A target fixing subsystem and a fixing method

Abstract

The present invention provides a target fixing subsystem and a fixing method, which solve the technical problem of the lack of technical means for transfer stability of vehicles under the condition of high loading density. The system includes: a tire confirmation module forms a tire data processing process according to the timing data of the line laser tire positioning sensor in the on-site operation data to realize tire state confirmation; a wheelbase adjustment module forms an axle distance data processing process of the same-side clamping mechanism according to the front and rear tire states of the current vehicle in the on-site operation data to realize the adjustment of the distance between the clamping mechanisms; a distance adjustment module forms a distance data processing process according to the tire outer diameter and the tire clamping position of the current vehicle in the on-site operation data to realize the adjustment of the distance between the lifting crossbars of the clamping mechanisms; and further includes a clamping positioning module, a clamping lifting module and a clamping tightening module. It effectively forms a control process for automatic measurement, automatic adaptation and automatic fixing of the vehicle, and ensures the vehicle stability during the automatic transportation process.

Description

Technical Field

[0001] The present invention relates to the technical field of transportation, and particularly to an automatic transfer control system and a fixing method for a target fixing subsystem. Background Art

[0002] The main ways of China's automobile exports include automobile transport ships, container ships, China-Europe freight trains, and road vehicle transportation. Among them, the shipping volume ranks first, and automobile transport ships are the main transportation method. The principle during transportation is that the fewer actions taken on the vehicle, the better the transportation quality. Therefore, how to avoid vehicle loss and damage while improving the transfer efficiency during vehicle transfer processes such as vehicle reception, loading, and unloading is a technical problem that always needs to be faced.

[0003] In the prior art, there are changing factors such as the quality, wheelbase, and tire size of the vehicle to be transferred. Although the transfer equipment has functions of clamping, lifting, and fixing, it lacks adjustment means for vehicle models. In the vehicle placement scenario with a high loading density, it cannot effectively meet the requirements for transfer stability under the demand for high transfer efficiency. Summary of the Invention

[0004] In view of the above problems, the embodiments of the present invention provide a target fixing subsystem and a fixing method to solve the technical problem of the lack of technical means for transfer stability of vehicles in the case of a high loading density.

[0005] The target fixing subsystem of the embodiments of the present invention includes:

[0006] A tire confirmation module, configured to form a tire data processing process according to the timing data of the line laser tire positioning sensor in the on-site operation data, and realize tire state confirmation;

[0007] A wheelbase adjustment module, configured to form a wheelbase data processing process of the same-side clamping mechanism according to the front and rear tire states of the current vehicle in the on-site operation data, and realize the adjustment of the distance between the clamping mechanisms;

[0008] A clamping and positioning module, configured to form a positioning data processing process according to the distance between the same-side front and rear clamping mechanisms of the current vehicle in the on-site operation data, and realize the alignment of the clamping mechanism with the vehicle tire;

[0009] A distance adjustment module, configured to form a distance data processing process according to the outer diameter of the tire and the tire clamping position of the current vehicle in the on-site operation data, and realize the adjustment of the distance between the lifting crossbars of the clamping mechanism;

[0010] A clamping and lifting module, configured to form a lifting data processing process according to the information that the clamping mechanism action is in place in the on-site operation data, and realize the lifting of the tire in place;

[0011] The clamping and tightening module is used to form a tightening data processing process based on the operation status information of the transfer equipment in the on-site operation data, so as to achieve the vehicle stability during the transfer process.

[0012] In an embodiment of the present invention, the tire data processing process of the tire confirmation module includes:

[0013] - Obtain the installation reference, reference orientation and scanning length of the line laser tire positioning sensor, and determine the scanning range;

[0014] - After the wheel side enters the scanning range, determine the front outer edge reflection distance len1 and the rear outer edge reflection distance len2 of the tire according to the reflection signals of the front and rear outer edges of the tire in the circumferential direction, and determine the front outer edge measurement angle angle1 and the rear outer edge measurement angle angle2 of the tire according to the reference orientation;

[0015] - Determine the chord length l of the intersecting light segment in the corresponding scanning range according to the reflection distances of the front and rear outer edges and the front and rear outer edge measurement angles;

[0016] - Determine the outer diameter and circumference c of the tire according to the chord length l and the relative height d of the scanning range.

[0017] In an embodiment of the present invention, the wheelbase data processing process of the wheelbase adjustment module includes:

[0018] - When the current vehicle enters the through-channel of the transfer equipment, at the same moment, obtain the front tire axis projection position dis1 of the front wheel tire on the same side of the vehicle relative to the line laser tire positioning sensor at the rear of the through-channel of the transfer equipment, and the rear tire axis projection position dis2 of the rear wheel tire on the same side of the vehicle relative to the line laser tire positioning sensor at the front of the through-channel of the transfer equipment;

[0019] - Determine the distance between the front and rear axles of the vehicle according to the installation reference of the line laser tire positioning sensor at the front of the transfer equipment, the rear tire axis projection position dis2 of the vehicle, the installation reference of the line laser tire positioning sensor at the rear of the transfer equipment and the front tire axis projection position dis1 of the vehicle;

[0020] - The wheelbase adjustment mechanism adjusts the distance between the front and rear clamping mechanisms on the same side according to the distance between the front and rear axles;

[0021] - According to the timing data of the line laser wheelbase sensor in the on-site operation data, feedback whether the distance adjustment of the clamping mechanism on the same side is in place.

[0022] In an embodiment of the present invention, the positioning data processing process of the clamping and positioning module includes:

[0023] - Determine the relative position of the reference position of the clamping mechanism action with reference to the installation reference of the line laser tire positioning sensor;

[0024] - Generate a driving signal for the transfer device based on the relative position deviation between the reference for the operation of the clamping mechanism and the projected position dis1 of the tire axis, and drive the transfer device to move and align the clamping mechanism with the tire.

[0025] In an embodiment of the present invention, the process of processing the spacing data by the spacing adjustment module includes:

[0026] - Generate spacing adjustment data for the lifting crossbar of the clamping mechanism based on the outer diameter of the tire of the current vehicle and the tire clamping position, and adjust the horizontal spacing when the lifting crossbar moves into place according to the spacing adjustment data;

[0027] - Feedback whether the spacing adjustment of the clamping mechanism is in place according to the timing data of the line laser spacing sensor in the on-site operation data.

[0028] In an embodiment of the present invention, the process of processing the lifting data by the clamping and lifting module includes:

[0029] - When it is determined according to the proximity switch timing data that the lifting crossbar moves into place, generate lifting control data, and control the lifting mechanism to drive the clamping mechanism to lift the tire to a specified height.

[0030] In an embodiment of the present invention, the process of processing the clamping data by the clamping and tightening module includes:

[0031] - Generate the action of the clamping mechanism according to the proximity switch sensor timing data, the lifting control data and the operation state of the transfer device, so that the action components of the clamping mechanism axially abut against the wheel hub.

[0032] - Adjust the axial abutting force according to the running speed of the transfer device, the ground drop and the vehicle mass.

[0033] In an embodiment of the present invention, it further includes:

[0034] An unloading operation module, which is used to generate an unloading data processing process according to the path planning data in the on-site operation data to realize vehicle unloading.

[0035] In an embodiment of the present invention, the process of processing the unloading data by the unloading operation module includes:

[0036] - Judge whether the unloading location is reached according to the path planning data, and form unloading sequence control data for the clamping mechanism, the lifting mechanism and the clamping mechanism at the unloading location to realize vehicle unloading.

[0037] The fixing method of the embodiment of the present invention includes:

[0038] Generate a tire data processing process according to the timing data of the line laser tire positioning sensor in the on-site operation data to realize tire state confirmation;

[0039] Based on the front and rear tire states of the current vehicle in the on-site operation data, a data processing process for the wheelbase data of the same-side clamping mechanism is formed to realize the adjustment of the distance between the clamping mechanisms.

[0040] Based on the distance between the same-side front and rear clamping mechanisms of the current vehicle in the on-site operation data, a positioning data processing process is formed to realize the alignment of the clamping mechanism with the vehicle tire.

[0041] Based on the outer diameter of the tire and the tire clamping position of the current vehicle in the on-site operation data, a distance data processing process is formed to realize the adjustment of the distance between the lifting crossbars of the clamping mechanism.

