Installation method of parking guide device and parking space

Abstract

The invention relates to the technical field of automatic charging, and particularly provides an installation method of a parking guiding device and a parking space, and the method comprises the steps: determining the position parameters of a chargeable region of automatic charging equipment; determining the tire width of the automobile; position parameters required by a parking guide device are calculated based on the position parameters of the rechargeable area and the tire width, and the parking guide device comprises a wheel limiting structure and a guide groove; and the wheel limiting structures are installed in the parking spaces according to the position parameters needed by the wheel limiting structures, and the guide grooves are installed according to the position parameters needed by the guide grooves. Therefore, according to the position parameters of the chargeable area of the mechanical arm of the automatic charging equipment and the tire width, the wheel limiting structure and the guide groove are installed to guide the automobile to park, it can be guaranteed that the automobile stopping position meets the chargeable area of the mechanical arm, and charging failure caused by too far or too close parking is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of automatic charging, and in particular to an installation method of a parking guidance device and a parking space. Background Art

[0002] With the continuous improvement of driverless technology, the automatic charging technology of cars has also been born. At present, major charging piles and vehicle manufacturers across the country have begun to study automatic charging of cars and have launched their own automatic charging solutions. Automatic charging also has requirements for the parking position of the car. Parking too close or too far from the robot arm may cause charging failure.

[0003] When using a robotic arm for automatic charging, due to the limited working range of the robotic arm and the focal length of the camera, if the car is parked too close, the camera may not be able to focus or the robotic arm may interfere with itself; if the car is parked too far, it may exceed the charging area, or the insertion and extraction force of the robotic arm is greatly reduced due to the long docking distance, resulting in charging failure. Therefore, it is necessary to design and install a parking guidance device suitable for automatic charging on the parking space. Summary of the invention

[0004] In order to solve one of the above technical problems, the present invention proposes the following technical solution.

[0005] An embodiment of the first aspect of the present invention proposes a method for installing a parking guide device, comprising the following steps: determining position parameters of a chargeable area of ​​a mechanical arm of an automatic charging device; determining a tire width of a car; calculating position parameters required for a parking guide device based on the position parameters of the chargeable area and the tire width, wherein the parking guide device includes a wheel limiting structure and a guide groove; installing the wheel limiting structure in the parking space according to the position parameters required for the wheel limiting structure, and installing the guide groove according to the position parameters required for the guide groove.

[0006] In addition, the installation method of the parking guidance device according to the above embodiment of the present invention may also have the following additional technical features.

[0007] According to one embodiment of the present invention, a coordinate system is constructed with the installation axis of the automatic charging equipment robot arm as the coordinate origin, the direction parallel to the vehicle's forward direction as the X-axis, and the direction perpendicular to the vehicle's forward direction as the Y-axis; the rechargeable area is a square, and the position parameters of the rechargeable area include the rechargeable distance of the automatic charging equipment robot arm in the X-axis direction, the rechargeable distance in the Y-axis direction, the minimum rechargeable distance in the Y-axis direction, and the distance from the coordinate origin to one side of the rechargeable area close to the coordinate origin and perpendicular to the X-axis direction.

[0008] According to one embodiment of the present invention, the position parameters required for the parking guidance device are calculated based on the position parameters of the chargeable area and the tire width, including: calculating the distance of the wheel limiting structure from the coordinate origin of the mechanical arm in the X-axis direction according to the chargeable distance of the automatic charging equipment mechanical arm in the X-axis direction and the distance from the coordinate origin of a side of the chargeable area close to the coordinate origin and perpendicular to the X-axis direction from the coordinate origin.

[0009] According to one embodiment of the present invention, the distance between the wheel limiting structure and the robot arm coordinate origin in the X-axis direction is calculated by the following formula:

[0010] x2=Dx / 2-x1

[0011] Among them, x2 is the distance between the wheel limiting structure and the coordinate origin of the robotic arm in the X-axis direction, Dx is the charging distance of the automatic charging equipment robotic arm in the X-axis direction, and x1 is the distance from the coordinate origin to one side of the charging area close to the coordinate origin and perpendicular to the X-axis direction.

