in-line laser are arranged at an angle. The word line laser is configured to emit a word line laser and form a laser segment on the carriage. The phase mechanism causes images of the laser segment to be acquired and image data to be generated. The camera is communicatively connected to the control system, the control system is configured to receive the image data and calculate the distance between the line laser distance measuring device and the vehicle cabin based on the image data.

The vehicle parking guidance method includes:

The camera generates image information according to the laser segment formed by the in-line laser, and sends the image information to the control system.

The distances between the multiple line laser distance measuring devices and the carriage are calculated by the control system.

According to the distance between the plurality of line laser distance measuring devices and the car, it is determined whether the car is parked in the parking zone.

Compared with the prior art, the beneficial effects of the vehicle parking guidance method provided by the present application are the same as the beneficial effects of the vehicle parking positioning device provided above with respect to the prior art, which will not be repeated here.

In a third aspect, the present application provides a vehicle parking positioning device for positioning detection of a vehicle, the vehicle has a compartment, and the vehicle parking positioning device includes a plurality of distance measuring devices.

The distance measuring device includes a main bracket, a lifting mechanism, and a distance measuring sensor. A plurality of the main brackets are respectively provided at the rear and both sides of the car, and together form a parking zone, and the area of the parking zone is larger than the The area of the carriage.

The elevating mechanism is installed on the main bracket, the distance measuring sensor is installed on the elevating mechanism and faces the parking section, the elevating mechanism is configured to drive the distance measuring sensor to elevate, and the distance measuring sensor is constructed To detect the distance from the car.

The vehicle parking positioning device provided by the present application can perform range detection on multiple orientations of the car through multiple distance measuring devices, so that the position of the car can be accurately detected during parking, and the car can be accurately parked at a designated position . In addition, the lifting mechanism can enable the distance measuring device to be in an appropriate position, which is suitable for parking positioning of vehicles with different heights of cars, and improves the universal applicability of the vehicle parking positioning device.

In a fourth aspect, the present application provides a vehicle parking guidance method, which is applied to a vehicle parking positioning device. The vehicle parking positioning device includes a plurality of distance measuring devices. The distance measuring device includes a main bracket, a lifting mechanism, and a distance measuring sensor. A plurality of the main brackets are respectively provided at the rear and both sides of the car, and together form a parking zone, and the area of the parking zone is larger than the The area of the carriage. The elevating mechanism is installed on the main bracket, the distance measuring sensor is installed on the elevating mechanism and faces the parking section, the elevating mechanism is configured to drive the distance measuring sensor to elevate, and the distance measuring sensor is constructed To detect the distance from the car.

The vehicle parking guidance method includes:

The height of the distance measuring sensor is adjusted by the lifting mechanism so that the height of the distance measuring sensor is adapted to the height of the vehicle cabin.

The distance sensor detects the distance to the edge of the car and generates a distance parameter.

According to the distance parameters measured by the plurality of distance measuring sensors, it is determined whether the car is parked in the parking zone.

BRIEF DESCRIPTION

In order to more clearly explain the technical solutions of the embodiments of the present application, the drawings required in the embodiments will be briefly described below. It should be understood that the following drawings only show certain embodiments of the present application, and therefore should not be considered as limiting the scope. For those of ordinary skill in the art, without paying any creative work, other related drawings can also be obtained based on these drawings.

1 is a schematic structural diagram of a vehicle parking positioning device provided by an embodiment of the present application;

2 is a schematic structural diagram of a line laser distance measuring device provided by an embodiment of the present application;

3 is a flowchart of a vehicle parking guidance method provided by an embodiment of this application;

4 is a schematic structural diagram of a vehicle parking positioning device provided by an embodiment of the present application;

5 is a schematic structural diagram of a distance measuring device provided by an embodiment of the present application;

6 is a flowchart of a vehicle parking guidance method provided in an embodiment of this application.