[0042] Based on the information that the clamping mechanism action is in place in the on-site operation data, a lifting data processing process is formed to realize the tire lifting in place.

[0043] Based on the operation status information of the transfer equipment in the on-site operation data, a clamping data processing process is formed to realize the vehicle stability during the transfer process.

[0044] The target fixing subsystem and fixing method of the embodiments of the present invention use a customized data processing process to process the on-site operation data in the vehicle fixed transportation work scenario during the on-site transfer process to form a comprehensive control process for each corresponding controlled electromechanical actuator. The comprehensive control process effectively forms a control process for automatic measurement, automatic adaptation, and automatic fixing of the vehicle according to the operation strategy data, planning data, and on-site working condition data in the on-site operation data, and ensures the vehicle stability during the automatic transportation process. Brief Description of the Drawings

[0045] Figure 1 Shown is a schematic diagram of the architecture of an automatic transfer control system according to an embodiment of the present invention.

[0046] Figure 2 Shown is a schematic diagram of the flow of an automatic transfer control method according to an embodiment of the present invention.

[0047] Figure 3 Shown is a top view of a transfer device using the automatic transfer control system according to an embodiment of the present invention.

[0048] Figure 4 Shown is a side view of a transfer device using the automatic transfer control system according to an embodiment of the present invention. [[ID=...]]

[0049] Figure 5 Shown is a schematic diagram of the architecture of a target fixing subsystem according to an embodiment of the present invention. [[ID=...]]

[0050] Figure 6 Shown is a schematic diagram of the data distribution of tire measurement in a target fixing method according to an embodiment of the present invention.

[0051] Figure 7The figure shows a schematic flowchart of the target fixation method according to an embodiment of the present invention.

[0052] Figure 8 The figure shows a schematic architecture diagram of the target search subsystem according to an embodiment of the present invention.

[0053] Figure 9 The figure shows a schematic flowchart of the target search method according to an embodiment of the present invention.

[0054] Figure 10 The figure shows a schematic architecture diagram of the target avoidance subsystem according to an embodiment of the present invention.

[0055] Figure 11 The figure shows a schematic diagram of the data distribution of the distance measurement in the target avoidance subsystem according to an embodiment of the present invention.

[0056] Figure 12 The figure shows a schematic flowchart of the target avoidance method according to an embodiment of the present invention. Detailed implementation manners

[0057] To make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described below with reference to the accompanying drawings and specific implementation manners. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0058] An automatic transfer control system according to an embodiment of the present invention is as Figure 1 shown. In Figure 1 , the embodiment of the present invention includes:

[0059] A transfer response layer 10, configured to perform data interaction with a host system, form an operation strategy of a transfer device according to the control objective of the host system, monitor the operation state of the transfer device, and feedback to the host system.

[0060] Performing data interaction with the host system includes obtaining host control requirements and host control resources. The host control requirements include, but are not limited to, transfer area requirements, transfer path requirements, transfer reliability requirements, etc. for the vehicle attributes to be transferred. The host control resources include, but are not limited to, a coordinate space related to the transfer site, obstacle information in the coordinate space, passing information around the coordinate space, etc.

[0061] Form a quantitative control objective for factors such as the number of vehicles, storage environment, transfer restrictions, and transfer destinations according to the host control requirements. Furthermore, form a regional control strategy for vehicle transfer such as transfer routing, transfer speed, and transfer destination of the transfer device. At the same time, qualitatively monitor the thread operation state formed by the transfer device, and implement alarm feedback to the host system until early warning feedback.

[0062] The signal aggregation layer 20 is used to obtain the setting reference of the built-in sensors of the transfer device, obtain the operation signals of the transfer device collected by the built-in sensors, and form on-site operation data according to the setting reference.

[0063] Those skilled in the art can understand that a controlled transfer device necessarily includes components such as a power drive architecture that drives the movable loading and unloading structure and the operation of the device, a mechanical stress architecture that bears the load, loads and unloads the load and integrates the device, and a perception architecture for the load and its own posture. The transfer device adapts components with corresponding structural specifications, electronic control specifications, and sensor specifications according to the structural characteristics of the transfer vehicle. The perception architecture includes determined sensor types, sensor quantities, and sensor signal acquisition references. By obtaining the layout reference or measurement reference of the sensor signal on the power drive architecture or the mechanical stress architecture, and combining the perception signal dimension of the sensor, the operation signals of the transfer device can be collected according to the sensor layout intention. The operation signals include, but are not limited to, continuous states or postures reflecting the walking, lifting, starting and stopping, overall actions, changes or actions or maintenance of local moving stress structures of the transfer device. Through analog-to-digital signal conversion and data encapsulation, complete timing data reflecting the on-site operation of the transfer device can be formed.

[0064] The function configuration layer 30 is used to store customized data processing processes, and processes the on-site operation data through the data processing processes to respond to the requests of the transfer control process.

[0065] Those skilled in the art can understand that in the control process of automatic transfer, there are general control steps and specific control steps for different models of transfer devices. By effectively adjusting the control logic to reduce the coupling between control steps, the data processing processes of most control steps can be clarified. Customizing the general control steps to form general data processing processes and customizing the specific control steps to form targeted data processing processes can modularize the data processing processes and improve the generality of control steps. By diversely constructing the control or input parameters of the data processing processes, the application compatibility of the modular data processing processes can be formed, and the preparation and optimization costs of control steps can be reduced. The modular data processing processes can be formed in the form of methods, functions, or modules to respond to the control requests or data requests of the transfer control process, and process the on-site operation data to form corresponding intermediate processing results or intermediate state data.

[0066] The transfer control layer 40 is used to adapt the operation strategy to form the transfer control process of the transfer device, and control the transfer device to complete vehicle transfer.

[0067] For the clear transfer purpose formed by the operation strategy, a real-time control process of the transfer process and transfer actions of the transfer equipment on-site is formed, and a control feedback for the transfer process and transfer actions is formed. According to the control purpose, control object, and control logic, a relatively independent control subsystem or independent control process is formed, and a customized data processing process is called by the control subsystem or independent control process to complete the data processing process of specific transfer steps. The effective coordination of the control subsystem or independent control process forms a complete control process for the control process to achieve the vehicle transfer purpose.

[0068] The automatic transfer control system of the embodiment of the present invention decouples the control process of vehicle transfer from the control process of transfer equipment, ensuring the adaptability to complex transfer scenarios and the control generality of transfer equipment. It reduces the complexity of the transfer equipment for constructing an automatic control process for the transfer scenario and reconstructing the data processing process, and improves the control reliability. By decoupling and layering the transfer requirements in complex environments, the control benchmarks for equipment operations, high-adaptation-level data processing, and flexible control of on-site transfers, it can make full use of external system resources to optimize the transfer process and reduce the potential impact of transfer equipment differences on the transfer process.

[0069] As Figure 1 shown, in an embodiment of the present invention, the transfer response layer 10 includes:

[0070] The purpose analysis device 11 is used to receive the upper-level control data for control purpose analysis and form a control purpose coordinate space.

[0071] The upper-level control data provides at least the basic information of the storage area of the vehicle to be transferred and the transfer destination area. The basic information includes, but is not limited to, the distribution information of the vehicle to be transferred in the storage area, the distribution information of the vehicle to be transferred in the transfer destination area, etc. The upper-level control data, as the initial control factor for transfer control, can at least quantify the initial space data and target space data for transferring the vehicle to be transferred. Through the space data, continuous space quantization in the transfer process can be formed, and a basic coordinate space for transfer can be established.

[0072] The resource matching device 12 is used to obtain associated geographic information data according to the control purpose coordinate space.

[0073] Request the associated geographic information data of the relevant resource system according to the coordinate space. The associated geographic information data includes, but is not limited to, the terrain elevation difference, obstacle contour, bottom texture, space net height, and available travel channel identification in the coordinate space, etc. The associated geographic information data is used to establish a basic quantization of the driving conditions of the transfer equipment in the coordinate space.

[0074] The strategy planning device 13 is used to quantify the transfer strategy of the transfer area according to the control purpose space data and the associated geographic information data.

[0075] Combined with the spatial data for control purposes and the associated geographic information data, overall operating strategies such as the macro starting point planning, macro ending point planning, macro obstacle avoidance planning, macro transfer speed planning, macro transfer speed, and macro transfer route planning of the overall operation process are formed for the control purposes.

