Intelligent transport robot with automatic vehicle identification and detection

Abstract

This application discloses an intelligent handling robot, including two walking frames that cooperate with each other. Clamping rollers are rotatably mounted on each walking frame, and wheels are also mounted on the walking frames. The robot further includes an ultrasonic detector, a lidar, a laser rangefinder, and a control unit. Each walking frame is equipped with the ultrasonic detector, lidar, and laser rangefinder, all of which are electrically connected to the control unit, which is mounted on the walking frame. This intelligent handling robot is equipped with lidar and ultrasonic detectors, both of which can detect obstacles, preventing the robot from touching obstacles during the handling of vehicles.

Description

[0001] This application is a divisional application of the invention entitled "Intelligent Handling Robot", filed on August 8, 2022, with application number 2022109458132. Technical Field

[0002] This invention relates to the field of automated parking system handling equipment, and more particularly to an intelligent handling robot. Background Technology

[0003] Intelligent transport robots are a crucial component in modern automated parking systems. Patent publication CN205688904U discloses an intelligent transport robot that moves vehicles by clamping their tires. However, this robot has a problem: it lacks obstacle detection equipment. Therefore, there is a certain probability that the robot will collide with obstacles during transport, resulting in damage to itself or the vehicle on it. Summary of the Invention

[0004] To address the aforementioned problems, this invention proposes an intelligent handling robot.

[0005] The technical solution adopted in this invention is as follows:

[0006] An intelligent handling robot includes two walking frames that cooperate with each other. Clamping rollers are rotatably mounted on the walking frames, and wheels are also mounted on the walking frames. The robot also includes an ultrasonic detector, a lidar, a laser rangefinder, and a control host. Each walking frame is equipped with the ultrasonic detector, lidar, and laser rangefinder, and all of these devices are electrically connected to the control host, which is located on the walking frame.

[0007] This intelligent handling robot is equipped with a two-dimensional LiDAR and an ultrasonic detector. Both LiDAR and ultrasonic detectors can detect obstacles, preventing the robot from touching them during transport. The combined use of these two detection tools provides better detection results. Furthermore, to improve obstacle detection, the orientation of the LiDAR and ultrasonic detectors can be adjusted to allow the robot to detect obstacles in various directions. For example, the LiDAR can be adjusted to detect horizontal obstacles while the ultrasonic detector detects vertical obstacles. A laser rangefinder determines the robot's position, and combined with the detection from the LiDAR and ultrasonic detectors, the location of obstacles ahead can be accurately identified. By identifying the location of obstacles, it can be determined whether they will affect the robot's operation (if so, the robot will stop immediately).

[0008] When an intelligent transport robot is carrying a vehicle into a parking space in an automated parking garage, it will immediately stop if a car is detected in the space by lidar or ultrasonic detectors. When the robot needs to remove a car from a parking space, lidar and ultrasonic detectors will detect the vehicle; if they detect a car in the space, the robot will enter and move it. When transporting a vehicle from the entrance to the automated parking garage, the robot first moves to the entrance, then lifts the vehicle using its gripping arm and moves it to the appropriate parking space.

[0009] With the increasing prevalence of pure electric and hybrid electric vehicles, both pure electric and hybrid vehicles require battery packs. Due to limitations in battery manufacturing and vehicle assembly processes, there is a certain probability of battery short circuits during operation. A short circuit can cause the battery pack to spontaneously combust even when the vehicle is parked (i.e., the motor is de-energized, the air conditioning is off, and the onboard computer is in standby mode). A precursor to spontaneous combustion due to a short circuit is a sustained increase in the battery pack's temperature. Therefore, to improve garage safety, this transport robot is equipped with cameras and infrared temperature sensors on its walking frame. Both the cameras and infrared temperature sensors are connected to the main control unit. The cameras capture images of the vehicle's model and license plate, while the infrared temperature sensors monitor the temperature changes of the battery pack on the vehicle's chassis. The camera transmits the captured image information (including license plate, car logo, and vehicle model) to the control host. The control host uses built-in software to analyze and determine whether the vehicle has a power battery pack (this is determined by the license plate) and whether the power battery pack is located on the vehicle's chassis (this is determined by analyzing the car logo and vehicle model). When the vehicle is parked (i.e., the motor is de-energized, the air conditioning is off, and the onboard computer is in standby mode) at the entrance of the automated parking garage, and the camera image shows that the vehicle has a power battery pack on its chassis, the intelligent transport robot moves under the vehicle. The intelligent transport robot uses its gripping arm to lift the vehicle and then moves it outside the automated parking garage. It uses its installed infrared temperature sensor to monitor the temperature change of the power battery pack on the vehicle's chassis. If the temperature of the power battery pack rises, it means that the vehicle has a short circuit and there is a risk of spontaneous combustion. The vehicle needs to be moved immediately to a flame-retardant special location.