Icons: 10-Vehicle parking positioning device; 20-carriage; 100-line laser ranging device; 110-bracket; 111-first bracket; 112-second bracket; 120-line laser; 130-camera; 200- Distance measuring device; 210-distance sensor; 220-main bracket; 230-elevating mechanism; 231-guide rod; 232-driving motor; 233-movable block.

detailed description

To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are a part of the embodiments of the present application, but not all the embodiments. The components of the embodiments of the present application generally described and illustrated in the drawings herein can be arranged and designed in various configurations.

Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

It should be noted that similar reference numerals and letters indicate similar items in the following drawings, therefore, once an item is defined in one drawing, there is no need to further define and explain it in subsequent drawings.

In the description of this application, it should be understood that the terms "upper", "lower", "inner", "outer", "left", "right", etc. indicate the orientation or positional relationship based on the drawings The orientation or position relationship, or the orientation or position relationship that is usually placed when the product of the invention is used, or the orientation or position relationship that is commonly understood by those skilled in the art, is only for the convenience of describing the application and simplifying the description, rather than indicating or It is implied that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of the present application.

In addition, the terms "first", "second", etc. are only used to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, terms such as “setup” and “connection” should be understood in a broad sense. For example, “connection” may be a fixed connection or may be Disassembly connection, or integral connection; it can be mechanical connection or electrical connection; it can be direct connection or indirect connection through an intermediary, or it can be the communication between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations.

The specific implementation of the present application will be described in detail below in conjunction with the drawings.

Referring to FIG. 1, a vehicle parking positioning device 10 is provided in this embodiment, which is applied to the parking positioning of a vehicle, and is specifically used to park the vehicle compartment 20 of the vehicle to a specified location. The vehicle parking positioning device 10 can accurately obtain parking position information, and can ensure that the car 20 is accurately parked at a designated position.

It should be noted that in this embodiment, the car 20 has a tail and two sides, where the tail refers to the side of the car 20 away from the head, and the two sides of the car 20 refer to the two adjacent to the tail Sides.

Please refer to FIGS. 1 and 2 together. The vehicle parking positioning device 10 includes a control system (not shown) and n line laser distance measuring devices 100. The n line laser distance measuring devices 100 are all communicatively connected to the control system to enable The data detected and sent by the line laser distance measuring device 100 is received and processed by the control system. In this embodiment, each line laser distance measuring device 100 may be electrically connected to the control system through a communication cable, and each line laser distance measuring device 100 may also have a wireless communication module to wirelessly communicate with the control system.

It should be noted that n is a positive integer greater than or equal to 3, that is, the number of line laser distance measuring devices 100 may be 3 or 4, or 5, 6, or 10, etc. In this embodiment, four line laser distance measuring devices 100 are used as an example for description.

In this embodiment, the control system may be a computer or other electronic devices with data processing capabilities.

The four line laser distance measuring devices 100 are respectively provided at the rear of the car 20 and on both sides of the car 20 to respectively detect and generate corresponding image data by the line laser distance measuring device 100 and send the image data to the control system.

The control system may pre-record the relative positions of each line laser distance measuring device 100 and the parking zone. In this embodiment, according to actual application scenarios (such as the size of the vehicle, the size of the parking lot, or the shape of the parking lot), the positions of the multiple line laser distance measuring devices 100 can be flexibly set. Moreover, after adjusting the actual positions of the plurality of line laser distance measuring devices 100, the relative position data of each line laser distance measuring device 100 recorded in the control system and the parking zone needs to be adjusted accordingly.

The control system calculates the distance between the four line laser distance measuring devices 100 and the car 20 according to the image data, and then determines whether the car 20 stops at the designated position. For example, the control system may determine the relative positional relationship between the car 20 and the parking zone based on the calculated distance between the car 20 and each line laser ranging device 100 and the relative position of each line laser ranging device 100 and the parking zone, According to this, it is determined whether the carriage 20 is parked correctly.