[0076] The status monitoring device 14 is used to continuously synchronize the on-site operation data of the transfer equipment and feedback the generated alarm trigger data or early warning trigger data to the upper-level system according to the preset target deviation threshold rules.

[0077] The target deviation threshold rules have different levels of threshold rule sets. They are set according to the influence degree of the transfer equipment on the transfer space. The transfer continuity of the automatic transfer process, the transfer stability of the transfer equipment, and the potential harmfulness of the transfer equipment to the vehicle to be transferred are judged through the target deviation threshold rules.

[0078] The automatic transfer control system of the embodiment of the present invention establishes control data links, resource acquisition links, and monitoring feedback links with the upper-level system to form the quantification of the macro transfer requirements during the automatic transfer process. Through the quantification, the macro operating strategy for the control purpose is established to complete the control purpose, reflecting the overall control target and macro control content of the automatic transfer control, ensuring the relative independence of the automatic transfer control from the transfer equipment model, effectively separating the specific control of the transfer equipment, and improving the generality of the automatic transfer control.

[0079] As Figure 1 shown, in an embodiment of the present invention, the signal aggregation layer 20 includes:

[0080] The sensor type identification device 21 is used to receive the transfer equipment sensor information, individually identify and type identify the sensors to form the sensor body reference data.

[0081] The individual sensor identification is for all sensors set for the transfer equipment. Individual identification information is set in the signal conversion and encapsulation circuit of the sensor, and the signal source is determined through the individual identification. The sensor type identification includes, but is not limited to, type identifications such as proximity sensors, ranging sensors, and pressure sensors, and the model, accuracy information, and signal acquisition range of the sensors are quantified through the type identification.

[0082] The installation reference identification device 22 is used to quantify the sensor installation reference, sensor signal expression type, and signal expression limit in the sensor information to form the sensor layout reference data.

[0083] The sensor installation reference includes the identification of the sensor installation position and the signal acquisition position, and can describe the physical settings for collecting signals. The types of sensor signal expressions include angle, distance, or pressure, which can be targeted at specific physical dimensions. The signal expression limitations include the signal range or signal end values corresponding to the collected signals, and can limit the effective signal range of specific sensors.

[0084] The signal acquisition encapsulation device 23 is used to perform analog-to-digital conversion and timing encapsulation on the sensor-collected signals to form single-sensor field data.

[0085] The analog-to-digital conversion and timing encapsulation ensure the continuous acquisition ability and signal accuracy of the sensor for a single target state.

[0086] The data status synchronization device 24 is used to synchronize the timing of all single-sensor field data and form field operation data based on the respective reference data.

[0087] By timing synchronization, the correlation of single-sensor field data in the time dimension is established, forming the basis for describing the overall operation state data at specific operation moments of the transfer equipment. The field operation data can be stored using a relational data structure.

[0088] The automatic transfer control system of the embodiment of the present invention integrates the sensor layout information and the real-time collected signals to establish a unified acquisition data description specification based on the existing perception architecture of the transfer equipment. This enables the field operation perception differences caused by specific model structure differences and function differences to be defined and expressed based on the unified perception architecture, and the content and information meaning of the formed field operation data are open, which is conducive to centralized data storage and parallel data response utilization.

[0089] As Figure 1 shown, in an embodiment of the present invention, the function configuration layer 30 includes:

[0090] The storage framework response device 31 is used to establish a storage update framework, perform modular storage and update response on the customized data processing process, and form the index and access of the customized data processing process.

[0091] The storage update framework forms a modular storage structure for the customized data processing process. By providing retrieval means for the modular storage structure, access matching for the customized data processing process is formed through the retrieval means. The keywords of the retrieval means include, but are not limited to, the clear quantitative description content, function description content, parameter description content, or device parameter adaptation content of the customized data processing process. Through the retrieval means, the status of the existence, absence, or replacement of the customized data processing process is confirmed.

[0092] The function request response device 32 is used to establish a request response interface and trigger the operation of a customized data processing process according to request parameters.

[0093] After determining the customized data processing process adapted to the control step requirements through indexing and forming an access permission, the control request parameters or function request parameters of the control step are transmitted using the request response interface. When the request parameters match the customized data processing process, a trigger for the operation of the customized data processing process is formed.

[0094] The data request response device 33 is used to establish a data access interface and read on-site operation data according to the data requirements of the customized data processing process.

[0095] After establishing an access permission to the on-site operation data through the data access interface for the customized data processing process adapted to the control step, filtering parameters for the on-site operation data are transmitted through the data access interface, and the filtered on-site operation data is received. The customized data processing process uses the on-site operation data to form an operation status judgment result or an electromechanical mechanism action control signal. Until the customized data processing process is completed, the operation result of the control step is formed.

[0096] The automatic transfer control system of the embodiment of the present invention modularizes the customized data processing process by forming a storage structure, an operation trigger mechanism, and a data access control mechanism for the data processing process. Effectively separating the data processing process of specific on-site operation data from the control process reduces the difficulty of preparing the control process and improves the optimization efficiency of the data processing process.

[0097] As Figure 1 shown, in an embodiment of the present invention, the transfer control layer 40 includes:

[0098] The process planning subsystem 41 is used to form a transfer path plan of the transfer equipment in the transfer area according to the transfer strategy and form an overall control process on the transfer path.

[0099] Perform a transfer path plan for the transfer site according to the control objectives quantified by the transfer strategy, quantify the clear path of each vehicle to be transferred, and the transfer path plan includes, but is not limited to, the start and end lengths, directions, height differences, driving speeds, turning angles between adjacent sections, and widths of each section of each vehicle to be transferred in the coordinate space and other specific transfer path planning parameters. Form an overall control process for the automatic transfer site according to the transfer path plan.

[0100] The equipment drive subsystem 42 is used to form an electric control control process for the electric drive mechanism in the transfer equipment according to the overall control process and drive the transfer equipment to operate.

[0101] Form a timing control process for the output power signal in the electromechanical control mechanism according to the overall control process to form the basic operation state of the transfer equipment at the transfer site.

[0102] The target search subsystem 43 is used to form a target positioning control process during the operation of the transfer equipment, and use a customized posture data processing process to form the posture positioning of the target vehicle on site.

[0103] The target positioning control process accurately positions the current vehicle on the basis of maintaining the basic operating status of the transfer site, provides accurate positioning data of the current vehicle, and corrects the relative posture of the transfer equipment before the vehicle is fixed on the transfer path.

[0104] The target fixing subsystem 44 is used to form a target fixing control process during the operation of the transfer equipment, and use a customized fixing data processing process to form an adaptive fixation of the on-site target vehicle and the transfer equipment.

[0105] The target fixation control process forms an adaptive fixation for the current vehicle at the beginning of vehicle fixation. The relative position data of each fixed part of the current vehicle is obtained, and the adaptability of the transfer equipment fixing mechanism is adjusted to complete the reliable fixation of the current vehicle.

[0106] The target avoidance subsystem 45 is used to form a main body obstacle avoidance control process during the operation of the transfer equipment, and use a customized obstacle avoidance data processing process to form the transfer equipment's avoidance of adjacent on-site vehicles.

[0107] When the transfer equipment carries the current vehicle and moves in a narrow and long space, the main obstacle avoidance control process detects the approach trend between the transfer equipment and the adjacent vehicle, forms distance feedback, and encourages the transfer equipment to make timely adjustments to the driving direction.

[0108] The automatic transfer control system of the present invention utilizes a transfer control process to form an overall transfer control process that conforms to the macro-control of the adaptive operation strategy and a targeted correction control process. This correction control process improves transfer quality and efficiency. This allows for greater flexibility and adaptability in data acquisition, data processing, and process adjustments tailored to the transfer site and transfer equipment, effectively eliminating the impact of differences in transfer equipment architecture on overall transfer control quality and improving transfer efficiency.

[0109] An automatic transport control method according to an embodiment of the present invention is as follows Figure 2 As shown. Figure 2 In this embodiment, the present invention includes:

[0110] Step 01: Exchange data with the upper system, formulate the operation strategy of the transfer equipment according to the control purpose of the upper system, monitor the operation status of the transfer equipment and provide feedback to the upper system;

[0111] Step 02: Obtain the setting benchmark of the built-in sensor of the transfer equipment, and obtain the operation signal of the transfer equipment collected by the built-in sensor, and generate the field operation data according to the setting benchmark;

[0112] Step 03: Store the customized data processing process, and process the on-site operation data through the data processing process to respond to the request of the transfer control process;

[0113] Step 04: Adapt the operation strategy to form the transfer control process of the transfer equipment, and control the transfer equipment to complete vehicle transfer.