[0010] Optionally, a walking servo motor is mounted on the walking frame, the wheels include walking wheels and guide wheels, the walking wheels cooperate with the walking servo motor, the guide wheels are rotatably mounted on the walking frame, and the walking servo motor is electrically connected to the control host.

[0011] Specifically, the servo motor drives the walking wheels to rotate, and the rotation of the walking wheels can move the entire intelligent handling robot, while the guide wheels serve a guiding function.

[0012] Optionally, it also includes a clamping servo motor, which is mounted on the traveling frame and works in conjunction with the clamping roller.

[0013] Specifically, the function of the clamping servo motor is to drive the clamping roller to clamp or release the wheel.

[0014] Optionally, it also includes a worm gear, wherein the worm gear is mounted on the traveling frame, the clamping roller is mounted on the worm gear, and the worm gear is coupled with the clamping servo motor.

[0015] Optionally, it also includes a clamping arm, which is fixed to the worm gear, and the clamping roller is rotatably mounted on the clamping arm, with rollers mounted on the clamping arm.

[0016] Specifically, a worm gear is coupled with two worm wheels, each worm wheel is equipped with a clamping arm, and each clamping arm is rotatably mounted with a clamping roller. The two ends of the clamping roller are respectively rotatably coupled with the clamping arm. The clamping roller can rotate on the clamping arm. The worm wheel is rotatably mounted on the traveling frame. When the clamping servo motor rotates, it drives the worm gear to rotate. The rotation of the worm gear drives the clamping arm to rotate. During the rotation of the worm gear, the angle between the two clamping arms increases (releasing the wheel) or decreases (clamping the wheel). Since the clamping roller is rotatably mounted on the clamping arm, the clamping arm contacts the wheel through the clamping roller, thus reducing the resistance experienced by the clamping arm when clamping and releasing the wheel.

[0017] Specifically, each worm has two helical teeth with opposite helical directions, so that when the worm rotates, it can drive the clamping arm to rotate in two different directions.

[0018] Because rollers are installed on the clamping arm and the rollers are in contact with the ground, the rollers can support the clamping arm during the process of releasing or clamping the wheel. This can improve the stability of the clamping arm and the worm gear, and also reduce the energy consumption of the clamping servo motor driving the worm gear to rotate to a certain extent.

[0019] Optionally, a locking device is also included, with racks mounted on both traveling frames. The locking device is mounted on the traveling frame and has an adjusting motor. A gear is mounted on the shaft of the adjusting motor, and the gear engages with the racks on the two traveling frames.

[0020] The locking device is specifically designed to adjust the distance between the two running frames and, once adjusted, maintain a relatively fixed distance between them. When it's necessary to change the distance between the two running frames (to accommodate vehicles with different wheelbases), the adjusting motor can be activated. By adjusting the motor's forward and reverse rotation, the distance between the two running frames can be changed. Once the distance between the two running frames is adjusted to the desired level, the adjusting motor can be deactivated, fixing the distance between them.

[0021] Optionally, it also includes a storage battery, which is mounted on the walking frame and electrically connected to the control host.

[0022] Specifically, the battery is the power source for the entire intelligent handling robot. The clamping servo motor, walking servo motor, and adjustment motor are all directly or indirectly connected to the battery.

[0023] Optionally, it also includes a controller, which is mounted on the walking frame, and the control host is electrically connected to the controller.

[0024] The main control unit controls each motor through various controllers. The clamping servo motor, the walking servo motor, and the adjusting motor are each connected to a controller, and each controller is then connected to the main control unit.