The distance between the line laser distance measuring device 100 and the car 20 refers to the distance between the line laser distance measuring device 100 and the edge of the car 20 in the laser emission direction.

It should be noted that the four line laser distance measuring devices 100 can be located on three sides of a virtual rectangle, respectively, so that the four line laser distance measuring devices 100 can form a square open space together. The open space is a parking section, that is, four line laser distance measuring devices 100 together form a parking section. The parking section is a rectangle lacking one side, and the missing side is the opening of the car 20 into the parking section.

When the car 20 is parked inside the parking area, at least one line laser distance measuring device 100 is located at a position corresponding to the rear of the car 20 in the parking area. In this embodiment, one line laser distance measuring device 100 is installed at a position corresponding to the rear of the car 20 in the parking section, and three other line laser distance measuring devices 100 are respectively provided at positions corresponding to the two sides of the car 20 in the parking section That is, two line laser distance measuring devices 100 can be provided on one side, and one line laser distance measuring device 100 can be provided on the other side.

Optionally, in this embodiment, a plurality of line laser distance measuring devices 100 provided on both sides of the carriage 20 are staggered. That is, in this embodiment, there is a gap between the projection point of the line laser distance measuring device 100 on one side and the other line laser distance measuring device 100 on the opposite side.

The line laser distance measuring device 100 includes a line laser 120, a camera 130, and a stand 110.

The plurality of brackets 110 are respectively installed on both sides and the rear of the vehicle compartment 20, so that the plurality of brackets 110 together form a parking zone, and the parking zone is used to park the vehicle compartment 20. The area of the parking section is larger than the area of the car 20, so that when the car 20 is parked inside the parking section, the multiple line laser ranging devices 100 are spaced from the edge of the car 20, which can avoid multiple line laser ranging devices The collision between 100 and the carriage 20 causes damage to the line laser distance measuring device 100. It should be noted that, in this embodiment, a plurality of brackets 110 may be installed on the ground, and the extending direction of the bracket 110 is perpendicular to the ground. It should be understood that, in other embodiments, the bracket 110 may also be installed on other bearing surfaces.

Optionally, the bracket 110 includes a first bracket 111 and a second bracket 112, the first bracket 111 is installed on the ground and is arranged perpendicular to the ground, the second bracket 112 is connected to the end of the first bracket 111, and the second bracket 112 is parallel On the ground. Both the camera 130 and the inline laser 120 are mounted on the second bracket 112.

In this embodiment, the middle of the second bracket 112 is connected to the middle of the first bracket 111 so that the bracket 110 is T-shaped.

In addition, the camera 130 and the inline laser 120 are mounted on the bracket 110 and are arranged toward the parking area. Specifically, in the present embodiment, both the camera 130 and the in-line laser 120 are mounted on the second bracket 112, and the camera 130 and the in-line laser 120 are mounted on both ends of the second bracket 112, respectively. Optionally, the camera 130 and the inline laser 120 move at a distance, and the orientation of the camera 130 and the inline laser 120 are at an angle, that is, the image acquisition direction of the camera 130 and the laser of the inline laser 120 are emitted The directions are all towards the interior of the parking area and form an angle.

It should be noted that, in this embodiment, it is precisely the way in which the orientations of the camera 130 and the line laser 120 are arranged at an angle, and the line laser 120 and the camera 130 can perform line measurement by the laser triangulation method The distance between the laser distance measuring device 100 and the carriage 20 is detected. The word line laser 120 emits a word line laser and forms a laser segment at the edge of the carriage 20, and the camera 130 collects the image of the laser segment and forms image information.

In this embodiment, the control system may record the distance between the line laser 120 and the camera 130 in each line laser distance measuring device 100, and determine the vehicle through the triangulation method according to the interval distance and the collected image The distance from the line laser 120.

Optionally, the distance between the camera 130 and the in-line laser 120 can be flexibly set according to actual scene requirements (such as the length of the second bracket 112). Moreover, after adjusting the actual distance between the camera 130 and the in-line laser 120, the distance data between the camera 130 and the in-line laser 120 recorded in the control system needs to be adjusted accordingly.