[0114] As Figure 2 shown, in an embodiment of the present invention, Step 01 includes:

[0115] 01a: Receive the upper control data for control purpose parsing to form a control purpose coordinate space;

[0116] 01b: Obtain the associated geographic information data according to the control purpose coordinate space;

[0117] 01c: Quantify the transfer strategy of the transfer area according to the control purpose space data and the associated geographic information data;

[0118] 01d: Continuously synchronize the on-site operation data of the transfer equipment, and feedback the formed alarm trigger data or early warning trigger data to the upper system according to the preset target deviation threshold rule.

[0119] As Figure 2 shown, in an embodiment of the present invention, Step 02 includes:

[0120] 02a: Receive the sensor information of the transfer equipment, perform individual identification and type identification on the sensor to form sensor body reference data;

[0121] 02b: Quantify the sensor installation reference, sensor signal expression type and signal expression limit in the sensor information to form sensor layout reference data;

[0122] 02c: Perform analog-to-digital conversion and timing encapsulation on the sensor acquisition signal to form single-sensor on-site data;

[0123] 02d: Synchronize the on-site data of all single sensors in time sequence, and form on-site operation data according to each reference data.

[0124] As Figure 2 shown, in an embodiment of the present invention, Step 03 includes:

[0125] 03a: Establish a storage update framework, perform modular storage and update response on the customized data processing process to form an index and access to the customized data processing process;

[0126] 03b: Establish a request response interface, and trigger the operation of the customized data processing process according to the request parameters;

[0127] 03c: Establish a data access interface to read on-site operation data according to the data requirements of the customized data processing process.

[0128] As Figure 2 shown, in an embodiment of the present invention, step 04 includes:

[0129] 04a: Form a transfer path planning of the transfer device in the transfer area according to the transfer strategy, and form an overall control process on the transfer path;

[0130] 04b: Form an electronic control process of the electric drive mechanism in the transfer device according to the overall control process to drive the operation of the transfer device;

[0131] 04c: Form a target positioning control process during the operation of the transfer device, and use the customized attitude data processing process to form the attitude positioning of the on-site target vehicle;

[0132] 04d: Form a target fixing control process during the operation of the transfer device, and use the customized fixing data processing process to form the adaptation and fixation of the on-site target vehicle and the transfer device;

[0133] 04e: Form an on-body obstacle avoidance control process during the operation of the transfer device, and use the customized obstacle avoidance data processing process to form the avoidance of the transfer device from adjacent on-site vehicles.

[0134] An automatic transfer control system according to an embodiment of the present invention includes:

[0135] A memory for storing the program code corresponding to the control process in the automatic transfer control method of the above embodiment;

[0136] A controller for running the program code corresponding to the control process in the automatic transfer control method of the above embodiment.

[0137] The controller can adopt a DSP (Digital Signal Processor) digital signal processor, an FPGA (Field-Programmable Gate Array) field programmable gate array, an MCU (Microcontroller Unit) system board, an SoC (system on a chip) system board or a PLC (Programmable Logic Controller) minimum system including I / O.

[0138] The architecture top view of a transfer device applying the automatic transfer control system according to the embodiment of the present invention is as Figure 3 shown. In Figure 3Among them, the transfer device includes two parallel upright fixed frames 51, a horizontal fixed frame 52 fixed on the top of the upright fixed frames 51, and four steering wheel sets symmetrically deployed at the bottom of the upright fixed frames 51. The two upright fixed frames 51 form a through-channel for accommodating the vehicle to be transferred, and the steering wheel sets, as part of the electric drive architecture, are controlled to form the running track of the transfer device. A pan-tilt 52a is provided on the horizontal fixed frame 52 for deploying a video sensor for collecting environmental information around the transfer device.

[0139] The side view of the architecture of a transfer device applying the automatic transfer control system of the embodiment of the present invention is as Figure 4 shown. Combining Figure 3 and Figure 4 as shown, a clamping mechanism 53, a spacing adjustment mechanism 54, a clamping mechanism 55, and a lifting mechanism 56 corresponding to the vehicle wheels are provided at the bottom of the upright fixed frame 51, and a wheelbase adjustment mechanism 57 is provided between the clamping mechanisms on the same side, where:

[0140] The clamping mechanism 53 is used to controllably form a pair of lifting crossbars 53a parallel to the vehicle drive shafts to clamp the tires from the outer edge of the tire circumference; it is an electromechanical actuator for tire clamping control.

[0141] The spacing adjustment mechanism 54 is used to controllably adjust the parallel spacing of a pair of lifting crossbars based on the clamping mechanism; it is an electromechanical actuator for adapting to the outer edge of the tire.

[0142] The clamping mechanism 55 is used to controllably squeeze the wheel hub inward along the axial direction of the tire based on the clamping mechanism; it is an electromechanical actuator for stabilizing the vehicle.

[0143] The wheelbase adjustment mechanism 56 is used to controllably adjust the spacing of the clamping mechanisms on the same side; it is an electromechanical actuator for adapting to the vehicle wheelbase.

[0144] The lifting mechanism 57 is used to controllably drive the clamping mechanism to perform a lifting action; it is an electromechanical actuator for vehicle lifting.

[0145] The above controlled electromechanical actuators form part of the mechanical force structure. The outer edge of the tire is clamped and lifted by the clamping mechanism 53. The clamping distance is adjusted by the distance adjustment mechanism 54 to determine the clamping position on the outer edge of the tire. The clamping mechanism 53 is adapted to the wheelbase distance between the front and rear tires by the wheelbase adjustment mechanism 56. The clamping mechanism 53 is driven to lift and lower by the lifting mechanism 57 to load and unload the vehicle. The clamping mechanism 55 abuts against the wheel hub to maintain the stability of the vehicle during the transfer process. The electromechanical control power signal for the moving parts of the mechanical force structure is provided by the electric drive structure. Some of the controlled electromechanical mechanisms are set in groups. Each group of controlled electromechanical mechanisms can form synchronous linkage according to the control logic of the control process. There is an adapted assembly structure between the controlled electromechanical mechanisms in the same group, and there are limited improvement differences according to the specific model of the transfer equipment. The specific structure of each mechanism of the transfer equipment in the embodiment of the present invention is not the technical focus of this application, and only a general description that can be achieved by those skilled in the art using general assembly technology is given here.

[0146] As Figure 3 shown, on the relative inner sides of the lifting crossbars 53a of the clamping mechanism 53, a proximity switch sensor 61 is provided respectively for sensing the abutment against the outer circumference of the tire.

[0147] As Figure 3 shown, a line laser distance sensor 62 is provided inside one of the lifting crossbars 53a of the clamping mechanism 53 for sensing the distance between the lifting crossbars 53a.

[0148] As Figure 3 shown, a line laser tire positioning sensor 63 is provided on the side wall of the clamping mechanism 53 facing the opposite side for sensing the tire state of the vehicle.

[0149] As Figure 3 shown, a line laser wheelbase sensor 64 is provided between the clamping mechanisms 53 on the same side for sensing the distance between the clamping mechanisms 53 on the same side.

[0150] As Figure 3 shown, a pair of line laser inner distance sensors 65 with a small distance and in parallel are provided on the inner side wall of the parallel frame 51 for sensing the inner distance between the inner side wall of the parallel frame 51 and the side wall of the load vehicle. Specifically, it includes four line laser inner distance sensors provided on both sides of an axle.

[0151] As Figure 3 shown, a pair of line laser outer distance sensors 66 with a large distance are provided on the outer side walls on the same side of the parallel frame 51 for sensing the outer distance between the outer side wall of the parallel frame 51 and the side wall of the adjacent vehicle. Specifically, it includes four line laser outer distance sensors provided on the outer sides of two axles.

[0152] As Figure 3As shown in the figure, an infrared camera sensor 67 and a matrix laser sensor 68 are arranged at the top of the fixed frame 52 for attitude perception of the vehicle to be transported on the running track of the transportation device.