[0025] The beneficial effects of this invention are: by setting up a lidar and an ultrasonic detector, both of which can detect obstacles, the intelligent handling robot can avoid touching obstacles during the handling of vehicles. Attached Figure Description

[0026] Figure 1 This is a simplified schematic diagram of an intelligent handling robot;

[0027] Figure 2 This is a schematic diagram showing the positions of the traveling wheels and guide wheels on the traveling frame;

[0028] Figure 3 This is a simplified schematic diagram of the walking frame structure;

[0029] Figure 4 This is a schematic diagram showing the cooperation relationship between the clamping roller and the clamping arm;

[0030] Figure 5 This is a schematic diagram showing the position of the rollers on the clamping arm;

[0031] Figure 6 This is a schematic diagram showing the cooperation relationship between the locking device and the traveling frame;

[0032] Figure 7 This is a schematic diagram of the fit between the gear and the rack.

[0033] The attached figures are labeled as follows: 1. Guide wheel; 2. Camera; 3. Ultrasonic detector; 4. LiDAR; 5. Laser rangefinder; 6. Battery; 7. Clamping arm; 8. Walking frame; 9. Walking wheel; 10. Walking servo motor; 1001. Encoder; 11. Controller; 12. Drive shaft; 13. Clamping servo motor; 14. Clamping roller; 15. Worm gear; 16. Worm; 17. Air pump; 18. Air pipe; 19. Infrared temperature probe; 20. Roller; 21. Locking device; 22. Rack; 23. Gear; 24. Control host. Detailed Implementation

[0034] The present invention will now be described in detail with reference to the accompanying drawings.

[0035] As attached Figure 1 Appendix Figure 2 Appendix Figure 3 and appendix Figure 6 As shown, an intelligent handling robot includes two walking frames 8 that are joined together. A clamping roller 14 is rotatably mounted on each walking frame 8, and wheels are also mounted on each walking frame 8. The robot also includes an ultrasonic detector 3, a lidar 4, a laser rangefinder 5, and a control host 24. Each walking frame 8 is equipped with an ultrasonic detector 3, a lidar 4, and a laser rangefinder 5. All three devices are electrically connected to the control host, which is located on the walking frame 8.

[0036] This intelligent handling robot is equipped with a LiDAR 4 (a two-dimensional LiDAR) and an ultrasonic detector 3. Both LiDAR 4 and ultrasonic detector 3 can detect obstacles, thus preventing the intelligent handling robot from touching obstacles while transporting vehicles. Furthermore, the combined use of these two detection tools provides better detection results. To further enhance obstacle detection, the orientation of LiDAR 4 and ultrasonic detector 3 can be adjusted to allow the intelligent handling robot to detect obstacles in various directions. For example, LiDAR 4 can be adjusted to monitor horizontal obstacles while the ultrasonic detector 3 monitors vertical obstacles. A laser rangefinder 5 measures the distance between the intelligent handling robot and obstacles (including vehicles).

[0037] When the intelligent transport robot is carrying a vehicle into a parking space in the automated parking garage, it will immediately stop if the LiDAR 4 or ultrasonic detector detects a car in the space. When the intelligent transport robot needs to remove a car from a parking space, the LiDAR 4 and ultrasonic detector will detect the car and enter the space to move it. When the intelligent transport robot moves a vehicle from the entrance of the automated parking garage into the garage, it first moves to the entrance, then lifts the vehicle at the entrance using its gripping arm 7, and then moves the vehicle to the corresponding parking space.