In addition, it is precisely by using the word line laser 120 for measurement that it can be applied to a variety of vehicles of different cabin 20 heights. That is, the linear laser 120 can be used to irradiate the linear laser to the sides of the carriage 20 at different heights, and the image can be collected by the camera 130, which has a large detection range. Therefore, the initial position and height of the linear laser distance measuring device 100 are based on The height range of the carriage 20 can be set at a time to meet the vehicles of the carriage 20 of various heights. In addition, the influence of the outside of the cabin 20 on the measurement accuracy can be avoided. For example, interference caused by mud, paint, or reflective tape adhering to the outer edge of the side of the vehicle compartment 20 can be prevented by the in-line laser 120 from affecting the measurement accuracy. That is, a laser segment with a certain length can be formed on the carriage 20 by the inline laser 120, and an image algorithm can be used to remove interference factors in the laser segment, thereby improving the accuracy of distance measurement.

In this embodiment, the camera 130 and the control system are communicatively connected so that the formed image information can be sent to the control system through the camera 130, and the control system can calculate the line laser distance measuring device 100 between the cabin 20 according to the image information. distance. Among them, the control system can calculate the distance between the car 20 and the line laser distance measuring device 100 according to the position of the laser segment in the image and at the same time according to the principle of triangulation.

In this embodiment, the emission surface of the inline laser 120 emits an inline laser perpendicular to the ground, so that a laser segment that is substantially perpendicular to the ground can be formed in the cabin 20, thereby facilitating the line laser distance measuring device 100 and the cabin 20 Estimation of the distance between.

The vehicle parking positioning device 10 further includes a parking prompt device, wherein the parking prompt device is communicatively connected to the control system, and the parking prompt device is configured to issue a prompt signal according to the calculation result of the control system. That is, in this embodiment, after calculating the distance between the line laser distance measuring device 100 and the car 20 based on the image information, the control system can send the calculation result to the parking prompt device, and the parking prompt device can perform real-time comparison on the car 20 To prompt the operator to park the car 20 to the parking zone.

In this embodiment, the parking prompt device includes a display screen and a voice prompter. And the display screen and voice prompter are in communication connection with the control system. Among them, the control system can send the image information and the calculation result to the display to display the corresponding parking position, the current position of the car 20 and the offset of the car 20 through the display. In order to facilitate the operator to adjust the position of the car 20 through the image or text displayed on the display, the car 20 can be parked inside the parking area. In addition, the control system also sends the calculation result to the voice prompt system. The voice prompt system is configured to issue a voice prompt signal according to the calculation result of the control system. That is, the voice prompt system can perform voice broadcast of real-time parking information according to the real-time calculation result of the control system, wherein, when the vehicle exceeds the range of the parking zone, the voice prompter will issue an alarm according to the calculation result, that is, when the car 20 When the distance from the line laser distance measuring device 100 on one side is lower than the minimum allowable distance value, an alarm can be issued through a voice prompt. Alternatively, when the car 20 is parked in the parking zone, a prompt can be issued by a voice prompt to prompt the operator.

Optionally, in this embodiment, the parking prompt device may be fixedly installed in the parking lot and electrically connected to the control system through a communication cable; the parking prompt device may be installed in the vehicle and include a wireless communication module, thereby Wireless communication with the control system.

It should be understood that in other embodiments, the display screen and the voice prompter can be implemented separately, that is, in one of the embodiments, the vehicle parking positioning device 10 can only be provided with a display screen without a voice prompt device; similarly, in another In an embodiment, the vehicle parking positioning device 10 may only be provided with a voice prompt device, and no display screen.