[0153] The above sensors form components of the perception architecture to perceive the specific operating state of the transportation device on-site during the transportation process. The above mechanical force architecture and perception architecture, as the main components of the transportation device, can be described, quantified, and form a control and feedback benchmark. There will be differences in technical details according to the specific model of the device. The specific assembly composition of each sensor of a transportation device in an embodiment of the present invention is not the technical focus of this application, and only a general description that can be achieved by those skilled in the art using general assembly techniques is given here.

[0154] Some sensors are set in groups, and the perception information of each group of sensors can form information verification between them. Or only one group can be set according to the comprehensiveness of the perception information.

[0155] The automatic transportation control system in an embodiment of the present invention provides a target fixing subsystem for the control process of loading and unloading the transportation vehicle by the transportation device. Using a targeted data processing process, a control process for vehicle loading fixation is formed by coordinating the control of electromechanical actuators such as wheelbase adjustment, tire diameter confirmation, tire clamping control, vehicle stability control, and vehicle lifting control in the mechanical force architecture of the transportation device, and the loading and unloading of the transportation vehicle are completed.

[0156] A target fixing subsystem in an embodiment of the present invention is as Figure 5 shown. In Figure 5 this embodiment includes:

[0157] A tire confirmation module 44A, which is used to form a tire data processing process according to the timing data of the line laser tire positioning sensor in the on-site operation data to realize tire state confirmation.

[0158] The distribution of tire measurement data in a target fixing method in an embodiment of the present invention is as Figure 6 shown. In combination with Figure 6 shown. In combination with Figure 6 shown, in an embodiment of the present invention, the tire data processing process includes:

[0159] - Obtain the installation reference, reference orientation, and scanning length of the line laser tire positioning sensor to determine the scanning range. The line laser sensor can form the distance and angle recognition of high-frequency light reflection signals within a linear length range, and the high-frequency laser signals scan periodically along the linear length range. The reference orientation is aligned with one end of the linear length range. The installation reference determines the relative position of the line laser tire positioning sensor on the clamping mechanism of the transportation device, and the relative coordinates of the line laser tire positioning sensor can be quantified according to the relative position.

[0160] - After the side of the wheel enters the scanning range, determine the front outer edge reflection distance len1 and the rear outer edge reflection distance len2 of the tire according to the reflection signals of the front and rear outer edges of the tire in the circumferential direction, and determine the front outer edge measurement angle angle1 and the rear outer edge measurement angle angle2 of the tire according to the reference orientation. The laser emission signal of the laser tire positioning sensor is emitted in sequence along the scanning range. In the scanning range, a intersecting light segment is formed between the light and the side of the wheel. The two ends of the intersecting light segment are the front and rear outer edges of the tire.

[0161] - Determine the chord length l of the intersecting light segment in the corresponding scanning range according to the reflection distances of the front and rear outer edges and the front and rear outer edge measurement angles. The specific calculation process is as follows:

[0162] l = len2 * sin(anlge2) - len1 * sin(angle1)

[0163] - Determine the projection position dis1 of the tire axis according to the chord length and the installation reference. The specific calculation process is as follows:

[0164] dis1 = len1 * sin(angle1) + (len2 * sin(anlge2) - len1 * sin(angle1)) / 2

[0165] - Determine the outer diameter and circumference c of the tire according to the chord length l and the relative height d of the scanning range. The outer edge of the tire is grounded, and the relative height of the scanning range is the relative height of the installation reference of the line laser tire positioning sensor to the ground. According to the set relationship between the chord length corresponding to the arc on the positive circle and the arc height, the outer diameter of the positive circle can be determined. The specific calculation process is as follows:

[0166] The radius r of the positive circle = ((l / 2)^2 + d^2) / 2d

[0167] The tire circumference c = 2πr

[0168] The wheelbase adjustment module 44B is used to form the wheelbase data processing process of the same-side clamping mechanism according to the front and rear tire states of the current vehicle in the on-site operation data, and realize the adjustment of the distance between the clamping mechanisms.

[0169] In an embodiment of the present invention, the wheelbase data processing process includes:

[0170] - When obtaining the current vehicle entering the through-channel of the transfer device, at the same moment, the projection position dis1 of the front wheel tire on the front tire axis of the line laser tire positioning sensor at the rear of the through-channel of the transfer device on the same side of the vehicle, and the projection position dis2 of the rear wheel tire on the rear tire axis of the line laser tire positioning sensor at the front of the through-channel of the transfer device on the same side of the vehicle. According to the process of the through-channel of the transfer device gradually accommodating the current vehicle, the front wheels of the vehicle (with the ones entering the through-channel first) first approach - then leave the line laser tire positioning sensor at the front of the transfer device and then approach the line laser tire positioning sensor at the rear. Then the rear wheels of the vehicle (with the ones entering the through-channel later) approach the line laser tire positioning sensor at the front.

[0171] - Determine the distance between the front and rear axles of the vehicle according to the installation reference of the line laser tire positioning sensor at the front of the transfer device, the projection position dis2 of the rear tire axis of the vehicle, the installation reference of the line laser tire positioning sensor at the rear of the transfer device, and the projection position dis1 of the front tire axis of the vehicle. The installation reference has determined relative position coordinates, and the projection position of the tire axis has a quantified offset distance relative to the installation reference. The specific calculation process is as follows:

[0172] Distance between front and rear axles = |Projection position dis2 of rear tire axis - Projection position dis1 of front tire axis|.

[0173] - The axle distance adjustment mechanism adjusts the distance between the front and rear clamping mechanisms on the same side according to the distance between the front and rear axles.

[0174] - According to the timing data of the line laser axle distance sensor in the on-site operation data, feedback whether the adjustment of the distance between the clamping mechanisms on the same side is in place.

[0175] The clamping and positioning module 44C is used to form a positioning data processing process according to the distance between the front and rear clamping mechanisms on the same side of the current vehicle in the on-site operation data, so as to realize the alignment of the clamping mechanism and the vehicle tire.

[0176] In an embodiment of the present invention, the positioning data processing process includes:

[0177] - Determine the relative position of the action reference reference position of the clamping mechanism according to the installation reference of the line laser tire positioning sensor. The action reference of the clamping mechanism can be the reference center position of the clamping mechanism body or the reference position of the clamping mechanism action. The action reference of the clamping mechanism and the installation reference of the sensor maintain a constant position.

[0178] - Form a driving signal of the transfer device according to the relative position deviation between the action reference reference position of the clamping mechanism and the projection position dis1 of the tire axis, and drive the transfer device to move to align the clamping mechanism and the tire.

[0179] The spacing adjustment module 44D is used to form a spacing data processing process according to the tire outer diameter and tire clamping position of the current vehicle in the field operation data, so as to realize the spacing adjustment of the lifting crossbar of the clamping mechanism.

[0180] In one embodiment of the present invention, the spacing data processing process includes:

[0181] The clamping mechanism's lifting bars are adjusted for spacing based on the vehicle's tire outer diameter and tire clamping position. The horizontal spacing of the lifting bars is adjusted based on this spacing. Typically, the lifting bars maintain a fixed coaxial spacing in their initial state, achieving a parallel steady state when fully engaged. The parallel spacing of the lifting bars in full engagement corresponds to the contact point with the tire's outer edge when clamping the tire. The choice of this contact point is dependent on the vehicle's height, center of gravity, tonnage, and wheelbase.

[0182] - Feedback whether the spacing adjustment of the clamping mechanism is in place based on the timing data of the line laser spacing sensor in the on-site operation data.

[0183] The clamping and lifting module 44E is used to form a lifting data processing process based on the clamping mechanism action information in the field operation data to achieve the lifting of the tire into place.

[0184] In one embodiment of the present invention, the lifting data processing process includes:

[0185] - When the lifting crossbar is in place according to the proximity switch timing data, the lifting control data is generated to control the lifting mechanism to drive the clamping mechanism to lift the tire to the specified height.

[0186] The clamping and tightening module 44F is used to form a tightening data processing process according to the operating status information of the transfer equipment in the on-site operating data, so as to achieve vehicle stability during the transfer process.

[0187] In one embodiment of the present invention, the accelerated data processing process includes:

[0188] - The clamping mechanism is actuated according to the proximity switch sensor timing data, the lifting control data and the operating status of the transfer equipment, so that the actuating component of the clamping mechanism axially abuts against the wheel hub.

[0189] - Adjust the axial contact force according to the operating speed of the transfer equipment, ground height and vehicle mass.