[0038] With the increasing prevalence of pure electric and hybrid electric vehicles, both require battery packs. Due to limitations in battery manufacturing and vehicle assembly processes, there is a certain probability of battery short circuits during operation. A short circuit can cause the battery pack to spontaneously combust even when the vehicle is parked (i.e., the motor is de-energized, the air conditioning is off, and the onboard computer is in standby mode). A precursor to spontaneous combustion due to a short circuit is a sustained increase in the battery pack's temperature. Therefore, to improve garage safety, this transport robot incorporates a camera 2 and an infrared temperature sensor 19 on its walking frame 8. Both are electrically connected to the control unit. The camera 2 captures images of the vehicle's model and license plate, while the infrared temperature sensor 19 monitors the temperature changes of the battery pack on the vehicle's chassis. The camera 2 transmits the captured image information (including license plate, logo, and model) to the control unit, which then processes it via its built-in... The software analyzes and determines whether the vehicle has a power battery pack (this needs to be determined by the license plate; for example, in most parts of my country, pure gasoline vehicles have blue license plates, while hybrid and pure electric vehicles have green license plates) and whether the power battery pack is located on the vehicle's chassis (this needs to be determined by analyzing the vehicle logo and model). When the vehicle is parked (i.e., the motor is de-energized, the air conditioning is off, and the onboard computer is in standby mode) at the entrance of the automated parking garage, and the image captured by camera 2 shows that the power battery pack is located on the chassis of the vehicle, the intelligent transport robot moves under the vehicle. The intelligent transport robot uses its gripping arm 7 to lift the vehicle and then moves the vehicle to the outside of the automated parking garage. It uses its installed infrared temperature measuring probe 19 to monitor the temperature of the power battery pack on the chassis of the vehicle (the temperature of the power battery pack is much higher than the ambient temperature when the vehicle is first parked, which will also make the temperature of the chassis higher than the ambient temperature). If the temperature of the power battery pack continues to rise within a certain period of time (e.g., within 5 minutes), it means that the vehicle has a battery short circuit and there is a risk of spontaneous combustion. The vehicle needs to be moved immediately to an open area away from the automated parking garage.

[0039] In the above monitoring scheme, the infrared temperature probe 19 is oriented directly upwards. When the intelligent handling robot is located under the vehicle, the infrared temperature probe 19 is oriented towards the vehicle's chassis. The temperature of the chassis is not necessarily the temperature of the power battery pack, but the temperature change trend of the chassis is consistent with the temperature change trend of the power battery pack.

[0040] The garage is equipped with multiple intelligent handling robots. While one intelligent handling robot is checking the temperature of the new energy vehicle chassis, the other intelligent handling robots can continue to perform the work of storing and retrieving vehicles.

[0041] In the above test scheme, since the infrared temperature probe 19 is used to measure the temperature at the chassis, for some well-sealed power battery packs, the natural heat exchange rate with the environment is very slow (i.e., slow heat dissipation). In this case, when the intelligent handling robot moves under the vehicle, the infrared temperature probe may not be able to measure the temperature change for a long time (e.g., 10 minutes) (and the chassis temperature remains high, for example, measured as high as 40°C). To distinguish whether the failure to reduce the chassis temperature is due to slow heat dissipation, a malfunction of the vehicle's built-in battery cooling equipment (some vehicles have such equipment, some do not), or a battery short circuit, this intelligent handling robot is equipped with an air pump 17 and an air pipe 18. Both the air pump 17 and the air pipe 18 are mounted on the walking frame 8. One end of the air pipe 18 is connected to the air pump 17, and the other end is sealed. Several air outlets are opened on the wall of the air pipe 18, and the air outlets face directly upwards (i.e., under the vehicle). The vehicle chassis has air vents with filters, and the air intake of the vacuum pump 17 also has filters. When the infrared temperature sensor 19 detects no change in the temperature of the vehicle chassis over a period of time, the vacuum pump 17 is turned on. The vacuum pump 17 blows air through the air vents on the air pipe 18 towards the vehicle chassis, using the airflow to cool the power battery pack on the chassis. During this airflow process, the infrared temperature sensor 19 continuously monitors the chassis temperature. When the infrared temperature sensor 19 detects that the chassis temperature begins to decrease, the vacuum pump 17 stops pumping air and then continues to monitor the chassis temperature. If the chassis temperature rises, it is very likely due to a short circuit in the power battery pack, and the vehicle needs to be moved to an open area immediately. If the temperature remains unchanged for a period of time (e.g., within 10 minutes), it may be due to slow heat dissipation of the power battery pack itself or a malfunction of the vehicle's built-in battery cooling equipment.

[0042] Specifically, to improve the reliability of temperature measurement, this intelligent handling robot is equipped with multiple (no less than 6) infrared temperature probes 19, and each walking frame 8 is equipped with an infrared temperature probe 19 and an air tube 18.

[0043] Specifically, the air pump 17 is connected to the battery 6, and the switch of the air pump 17 is controlled by the control host.

[0044] It should be noted that this type of intelligent handling robot is not suitable for vehicles where the power battery pack is not mounted on the chassis, for providing a power battery pack self-ignition warning.