The vehicle parking positioning device 10 provided in this embodiment can pass the line laser distance measuring devices 100 provided on both sides and the rear of the car 20 respectively, and are respectively used to measure the laser segments formed on the car 20 by the inline laser 120, and Send the laser segment to the control system to calculate the distance between each line laser distance measuring device 100 and the outer edge of the car 20 according to the laser segment by the control system, and then determine whether the car 20 is stopped by the result calculated by the control system When entering a parking zone, it can accurately obtain parking location information, and can ensure that the car 20 is accurately parked at a designated location.

Referring to FIG. 3, a vehicle parking guidance method is provided in this embodiment. The vehicle parking guidance method is applied to the vehicle parking positioning device 10 described above. The vehicle parking guidance method can accurately obtain parking location information, and can ensure that the car 20 is accurately parked at a designated location.

Vehicle parking guidance methods include:

S101. The camera 130 generates image information according to the laser segment formed by the inline laser 120, and sends the image information to the control system.

That is, when the car 20 slowly enters the parking zone, a laser segment can be formed on the edge of the car 20 by the inline laser 120, and the image of the laser segment can be collected by the camera 130 to form image information by the camera 130 and convert the image The information is sent to the control system.

S102. Calculate the distance between each of the line laser distance measuring devices 100 and the car 20 through the control system.

Wherein, a plurality of line laser distance measuring devices 100 respectively send different image information to the control system, and the distance between each line laser distance measuring device 100 and the vehicle cabin 20 can be calculated according to the different image information through the control system.

S103: Determine whether the car 20 is parked in the parking section according to the distance between the multiple line laser distance measuring devices 100 and the car 20.

In this embodiment, the control system sends the distance between the multiple line laser distance measuring devices 100 and the car 20 to the parking prompt device, and provides prompt information to the operator according to the calculation result through the parking prompt device. Among them, the operator can be provided with the corresponding parking position, the current position of the car 20 and the offset of the car 20 through the display screen. The voice prompter can provide prompt information about whether the car 20 is parked in the parking zone.

Optionally, in this embodiment, the control system pre-records the relative positions of each line laser distance measuring device 100 and the parking zone. In step S103, the control system may calculate the line laser distance measurement based on the image data received from each line laser distance measurement device 100 and the relative position of each line laser distance measurement device 100 and the parking zone The distance between the device 100 and the car 20, and determine whether the car 20 is parked in the parking section.

Optionally, in this embodiment, the camera 130 of the line laser distance measuring device 100 and the in-line line laser 120 are arranged at a certain distance. In step S102, the control system may be based on the image data received from the line laser distance measuring device 100 and the separation distance between the camera 130 and the word line laser 120 in the line laser distance measuring device 100 , Calculate the distance between the car 20 and the line laser distance measuring device 100.

Please refer to FIGS. 4 and 5 together. In this embodiment, a vehicle parking positioning device 10 is provided, which is applied to the parking positioning of a vehicle, and is specifically used to enable the vehicle cabin 20 to be parked at a specified location. The vehicle parking positioning device 10 can accurately obtain parking position information, and can be suitable for parking positioning detection of vehicles with different heights of the carriage 20.

The difference between the vehicle parking positioning device 10 provided in this embodiment and the aforementioned vehicle parking positioning device 10 is that, in this embodiment, the vehicle parking positioning device 10 includes a plurality of distance measuring devices 200.

It should be noted that the installation manners of the plurality of distance measuring devices 200 to the passenger compartment 20 are the same as the installation manners of the plurality of line laser distance measuring devices 100 to the passenger compartment 20. The difference is that the distance measuring device 200 and the line laser distance measuring device 100 have different structures.

In this embodiment, the distance measuring device 200 includes a main bracket 220, a lifting mechanism 230 and a distance measuring sensor 210.