[0190] The target fixing subsystem of the embodiment of the present invention uses a customized data processing process to process the on-site operation data in the vehicle fixed transportation work scenario during the on-site transfer process, and forms an integrated control process for each corresponding controlled electromechanical actuator. The integrated control process effectively forms a control process for automatic measurement, automatic adaptation, and automatic fixing of the vehicle according to the operation strategy data, planning data, and on-site working condition data in the on-site operation data, and ensures the vehicle stability during the automatic transportation process.

[0191] As Figure 5 shown, in an embodiment of the present invention, it further includes:

[0192] An unloading operation module 44G, configured to form an unloading data processing process according to the path planning data in the on-site operation data, and implement vehicle unloading.

[0193] In an embodiment of the present invention, the unloading data processing process includes:

[0194] - Judging whether it reaches the unloading location according to the path planning data, and forming unloading sequence control data for the clamping mechanism, lifting mechanism, and clamping mechanism at the unloading location to implement vehicle unloading.

[0195] The unloading sequence is:

[0196] The lifting mechanism drives the clamping mechanism and the clamping mechanism to descend so that the vehicle tires abut against the ground;

[0197] The clamping mechanism withdraws the moving part;

[0198] The lifting cross bar of the clamping mechanism resets.

[0199] The target fixing subsystem of the embodiment of the present invention uses the unloading operation module to realize the orderly separation of the transfer equipment and the vehicle. By establishing an automatic unloading operation, the automatic transfer process is made continuous, meeting the reliable periodic reset of the transfer equipment working conditions and the reliable connection of the transfer scenarios among the automatic unloading, automatic loading, and automatic path transfer of batch vehicles.

[0200] The target fixing method of the embodiment of the present invention is as Figure 7 shown. In Figure 7 , this embodiment includes:

[0201] Step 44a: Form a tire data processing process according to the timing data of the line laser tire positioning sensor in the on-site operation data to realize tire state confirmation;

[0202] Step 44b: Form an axle distance data processing process of the same-side clamping mechanism according to the front and rear tire states of the current vehicle in the on-site operation data to realize the adjustment of the distance between the clamping mechanisms;

[0203] Step 44c: Form a positioning data processing process based on the spacing between the front and rear clamping mechanisms on the same side of the current vehicle in the on-site operation data to align the clamping mechanism with the vehicle tire;

[0204] Step 44d: Form a spacing data processing process based on the outer diameter of the current vehicle's tire and the tire clamping position in the on-site operation data to adjust the spacing of the lifting crossbar of the clamping mechanism;

[0205] Step 44e: Form a lifting data processing process based on the information that the clamping mechanism has reached the action position in the on-site operation data to lift the tire to the proper position;

[0206] Step 44f: Form a clamping data processing process based on the operation status information of the transfer equipment in the on-site operation data to ensure the stability of the vehicle during the transfer process.

[0207] As Figure 7 shown, in an embodiment of the present invention, it further includes:

[0208] Step 44g: Form an unloading data processing process based on the path planning data in the on-site operation data to unload the vehicle.

[0209] An embodiment of the target fixing subsystem of the present invention includes:

[0210] A memory for storing the program code corresponding to the data processing process in the above-mentioned target fixing method of the embodiment;

[0211] A controller for running the program code corresponding to the data processing process in the above-mentioned target fixing method of the embodiment.

[0212] The controller can adopt a DSP (Digital Signal Processor) digital signal processor, an FPGA (Field-Programmable Gate Array) field programmable gate array, an MCU (Microcontroller Unit) system board, an SoC (system on a chip) system board or a PLC (Programmable Logic Controller) minimum system including I / O.

[0213] The automatic transfer control system of the embodiment of the present invention provides a target search subsystem for the control process of position confirmation, attitude recognition and attitude adjustment between the transfer equipment and the target vehicle. The environmental information of the transfer equipment traveling along the transfer path is processed by a targeted data processing process to form a control process for positioning the target vehicle on the complete transfer path, providing a driving positioning basis for the control of the steering wheel group of the transfer equipment before loading.

[0214] An embodiment of the target search subsystem of the present invention is asFigure 8 as shown. In Figure 8 this embodiment, it includes:

[0215] A transfer stage confirmation module 43A, which is used to form a transfer position confirmation data processing process according to the transfer path data that matches the operation strategy in the on-site operation data, and realize the confirmation of the planned position where the transfer equipment is located.

[0216] In an embodiment of the present invention, the transfer position confirmation data processing process includes:

[0217] - Determine whether the current transfer state of the transfer equipment is switched from the driving process to the vehicle search process according to the transfer path planning data. The transfer path planning data includes a driving process for driving the transfer equipment between the loading area, the transfer process, and the unloading area, as well as a vehicle search process starting near the loading area and a ground search process starting near the unloading area. The on-body positioning of the transfer equipment on the transfer path is based on GNSS navigation signals, UWB positioning signals, or positioning identifiers.

[0218] - When switching to the vehicle search process, form a trigger signal to activate the video sensor for video acquisition.

[0219] A target area recognition module 43B, which is used to form an object recognition data processing process according to the vehicle loading area video data in the on-site operation data, and realize the recognition of the target vehicle in the vehicle parking area.

[0220] In an embodiment of the present invention, the object recognition data processing process includes:

[0221] - Identify the vehicle interval data on the ground between the ground projections of the vehicles in the loading area according to the infrared data in the video data, and form a vehicle loading obstacle judgment according to the vehicle interval data. The infrared data is collected by an infrared camera, and accurate ground recognition between vehicles is obtained by using the large signal contrast formed by the surface material differences between the vehicle and the ground, and then a local ground distribution pattern between the vehicles in the loading area is formed. Determine whether there are unexpected obstacles according to the signal differences on the ground pattern. The ground distribution pattern is usually grid-like, and those skilled in the art can understand that the signal difference recognition in the image and the fitting of similar signal pixels to the ground pattern can adopt general computer graphics techniques.

[0222] - Identify the vehicle contour data based on the laser point cloud data in the video data, and form a judgment on the vehicle loading volume according to the vehicle contour data. The laser point cloud data is collected by a matrix laser sensor, and the contour features of the target vehicle are obtained using the laser point cloud data. Then, a vehicle contour model is formed based on the contour features to obtain the three-dimensional contour and main three-dimensional dimensions of the target vehicle. Determine whether there are non-standard vehicles that are not suitable for the accommodation size of the transfer equipment according to the main three-dimensional dimensions. Those skilled in the art can understand that the modeling process and measurement process of the laser point cloud data can adopt general lidar modeling techniques.

[0223] The vehicle attitude recognition module 43C is used to form a vehicle attitude recognition data processing process based on the vehicle loading area video data in the on-site operation data, and realize the state recognition of the vehicle parking.

[0224] In an embodiment of the present invention, the vehicle attitude recognition data processing process includes:

[0225] - Establish a target vehicle attitude reference benchmark based on the position data of the transfer vehicle body in the coordinate space. The position data of the transfer vehicle body in the coordinate space is formed by a navigation or positioning signal.

[0226] - Form the basic attitude data of the target vehicle within the parking range according to the vehicle contour data. The relative position and orientation of the vehicle can be confirmed according to the length and width dimensions in the vehicle contour data, and the position and orientation of the target vehicle in the coordinate space can be determined according to the offset of the vehicle contour data relative to the target vehicle attitude reference benchmark.

[0227] - Form the basic attitude data of the target vehicle parking range in the coordinate space according to the vehicle interval data. The vehicle interval data can form a ground distribution pattern around the target vehicle to quantify the target vehicle parking range. There is an overlapping boundary of vehicle image information between the vehicle interval data and the vehicle contour data. The position and orientation of the target vehicle parking range in the coordinate space are formed according to the position and orientation of the target vehicle in the overlapping part in the coordinate space.

[0228] The transfer attitude recognition module 43D is used to form a transfer attitude adjustment data processing process based on the attitude data of the transfer equipment body and the basic attitude data of the target vehicle in the on-site operation data, and realize the attitude matching of the transfer equipment.

[0229] In an embodiment of the present invention, the transfer attitude adjustment data processing process includes:

[0230] - Form a loading node according to the target vehicle parking range, form the direction control data of the steering wheel wheel set at the loading node, and adjust the steering of the transfer equipment in place according to the direction control data.