[0045] As attached Figure 2 and 3As shown, a walking servo motor 10 is installed on the walking frame 8. The wheels include walking wheels 9 and guide wheels 1. The walking wheels 9 and the walking servo motor 10 are engaged together. The guide wheels 1 are rotatably mounted on the walking frame 8. The walking servo motor 10 is electrically connected to the control host.

[0046] Specifically, the servo motor drives the walking wheel 9 to rotate, and the rotation of the walking wheel 9 can move the entire intelligent handling robot. The guide wheel 1 serves as a guide.

[0047] Specifically, the walking servo motor 10 is equipped with an encoder 1001, which is used to record the number of rotations of the servo motor. By combining the number of rotations with the value measured by laser ranging, the position can be compared to see if it is correct.

[0048] There are multiple walking wheels 9, and the walking wheels 9 are linked together by a transmission shaft 12. The walking servo motor 10 directly drives the transmission shaft 12 to rotate.

[0049] As attached Figure 2 and 3 As shown, it also includes a clamping servo motor 13, which is mounted on the traveling frame 8 and works in conjunction with the clamping roller 14.

[0050] Specifically, the function of the clamping servo motor 13 is to drive the clamping roller 14 to clamp or release the wheel.

[0051] As attached Figure 4 and 5 As shown, it also includes a worm gear 15 and a worm 16. The worm gear 15 is mounted on the traveling frame 8, the clamping roller 14 is mounted on the worm gear 15, and the worm 16 is engaged with the clamping servo motor 13.

[0052] As attached Figure 4 and 5 As shown, it also includes a clamping arm 7, which is fixed on the worm gear 15. The clamping roller 14 is rotatably mounted on the clamping arm 7, and the clamping arm 7 is equipped with rollers 20.

[0053] Specifically, a worm gear 16 is coupled with two worm wheels 15. Each worm wheel 15 is equipped with a clamping arm 7, and each clamping arm 7 is rotatably mounted with a clamping roller 14. The two ends of the clamping roller 14 are respectively rotatably coupled with the clamping arm 7. The clamping roller 14 can rotate on the clamping arm 7. The worm wheel 15 is rotatably mounted on the walking frame 8. When the clamping servo motor 13 rotates, it drives the worm gear 16 to rotate. The rotation of the worm gear 16 drives the worm wheel 15 to rotate. When the worm wheel 15 rotates, it drives the clamping arm 7 to rotate. During the rotation of the worm wheel 15, the angle between the two clamping arms 7 increases (releasing the wheel) or decreases (clamping the wheel). Since the clamping roller 14 is rotatably mounted on the clamping arm, the clamping arm 7 contacts the wheel through the clamping roller 14, so the resistance experienced by the clamping arm 7 when clamping and releasing the wheel can be reduced.

[0054] Specifically, each worm has two helical teeth with opposite helical directions, so that when the worm rotates, it can drive the clamping arm to rotate in two different directions.

[0055] Since the clamping arm is equipped with rollers 20, which are in contact with the ground, the rollers 20 can support the clamping arm 7 during the process of releasing or clamping the wheel. This can improve the stability of the clamping arm 7 and the worm gear 15, and can also reduce the energy consumption of the clamping servo motor 13 when driving the worm gear 15 to rotate to a certain extent.

[0056] As attached Figure 1 , 6 As shown in Figure 7, it also includes a locking device 21. A rack 22 is installed on each of the two traveling frames 8. The locking device 21 is set on the traveling frame 8. An adjusting motor is set on the locking device 21. A gear is installed on the shaft of the adjusting motor. The gear is engaged with the rack 22 on the two traveling frames 8.

[0057] The locking device 21 is used to adjust the distance between the two walking frames 8 and, after adjustment, to keep the distance between them relatively fixed. When it is necessary to change the distance between the two walking frames 8 (to accommodate vehicles with different wheelbases), the adjusting motor can be turned on, and the distance between the two walking frames 8 can be changed by adjusting the forward and reverse rotation of the motor. Once the distance between the two walking frames 8 is adjusted to the correct position, the adjusting motor can be turned off, keeping the distance between the two frames fixed. Since the rotation of the adjusting motor moves the walking frames 8, this intelligent handling robot can also adjust the distance between the two walking frames 8 during movement.

[0058] As attached Figure 1 As shown, it also includes a storage battery 6, which is mounted on the walking frame 8 and is electrically connected to the control host.