The plurality of main brackets 220 are respectively installed on both sides and the rear of the car 20 so that the plurality of main brackets 220 together form a parking zone, and the parking zone is used to park the car 20. The area of the parking area is larger than the area of the car 20, so that when the car 20 is parked inside the parking area, the multiple distance measuring devices 200 are spaced from the edge of the car 20, which can avoid the multiple distance measuring devices 200 and the car 20 The collision between them causes damage to the distance measuring device 200. It should be noted that, in this embodiment, a plurality of main brackets 220 are installed on the ground, and the extending direction of the main brackets 220 is perpendicular to the ground. It should be understood that, in other embodiments, the main bracket 220 may also be installed on other bearing surfaces.

The lifting mechanism 230 is mounted on the main bracket 220 and extends along the main bracket 220. The distance measuring sensor 210 is installed on the elevating mechanism 230, and the distance measuring sensor 210 is arranged toward the parking zone, so that when the car 20 is parked inside the parking zone, the edge of the car 20 can be detected by the distance measuring sensor 210, and then the calculation The distance between the distance measuring sensor 210 and the edge of the carriage 20. The lifting mechanism 230 can drive the distance measuring sensor 210 to move along the lifting mechanism 230. Since the extending direction of the lifting mechanism 230 is the same as the extending direction of the main bracket 220, the distance measuring sensor 210 can be moved along the main bracket 220, and then the height of the distance measuring sensor 210 can be adjusted, so that the height of the distance measuring sensor 210 can be made Adapting to the car 20 of any height improves the adaptability of the vehicle parking positioning device 10. At the same time, since the height-adjusting mechanism 230 can adjust the height of the distance measuring sensor 210, the installation of the distance measuring device 200 only needs to be installed once to satisfy multiple vehicles of the car 20 of various heights.

It should be noted that, in this embodiment, the elevating mechanism 230 is provided on the side of the main bracket 220 close to the parking area. In this way, the distance measuring sensor 210 installed on the lifting mechanism 230 can be set toward the parking zone, thereby ensuring the distance measuring accuracy of the distance measuring sensor 210.

Specifically, the elevating mechanism 230 is disposed on the top of the main bracket 220 to facilitate the height adjustment of the distance measuring sensor 210, and only needs to make the vehicle with the lowest height of the cabin 20 when the distance measuring sensor 210 moves to the lowest position of the elevating mechanism 230.

The lifting mechanism 230 includes a driving motor 232, a guide rod 231, and a movable block 233. The guide rod 231 is connected to the main bracket 220, and one end of the guide rod 231 is disposed near the top of the main bracket 220. The movable block 233 is movably connected to the guide rod 231 so that the movable block 233 can move along the guide rod 231. The movable block 233 is set toward the parking zone. The ranging sensor 210 is disposed on the movable block 233, so that when the movable block 233 moves along the guide bar 231, the ranging sensor 210 can be driven to move, and the height adjustment of the ranging sensor 210 can be completed. The driving motor 232 is mounted on the main bracket 220, and the driving motor 232 is connected to the movable block 233 to drive the movable block 233 to move along the guide bar 231.

In this embodiment, the length of the guide rod 231 is less than the length of the main bracket 220, that is, when the main bracket 220 is installed on the ground, the guide rod 231 extends downward from the top end of the main bracket 220 to the middle of the main bracket 220 .

The distance measuring sensor 210 may be a laser sensor or an ultrasonic sensor. In this embodiment, the distance measuring sensor 210 uses a laser sensor.

The vehicle parking positioning device 10 provided in this embodiment can perform range detection on a plurality of orientations of the car 20 through a plurality of distance measuring devices 200, so that the position of the car 20 can be accurately detected during parking, and the The car 20 stops at the designated position. In addition, the elevating mechanism 230 can enable the distance measuring device 200 to be placed in an appropriate position to be suitable for parking positioning of vehicles with different heights of the car 20, thereby improving the universal applicability of the vehicle parking positioning device 10.

In this embodiment, the control system pre-records the relative positions of each ranging sensor 210 and the parking zone. The control system determines whether the vehicle is parked in the parking section based on the distance parameter measured from each ranging sensor 210 and the relative position of each ranging sensor 210 and the parking section.