[0012] According to one embodiment of the present invention, the position parameters required for the parking guidance device are calculated based on the position parameters of the chargeable area and the tire width, and also include: calculating the maximum chargeable distance of the automatic charging equipment robot arm in the Y-axis direction according to the chargeable distance and the minimum chargeable distance of the automatic charging equipment robot arm in the Y-axis direction; calculating the distances of the two gears of the guide groove from the coordinate origin in the Y-axis direction according to the tire width, the minimum chargeable distance and the maximum chargeable distance of the automatic charging equipment robot arm in the Y-axis direction.

[0013] According to an embodiment of the present invention, the distances of the two guide grooves from the coordinate origin in the Y-axis direction are calculated by the following formula:

[0014] y2 ≥ y1

[0015] y3≤y1+Dy+L

[0016] y3-y2>L

[0017] Among them, y3 and y2 are the distances between the two levels of the guide groove and the coordinate origin in the Y-axis direction, y1 is the minimum charging distance of the automatic charging equipment robot in the Y-axis direction, y1+Dy is the maximum charging distance of the automatic charging equipment robot in the Y-axis direction, Dy is the charging distance of the automatic charging equipment robot in the Y-axis direction, and L is the tire width.

[0018] According to an embodiment of the present invention, the wheel limiting structure is perpendicular to the moving direction of the vehicle, and the guide groove is parallel to the moving direction of the vehicle.

[0019] According to an embodiment of the present invention, the wheel limiting structure is two limiting rods for limiting the two rear wheels respectively or one limiting rod for limiting the two rear wheels simultaneously.

[0020] According to one embodiment of the present invention, the automatic charging device is located at one side of the parking space.

[0021] A second aspect of the present invention provides a parking space using the above-mentioned parking guide device installation method, including a parking space guide device, wherein the parking guide device includes a wheel limiting structure and a guide groove.

[0022] The technical solution of the embodiment of the present invention installs a wheel limiting structure and a guide groove to guide the parking of the car according to the position parameters of the charging area of ​​the automatic charging equipment mechanical arm and the tire width, which can ensure that the parking position of the car meets the charging area of ​​the mechanical arm and avoid charging failure due to parking too far or too close. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 The figure is a flow chart of a method for installing a parking guidance device according to an embodiment of the present invention.

[0024] Figure 2 A schematic diagram of a charging area of ​​an automatic charging device according to an example of the present invention.

[0025] Figure 3 The figure is a schematic structural diagram of a parking guidance device according to an example of the present invention.

[0026] Figure 4 This is a schematic diagram of an automatic charging device according to an example of the present invention parking at the left side of a parking space.

[0027] Figure 5 This is a schematic diagram of an automatic charging device according to an example of the present invention parking at the right side of a parking space. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] Figure 1 The figure is a flow chart of a method for installing a parking guidance device according to an embodiment of the present invention.

[0030] like Figure 1 As shown, the installation method of the parking guidance device includes the following steps S1 to S4.

[0031] The installation method of the parking guidance device of the embodiment of the present invention can be applied to any parking space with automatic charging function, the automatic charging device is located on one side of the parking space (left or right), and can also be applied to a single parking space or multiple parking spaces.

[0032] S1, determining location parameters of a charging area of ​​an automatic charging device.

[0033] The charging area refers to the maximum range that the automatic charging equipment robotic arm can reach when charging.

[0034] S2, determine the tire width of the car.

[0035] The tire parameters of a car refer to the width of a single tire.

[0036] S3, calculating position parameters required by a parking guide device based on the position parameters of the chargeable area and the tire width, wherein the parking guide device includes a wheel limiting structure and a guide groove.

[0037] The wheel limiting structure is installed at the rear or front side of the parking space to limit the rear wheels or front wheels of the car; the guide groove is installed on the side of the parking space close to the automatic charging equipment to guide the car tires to enter.

[0038] Specifically, based on the position parameters of the charging area of ​​the robot arm and the tire width of the car, the position parameters of the wheel limiting structure and the position parameters of the guide groove are calculated respectively.

[0039] S4, installing the wheel limiting structure in the parking space according to the position parameters required by the wheel limiting structure, and installing the guide groove according to the position parameters required by the guide groove.