[0059] Specifically, the battery 6 is the power source for the entire intelligent handling robot. The clamping servo motor 13, the walking servo motor 10, and the adjustment motor are all directly or indirectly connected to the battery 6.

[0060] As attached Figure 2 and 3 As shown, it also includes a controller 11, which is mounted on the walking frame 8, and the control host is electrically connected to the controller 11.

[0061] The main control unit controls each motor through each controller 11. The clamping servo motor 13, the walking servo motor 10 and the adjusting motor are connected to controllers 11, and then each controller 11 is connected to the main control unit.

[0062] The above description is merely a preferred embodiment of the present invention and does not limit the scope of patent protection of the present invention. Any equivalent modifications made based on the content of the present invention specification, whether directly or indirectly applied to other related technical fields, are similarly included within the scope of protection of the present invention.

Claims

1. An intelligent vehicle handling robot with automatic identification and detection, comprising two walking frames that cooperate with each other, gripping rollers rotatably mounted on the walking frames, and wheels mounted on the walking frames, characterized in that, It also includes an ultrasonic detector, a lidar, a laser rangefinder, and a control host. Each walking frame is equipped with the ultrasonic detector, lidar, and laser rangefinder. The ultrasonic detector, lidar, and laser rangefinder are all electrically connected to the control host. The control host is located on the walking frame. A camera and an infrared temperature probe are installed on the walking frame. The camera and infrared temperature probe are both electrically connected to the control host. The camera is used to acquire license plate, vehicle logo, and vehicle model image information. The infrared temperature probe is used to monitor the temperature change of the power battery pack on the vehicle chassis. When the infrared temperature probe measures the temperature change of the power battery pack, the vehicle's motor is de-energized, the vehicle's air conditioning is off, and the vehicle's computer is in standby mode. Both the air pump and the air hose are mounted on the walking frame. One end of the air hose is connected to the air pump, while the other end is blocked. When the infrared temperature sensor detects no change in the temperature of the vehicle chassis over a period of time, the air pump is activated. The air pump blows air through the vents on the air pipe toward the vehicle chassis, using the airflow to cool the power battery pack on the chassis. During this airflow process, the infrared temperature sensor continuously monitors the chassis temperature. When the infrared temperature sensor detects that the temperature of the chassis begins to decrease, the air pump stops pumping air, and then the infrared temperature sensor continues to monitor the chassis temperature. If the chassis temperature is detected to rise, it is because of a short circuit in the power battery pack, and the vehicle needs to be moved to an open area immediately. LiDAR is used to detect obstacles in the horizontal direction while moving, while ultrasonic detectors are used to detect obstacles in the vertical direction while moving. Laser rangefinders can measure the distance to obstacles and vehicles. It also includes a storage battery, which is mounted on the walking frame and electrically connected to the control host. It also includes a controller, which is mounted on the walking frame, and the control host is electrically connected to the controller.

2. The intelligent vehicle handling robot with automatic identification and detection as described in claim 1, characterized in that, A walking servo motor is mounted on the walking frame. The wheels include walking wheels and guide wheels. The walking wheels cooperate with the walking servo motor. The guide wheels are rotatably mounted on the walking frame. The walking servo motor is electrically connected to the control host.

3. The intelligent vehicle handling robot with automatic identification and detection as described in claim 1, characterized in that, It also includes a clamping servo motor, which is mounted on the traveling frame and works in conjunction with the clamping roller.

4. The intelligent vehicle handling robot with automatic identification and detection as described in claim 3, characterized in that, It also includes a worm gear and a worm, the worm gear being mounted on the traveling frame, the clamping roller being mounted on the worm gear, and the worm cooperating with the clamping servo motor.

5. The intelligent vehicle handling robot with automatic identification and detection as described in claim 4, characterized in that, It also includes a clamping arm, which is fixed to the worm gear, and the clamping roller is rotatably mounted on the clamping arm, with rollers mounted on the clamping arm.

6. The intelligent vehicle handling robot with automatic identification and detection as described in claim 1, characterized in that, It also includes a locking device, with racks mounted on both walking frames. The locking device is located on the walking frame and has an adjusting motor. A gear is mounted on the shaft of the adjusting motor, and the gear engages with the racks on the two walking frames.

Images