Referring to FIG. 6, this embodiment provides a vehicle parking guidance method, which is applied to the vehicle parking positioning device 10 described above. The vehicle parking guidance method can accurately obtain parking position information, and can be applied to the parking positioning detection of vehicles at different heights of the car 20.

Vehicle parking guidance methods include:

S201. Adjust the height of the distance measuring sensor 210 through the lifting mechanism 230, so that the height of the distance measuring sensor 210 is adapted to the height of the passenger compartment 20.

That is, the height of the distance measuring sensor 210 is first adjusted to the height of the vehicle cabin 20 to improve the measurement accuracy of the distance measuring sensor 210.

S202. The distance sensor 210 detects the distance to the edge of the car 20 and generates a distance parameter.

S203: Determine whether the car 20 is parked in the parking zone according to the distance parameters measured by the multiple ranging sensors 210.

In this embodiment, the distance measuring sensor 210 sends the distance between the plurality of distance measuring devices 200 and the car 20 to the parking prompt device, and provides prompt information to the operator through the parking prompt device according to the distance parameter. Among them, the operator can be provided with the corresponding parking position, the current position of the car 20 and the offset of the car 20 through the display screen. The voice prompter can provide prompt information about whether the car 20 is parked in the parking zone.

Optionally, the control system pre-records the relative positions of each ranging sensor 210 and the parking zone. In step S203, the control system may determine whether the car 20 is parked in the car according to the distance parameter measured from each ranging sensor 210 and the relative position of each ranging sensor 210 and the parking zone Parking zone.

The above is only optional embodiments of the present application, and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of this application shall be included in the scope of protection of this application.

Industrial applicability

The vehicle parking positioning device and method provided by an example of the present application can perform range detection on multiple orientations of the car through multiple distance measuring devices, so that the position of the car can be accurately detected during parking, and the car can be accurately parked Into the specified location. In addition, the lifting mechanism can enable the distance measuring device to be in an appropriate position, which is suitable for parking positioning of vehicles with different heights of cars, and improves the universal applicability of the vehicle parking positioning device. The vehicle parking positioning device and method provided by another example of the present application can perform range detection on multiple orientations of the car through multiple distance measuring devices, so that the position of the car can be accurately detected during parking, and the car can be accurately Stop at the specified location. In addition, the lifting mechanism can enable the distance measuring device to be in an appropriate position, which is suitable for parking positioning of vehicles with different heights of cars, and improves the universal applicability of the vehicle parking positioning device.

Claims

A vehicle parking positioning device, characterized in that the vehicle parking positioning device includes a control system and a plurality of line laser ranging devices;

The line laser distance measuring device includes a line laser, a camera, and a bracket. A plurality of the brackets are respectively disposed on both sides and the rear of the car, and together form a parking zone. The area of the parking zone is larger than that of the car. area;

Both the camera and the in-line laser are mounted on the bracket and are arranged toward the parking area, and the orientation of the camera and the in-line laser are arranged at an angle;

The word line laser is configured to emit a word line laser and form a laser segment on the carriage;

The phase mechanism causes images of the laser segment to be collected and image data is generated;

The camera is communicatively connected to the control system, the control system is configured to receive the image data and calculate the distance between the line laser distance measuring device and the vehicle cabin based on the image data.
The vehicle parking positioning device according to claim 1, characterized in that the relative position of each line laser ranging device and the parking section is recorded in advance by the control system;

The control system calculates the distance between each line laser ranging device and the car based on the image data received from each line laser ranging device and the relative position of each line laser ranging device and the parking section And determine whether the car is parked in the parking zone.
The vehicle parking positioning device according to claim 1, characterized in that the camera of the line laser distance measuring device is set at a certain distance from the word line laser; the control system pre-records each of the line lasers The distance between the camera and the line laser in the distance measuring device;