[0040] Specifically, the wheel limiting structure and the guide groove are installed in the parking space according to their respective required position parameters. The wheel limiting structure is perpendicular to the forward direction of the car, and the guide groove is perpendicular to the wheel limiting structure and can be close to the automatic charging device. After installation, the car drives into the parking space under the guidance of the guide groove and stops when the rear wheel reaches the limiting structure. At this time, the car meets the charging range of the automatic charging device mechanical arm and can be automatically charged by the automatic charging device mechanical arm.

[0041] In one example, the wheel limiting structure is two limiting rods that limit the two rear wheels respectively or one limiting rod that limits the two rear wheels at the same time.

[0042] Compared with the related art, the embodiment of the present invention combines the wheel limiting structure and the guide groove to guide the car to park, and the installation position of the limiting structure and the guide groove is determined according to the charging area of ​​the automatic charging equipment mechanical arm and the tire width. It can guide the car to park within the charging range for automatic charging, and can solve the problem of automatic charging failure caused by the car being parked too close or too far away.

[0043] Therefore, the installation method of the parking guidance device in the embodiment of the present invention installs the wheel limiting structure and the guide groove to guide the parking of the car according to the position parameters of the charging area of ​​the automatic charging equipment mechanical arm and the tire width, so as to ensure that the parking position of the car meets the charging area of ​​the mechanical arm, and avoid charging failure due to parking too far or too close.

[0044] In one embodiment of the present invention, Figure 2 As shown, the coordinate system is constructed with the installation axis of the mechanical arm of the automatic charging device 1 as the coordinate origin O, the direction parallel to the vehicle's forward movement as the X-axis, and the direction perpendicular to the vehicle's forward movement as the Y-axis. Figure 2 The rechargeable area is a square, and the position parameters of the rechargeable area include the rechargeable distance Dx of the automatic charging equipment robot in the X-axis direction, the rechargeable distance Dy in the Y-axis direction, the minimum rechargeable distance y1 in the Y-axis direction, and the distance x1 from the origin of the coordinate system to one side of the rechargeable area close to the origin of the coordinate system and perpendicular to the X-axis direction.

[0045] like Figure 3 As shown, the automatic charging device 1 and its mechanical arm are located on one side of the parking space 2, and the wheel limiting structure 3 ( Figure 3 The wheel limiting structure shown in FIG. 1 is used to limit the rear wheels) perpendicular to the forward direction of the car, and the guide groove 5 is parallel to the forward direction of the car. The wheel limiting structure 3 is two limiting rods for limiting the two rear wheels respectively or one limiting rod for limiting the two rear wheels at the same time, that is, one parking space has two limiting rods or one limiting rod. Figure 3 It is shown that one parking space corresponds to one limit rod.

[0046] In one example, the above step S3, i.e., calculating the position parameters required for the parking guidance device based on the position parameters of the chargeable area and the tire width, may include: calculating the distance in the X-axis direction between the wheel limiting structure and the coordinate origin of the robotic arm according to the chargeable distance of the automatic charging equipment robotic arm in the X-axis direction and the distance from the coordinate origin to the side of the chargeable area close to the coordinate origin and perpendicular to the X-axis direction.

[0047] Specifically, the outer plane of the rear wheel of the car is almost in the same plane as the outer surface of the car charging station. When the car charging station is at the rear of the car, when the wheel contacts the wheel limit structure, it is almost directly above the wheel limit structure. The distance between the wheel limit structure and the origin of the robot arm coordinate in the X-axis direction can be calculated by the following formula:

[0048] x2=Dx / 2-x1

[0049] Among them, refer to Figure 3, x2 is the distance between the wheel limiting structure and the coordinate origin of the robot arm in the X-axis direction, Dx is the charging distance of the automatic charging equipment robot arm in the X-axis direction, and x1 is the distance from the coordinate origin to the side of the charging area close to the coordinate origin and perpendicular to the X-axis direction.

[0050] In one example, the position parameters required for the parking guidance device are calculated based on the position parameters of the chargeable area and the tire width, and may also include: calculating the maximum chargeable distance y1+Dy of the automatic charging equipment robot arm in the Y-axis direction according to the chargeable distance Dy and the minimum chargeable distance y1 of the automatic charging equipment robot arm in the Y-axis direction; calculating the distances y3 and y2 of the two guide grooves from the coordinate origin in the Y-axis direction according to the tire width L, the minimum chargeable distance y1 and the maximum chargeable distance y1+Dy of the automatic charging equipment robot arm in the Y-axis direction, and the width between the two guide grooves is y3-y2.