[0231] - Generate the translation control data for the steering wheel wheel set based on the parking position of the target vehicle, adjust the transfer equipment to the translation position according to the translation control data, and determine the pose state of the transfer equipment at the loading node. The pose state includes the coordinate information of the loading node and the initial orientation of the transfer equipment at the loading node during loading.

[0232] Based on the transfer path of the operation strategy, the target search subsystem of the embodiment of the present invention adjusts the posture of the transfer equipment according to the position and orientation of the target vehicle and the target vehicle parking range. It makes full use of the advantage of the body posture perception of the transfer equipment, combines the video acquisition data when targeting the target vehicle to form the data basis for automatic loading, ensures the improvement of the loading reliability at the initial stage of each automatic loading process, and accurately matches the postures of the target vehicle and the transfer equipment.

[0233] An embodiment of the target search method of the present invention is as Figure 9 shown. In Figure 9 this, this embodiment includes:

[0234] Step 43a: According to the transfer path data that matches the operation strategy in the on-site operation data, form a transfer position confirmation data processing process to realize the confirmation of the planned position where the transfer equipment is located;

[0235] Step 43b: According to the video data of the vehicle loading area in the on-site operation data, form an object recognition data processing process to realize the recognition of the target vehicle in the vehicle parking area;

[0236] Step 43c: According to the video data of the vehicle loading area in the on-site operation data, form a vehicle posture recognition data processing process to realize the recognition of the vehicle parking state;

[0237] Step 43d: According to the body posture data of the transfer equipment and the basic posture data of the target vehicle in the on-site operation data, form a transfer posture adjustment data processing process to realize the posture matching of the transfer equipment.

[0238] An embodiment of the target search subsystem of the present invention includes:

[0239] A memory for storing the program code corresponding to the data processing process in the target search method of the above embodiment;

[0240] A controller for running the program code corresponding to the data processing process in the target search method of the above embodiment.

[0241] The controller can adopt a DSP (Digital Signal Processor) digital signal processor, an FPGA (Field-Programmable Gate Array) field programmable gate array, an MCU (Microcontroller Unit) system board, an SoC (system on a chip) system board, or a PLC (Programmable Logic Controller) minimum system including I / O.

[0242] The automatic transfer control system according to the embodiment of the present invention provides a target avoidance subsystem for the control process of the travel trajectory error of the transfer device with respect to the attitude of the target vehicle and the travel trajectory error with respect to the adjacent vehicle during the loading process of the target vehicle. The travel trajectory of the transfer device is processed by a targeted data processing process to form a control process for trajectory monitoring on the path during loading, providing a basis for correcting the driving during loading for the control of the steering wheel wheel set of the transfer device.

[0243] Shown is a target avoidance subsystem according to an embodiment of the present invention as Figure 10 shown. In Figure 10 this, this embodiment includes:

[0244] The entry trajectory control module 45A is used to form a data processing process for the forward movement of the steering wheel wheel set according to the pose data of the transfer device at the current loading node in the on-site operation data, so as to drive the transfer device to move forward along the ground extension direction on both sides of the target vehicle by the steering wheel wheel set, and gradually accommodate the current target vehicle.

[0245] In an embodiment of the present invention, the forward data processing process includes:

[0246] - Determine the forward trajectory direction according to the pose data of the transfer device at the current loading node. The pose data includes the coordinate position and the attitude orientation of the transfer device reaching the current loading node.

[0247] - Determine the forward trajectory length according to the vehicle contour data of the current vehicle.

[0248] - Form drive control data for the steering wheel wheel set according to the forward trajectory length and the attitude orientation of the transfer device to drive the transfer device forward.

[0249] The exit trajectory control module 45B is used to form a data processing process for the backward movement of the steering wheel wheel set according to the current pose data of the transfer device in the on-site operation data, so as to drive the transfer device to move backward along the ground extension direction on both sides of the target vehicle to the current loading node by the steering wheel wheel set, and complete the loading of the target vehicle.

[0250] In an embodiment of the present invention, the backward data processing process includes:

[0251] - Determine the backward trajectory direction based on the pose data of the transfer device at the current loading position. The pose data of the current loading position includes the coordinate position and the attitude orientation when the transfer device completes the loading of the current vehicle.

[0252] - Form the driving control data of the steering wheel group based on the pose data of the transfer device at the current loading position and the current loading node, and drive the transfer device to move backward. The direction and distance of the backward movement of the transfer device can be obtained according to the spatial coordinate distance calculation formula based on the coordinate positions and attitude orientations of the two end points.

[0253] The trajectory monitoring and feedback module 45C is used to form the inner distance data processing process according to the data of the line laser inner distance sensor in the on-site operation data, and form the outer distance data processing process according to the data of the line laser outer distance sensor in the on-site operation data, so as to realize the monitoring of the spacing between the current target vehicle and the adjacent vehicle and the parallel frame of the transfer device.

[0254] In an embodiment of the present invention, the distribution of the spacing measurement data in the target fixing method is as Figure 11 shown. Combining Figure 11 shown, in an embodiment of the present invention, the inner distance data processing process includes:

[0255] - Form the single-side wall spacing data between the transfer device body and the current vehicle and the offset data towards the current vehicle according to the data of the line laser inner distance sensor on the same side. The specific calculation process is as follows:

[0256] Offset data towards the current vehicle = (Distance d3 measured by the second line laser inner distance sensor on the left - Distance d2 measured by the first line laser inner distance sensor on the left) / Spacing dl1 of the line laser inner distance sensor on the same side

[0257] Offset data towards the current vehicle = (Distance d4 measured by the second line laser inner distance sensor on the right - Distance d1 measured by the first line laser inner distance sensor on the right) / Spacing dl1 of the line laser inner distance sensor on the same side

[0258] - Form the bilateral inner wall spacing data and the verification of the offset data towards the current vehicle according to the data of the line laser inner distance sensors on both sides.

[0259] The outer distance data processing process includes:

[0260] - Form the single-side outer wall spacing data between the transfer device body and the adjacent vehicle and the offset data towards the adjacent vehicle according to the data of the line laser outer distance sensor on the same side. The specific calculation process is as follows:

[0261] Offset data towards the adjacent vehicle on the left = (Distance d7 measured by the second line laser outer distance sensor on the left - Distance d6 measured by the first line laser outer distance sensor on the left) / Spacing dl2 of the line laser outer distance sensor on the same side

[0262] Offset data towards the adjacent vehicle on the right = (Distance d8 measured by the second laser distance sensor on the right - Distance d5 measured by the first laser distance sensor on the right) / Spacing dl2 between the laser distance sensors on the same side

[0263] - Confirmation of the bilateral outer wall spacing data and the offset data towards the adjacent vehicle based on the data of the laser distance sensors on both sides. Usually, there are differences in the spacing and orientation between the quasi-transport equipment and the adjacent vehicles on both sides, thus confirming the maximum collision risk.

[0264] The trajectory correction output module 45D is used to form a trajectory correction data processing process based on the spacing monitoring data in the on-site operation data, so as to realize the correction of the steering wheel group drive when the transfer equipment moves forward or backward.

[0265] In an embodiment of the present invention, the trajectory correction data processing process includes:

[0266] - Form the drive control data for correcting the driving course angle of the steering wheel group according to the bilateral inner wall spacing data, the offset data towards the current vehicle, the bilateral outer wall spacing data and the offset data towards the adjacent vehicle. The specific calculation process is as follows:

[0267] Forward driving course angle Cita = k1 * (0.5 * (d1 - d4) / dl1 + 0.5 * (d3 - d2) / dl1) + k2 * (0.5 * (d8 - d5) / dl2 + 0.5 * (d7 - d6) / dl2)

[0268] Backward driving course angle Cita = (0.5 * (d8 - d5) / dl2 + 0.5 * (d7 - d6) / dl2)

[0269] Where k1 is the weighting coefficient of the inner offset data and k2 is the weighting coefficient of the offset data on both sides.

[0270] The target avoidance subsystem in the embodiment of the present invention corrects the driving course angle of the steering wheel group for the spacing between the current vehicle and the adjacent vehicle during the loading process of the target vehicle, avoiding potential collision risks. It can adapt to the orientation error and adjacent spacing error of the vehicle placement in the loading area, avoid vehicle damage, and effectively improve the transfer quality.