The control system calculates the distance from the carriage to the line laser based on the image data received from the line laser ranging device and the distance between the camera and the line laser in the line laser ranging device The distance between devices.
The vehicle parking positioning device according to claim 1, wherein the vehicle parking positioning device further comprises a parking prompt device, and the parking prompt device comprises a display screen and a voice prompter;

The display screen is in communication connection with the control system, and the display screen is configured to display the target parking position, the current parking position, and the cabin offset;

The voice prompter is in communication connection with the control system, and the voice prompter is configured to issue a voice prompt signal according to the calculation result of the control system.
The vehicle parking positioning device according to claim 1, wherein the emission surface of the word-line laser emitting the word-line laser is perpendicular to the ground.
The vehicle parking positioning device according to claim 1, wherein a plurality of the line laser distance measuring devices provided on both sides of the car are staggered.
The vehicle parking positioning device according to claim 1, wherein the bracket comprises a first bracket and a second bracket, the first bracket is installed on the ground and is arranged perpendicular to the ground, and the second bracket is connected to the An end of the first bracket, and the second bracket is parallel to the ground, and the camera and the inline laser are both mounted on the second bracket.
The vehicle parking positioning device according to claim 7, wherein the middle portion of the second bracket is connected to the end portion of the first bracket.
The vehicle parking positioning device according to claim 7, wherein the camera and the in-line laser are respectively installed at both ends of the second bracket.
The vehicle parking positioning device according to claim 1, wherein the number of the line laser distance measuring devices is greater than or equal to 3.
A vehicle parking guidance method, characterized in that it is applied to the vehicle parking positioning device according to any one of claims 1-10, the vehicle parking guidance method includes:

Generating image information by the camera according to the laser segment formed by the in-line laser, and sending the image information to the control system;

Calculating the distance between each of the line laser distance measuring devices and the carriage through the control system;

According to the distance between the plurality of line laser distance measuring devices and the car, it is determined whether the car is parked in the parking zone.
The vehicle parking guidance method according to claim 11, wherein the control system pre-records the relative positions of each line laser ranging device and the parking section; The step of judging whether the car is parked in the parking zone by the distance from the car includes:

The control system calculates the distance between each line laser ranging device and the car based on the image data received from each line laser ranging device and the relative position of each line laser ranging device and the parking zone Distance and determine whether the car is parked in the parking zone.
A vehicle parking positioning device is used for positioning detection of a vehicle. The vehicle has a compartment. The vehicle parking positioning device includes a plurality of distance measuring devices;

The distance measuring device includes a main bracket, a lifting mechanism and a distance measuring sensor. A plurality of the main brackets are respectively provided at the rear and both sides of the car, and together form a parking zone, the parking zone has an area larger than Carriage area;

The elevating mechanism is installed on the main bracket, the distance measuring sensor is installed on the elevating mechanism and faces the parking section, the elevating mechanism is configured to drive the distance measuring sensor to elevate, and the distance measuring sensor is constructed To detect the distance from the car.
The vehicle parking positioning device according to claim 13, characterized in that the relative position of each ranging sensor and the parking section is recorded in advance by the control system;

The control system determines whether the vehicle is parked in the parking zone based on the distance parameters measured from each ranging sensor and the relative positions of each ranging sensor and the parking zone.
A vehicle parking guidance method, which is applied to the vehicle parking positioning device according to claim 13 or 14, the vehicle parking guidance method comprising:

Adjusting the height of the distance measuring sensor through the lifting mechanism, so that the height of the distance measuring sensor is adapted to the height of the compartment;

Detecting the distance from the edge of the car through the distance measuring sensor and generating a distance parameter;

According to the distance parameters measured by the plurality of distance measuring sensors, it is determined whether the car is parked in the parking zone.
The vehicle parking guidance method according to claim 15, wherein the control system pre-records the relative positions of each ranging sensor and the parking section; The step of the distance parameter determining whether the car is parked in the parking section includes:

The control system determines whether the car is parked in the parking zone based on the distance parameters measured from each ranging sensor and the relative positions of each ranging sensor and the parking zone.