[0271] Based on the overall control process of the transfer path planning formed by the automatic transfer control system in the embodiment of the present invention, the transfer equipment uses the target search subsystem to form the attitude adjustment at the start of the loading process, uses the target avoidance subsystem to form the moving avoidance during the loading process, and uses the target fixing subsystem to form the vehicle fixing adaptation. Transfer control is carried out from different loading dimensions during the loading stage, ensuring the transfer and transportation quality.

[0272] An embodiment of the target avoidance method of the present invention is as Figure 12 shown. InFigure 12 In this embodiment, it includes:

[0273] Step 45a: According to the pose data of the transfer device at the current loading node in the on-site operation data, a processing process for the forward data of the steering wheel group is formed to enable the steering wheel group to drive the transfer device to move forward along the ground extension direction on both sides of the target vehicle, gradually accommodating the current target vehicle;

[0274] Step 45b: According to the current pose data of the transfer device in the on-site operation data, a processing process for the reverse data of the steering wheel group is formed to enable the steering wheel group to drive the transfer device to retreat along the ground extension direction on both sides of the target vehicle to the current loading node, completing the loading of the target vehicle;

[0275] Step 45c: According to the data of the line laser inner distance sensor in the on-site operation data, an inner distance data processing process is formed to realize the monitoring of the distance between the current target vehicle and the parallel frame of the transfer device; according to the data of the line laser outer distance sensor in the on-site operation data, an outer distance data processing process is formed to realize the monitoring of the distance between adjacent vehicles and the parallel frame of the transfer device;

[0276] Step 45d: According to the distance monitoring data in the on-site operation data, a trajectory correction data processing process is formed to realize the drive correction of the steering wheel group when the transfer device moves forward or backward.

[0277] A target avoidance subsystem according to an embodiment of the present invention includes:

[0278] A memory for storing the program code corresponding to the data processing process in the target avoidance method of the above embodiment;

[0279] A controller for running the program code corresponding to the data processing process in the target avoidance method of the above embodiment.

[0280] The controller can adopt a DSP (Digital Signal Processor) digital signal processor, an FPGA (Field-Programmable Gate Array) field programmable gate array, an MCU (Microcontroller Unit) system board, an SoC (system on a chip) system board, or a PLC (Programmable Logic Controller) minimum system including I / O.

[0281] As mentioned above, only the preferred specific embodiments of the present invention are described, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A target fixing subsystem, fixed on parallel upright fixing frames of a transfer device, comprising: A clamping mechanism, configured to controllably form a pair of lifting crossbars parallel to the vehicle drive shafts to clamp a tire from the outer circumference of the tire; A spacing adjustment mechanism, configured to controllably adjust the parallel spacing between a pair of lifting crossbars based on the clamping mechanism; A clamping mechanism, configured to controllably squeeze the wheel hub inward along the axial direction of the tire based on the clamping mechanism; An axle distance adjustment mechanism, configured to controllably adjust the spacing between the clamping mechanisms on the same side; A lifting mechanism, configured to controllably drive the clamping mechanism to perform a lifting action; A line laser tire positioning sensor is arranged on the side wall of the clamping mechanism facing the opposite side, for sensing the tire state of the vehicle; It is characterized in that it further comprises: A tire confirmation module, configured to form a tire data processing process according to the timing data of the line laser tire positioning sensor in the on-site operation data to realize tire state confirmation; the tire data processing process of the tire confirmation module includes: - Obtain the installation reference, reference orientation and scanning length of the line laser tire positioning sensor to determine the scanning range; - After the side of the wheel enters the scanning range, determine the front outer edge reflection distance len1 and the rear outer edge reflection distance len2 of the tire according to the reflection signals of the front and rear outer circumferences of the tire, and determine the front outer edge measurement angle angle1 and the rear outer edge measurement angle angle2 of the tire according to the reference orientation; - Determine the chord length l of the intersecting light segments in the corresponding scanning range according to the reflection distances of the front and rear outer edges and the front and rear outer edge measurement angles; - Determine the outer diameter and circumference c of the tire according to the chord length l and the relative height d of the scanning range, and the relative height of the scanning range is the relative height of the installation reference of the line laser tire positioning sensor to the ground; An axle distance adjustment module, configured to form an axle distance data processing process of the clamping mechanism on the same side according to the front and rear tire states of the current vehicle in the on-site operation data to realize the adjustment of the spacing between the clamping mechanisms; A clamping and positioning module, configured to form a positioning data processing process according to the spacing between the front and rear clamping mechanisms on the same side of the current vehicle in the on-site operation data to realize the alignment of the clamping mechanism with the vehicle tire; the positioning data processing process of the clamping and positioning module includes: - Determine the relative position of the action reference position of the clamping mechanism according to the installation reference of the line laser tire positioning sensor; - Form a driving signal of the transfer device according to the relative position deviation between the action reference of the clamping mechanism and the projection position dis of the tire axis, and drive the transfer device to move to align the clamping mechanism with the tire; A spacing adjustment module, configured to form a spacing data processing process according to the outer diameter of the tire and the tire clamping position of the current vehicle in the on-site operation data to realize the adjustment of the spacing between the lifting crossbars of the clamping mechanism; A clamping and lifting module, configured to form a lifting data processing process according to the information that the clamping mechanism action is in place in the on-site operation data to realize the tire lifting in place; 2. The target fixing subsystem according to claim 1, wherein A clamping and tightening module, configured to form a tightening data processing process according to the operation state information of the transfer device in the on-site operation data to realize the vehicle stability during the transfer process. The axle distance data processing process of the axle distance adjustment module includes: - When the current vehicle enters the through-channel of the transfer equipment, at the same moment, obtain the projection position dis1 of the front wheel tire axis of the same side of the vehicle relative to the line laser tire positioning sensor at the rear of the through-channel of the transfer equipment, and the projection position dis2 of the rear wheel tire axis of the same side of the vehicle relative to the line laser tire positioning sensor at the front of the through-channel of the transfer equipment; - Determine the distance between the front and rear axles of the vehicle based on the installation reference of the line laser tire positioning sensor at the front of the transfer equipment, the projection position dis2 of the rear tire axis of the vehicle, the installation reference of the line laser tire positioning sensor at the rear of the transfer equipment, and the projection position dis1 of the front tire axis of the vehicle; The installation reference has a determined relative position coordinate, and the projection position of the tire axis has a quantified offset distance relative to the installation reference. The calculation process is as follows: Distance between front and rear axles = |Projection position dis2 of rear tire axis - Projection position dis1 of front tire axis|; - The axle distance adjustment mechanism adjusts the distance between the front and rear clamping mechanisms on the same side according to the distance between the front and rear axles; [[ID=H4]]- Feedback whether the adjustment of the distance between the clamping mechanisms on the same side is in place according to the timing data of the line laser axle distance sensor in the on-site operation data.

3. The target fixing subsystem according to claim 1, characterized in that, The distance data processing process of the said distance adjustment module includes: - Form distance adjustment data for the lifting crossbar of the clamping mechanism according to the tire outer diameter and tire clamping position of the current vehicle, and adjust the horizontal distance when the lifting crossbar action is in place according to the distance adjustment data; - Feedback whether the adjustment of the distance between the clamping mechanisms is in place according to the timing data of the line laser distance sensor in the on-site operation data.

4. The target fixation subsystem according to claim 1, characterized in that, The lifting data processing process of the said clamping and lifting module includes: - When it is judged that the lifting crossbar action is in place according to the proximity switch timing data, form lifting control data, and control the lifting mechanism to drive the clamping mechanism to lift the tire to the specified height.

5. The target fixing subsystem according to claim 1, characterized in that, The clamping data processing process of the said clamping and tightening module includes: - Form a clamping mechanism action according to the proximity switch sensor timing data, lifting control data, and the operating state of the transfer equipment, so that the action part of the clamping mechanism axially abuts against the wheel hub; - Adjust the axial abutting force according to the operating speed of the transfer equipment, the ground drop, and the vehicle mass.

6. The target fixing subsystem according to claim 1, characterized in that, It also includes: An unloading operation module, which is used to form an unloading data processing process according to the path planning data in the on-site operation data to realize vehicle unloading.

7. The target fixation subsystem according to claim 6, characterized in that, The unloading data processing process of the said unloading operation module includes: - Judge whether it reaches the unloading location according to the path planning data, and form unloading sequence control data for the clamping mechanism, lifting mechanism, and clamping mechanism at the unloading location to realize vehicle unloading.

Images