[0051] Specifically, the outer plane of the rear wheel of the car is almost in the same plane as the outer surface of the car charging base. In order to ensure that the wheel is in the guide groove and the robot arm can charge, the following formula is used to calculate the distance of the guide groove 5 and the coordinate origin in the Y-axis direction:

[0052] y2 ≥ y1

[0053] y3≤y1+Dy+L

[0054] y3-y2>L

[0055] Among them, refer to Figure 3 , y3 and y2 are the distances between the two guide grooves and the coordinate origin in the Y-axis direction, y1 is the minimum charging distance of the automatic charging equipment robot in the Y-axis direction, y1+Dy is the maximum charging distance of the automatic charging equipment robot in the Y-axis direction, Dy is the charging distance of the automatic charging equipment robot in the Y-axis direction, and L is the tire width.

[0056] The difference between the guide groove and the tire width L is the parking range of the car in the Y-axis direction. The larger the parking range of the car, the more friendly it is to the driver and the easier it is to park. When y2=y1, y3=y1+Dy+L, the width of the guide groove is the largest.

[0057] Calculation example:

[0058] For example, the position parameters of the charging area of ​​an automatic charging equipment robot arm are: x1=100mm, Dx=400mm, y1=550mm, Dy=350mm, and the average value of the car tire width L is 200mm.

[0059] Substitute the following formula for calculation:

[0060] y2≥y1=550mm;

[0061] y3≤y1+Dy+L=550+350+200=1100mm;

[0062] In order to maximize the parking range of the car, y2 is 550mm, y3 is 1100mm, and the guide groove width is 550mm.

[0063] x2=Dx / 2-x1=200-100=100mm.

[0064] When the dimensions of y3, y2 and x2 are calculated, the construction dimensions and relative positions of the parking guidance structure corresponding to the automatic charging equipment can be obtained, and the wheel limit structure and guide groove can be installed accordingly, and the Figure 3 The parking guidance device shown. Figure 4 , Figure 5 As shown, when the car parks under the guidance of the parking guidance device, the theoretical position of the car charging seat can fall in the middle of the charging area of ​​the robot arm in the X-axis direction, ensuring automatic charging.

[0065] In summary, the embodiments of the present invention have the following advantages:

[0066] (1) The device described in the present invention can be applied to a single parking space or multiple parking spaces. The robot arm can be placed on the left or right side of the parking space. The size of the parking space guide structure is calculated according to the chargeable area of ​​automatic charging, and marked or modified.

[0067] (2) The vehicle only needs to park according to the guidance to ensure that the automatic charging equipment can be docked within the calculated limit tolerance range, thereby improving the docking success rate of automatic charging.

[0068] Corresponding to the installation method of the parking guidance device of the above embodiment, the present invention further provides a parking space using the installation method of the parking guidance device.

[0069] like Figure 3 As shown, the parking space includes a wheel limiting structure 3 and a guide groove 5. The wheel limiting structure 3 is two limiting rods for limiting the two rear wheels respectively or one limiting rod for limiting the two rear wheels at the same time.

[0070] It should be noted that the specific implementation of the parking space can refer to the specific implementation of the installation method of the above-mentioned parking guidance device. In order to avoid redundancy, it will not be described in detail here.

[0071] The parking space of the embodiment of the present invention can guide the parking of the car by installing a wheel limiting structure and a guide groove, so as to ensure that the parking position of the car meets the charging area of ​​the robot arm, thereby avoiding charging failure due to parking too far or too close.

[0072] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be construed as limitations on the present invention, and those of ordinary skill in the art can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A method for installing a parking guidance device, characterized in that: The following steps are involved: Determine location parameters of a chargeable area of ​​an automatic charging device; Determine the width of your car's tires; Calculating position parameters required for a parking guide device based on the position parameters of the chargeable area and the tire width, wherein the parking guide device includes a wheel limiting structure and a guide groove; The wheel limiting structure is installed in the parking space according to the position parameters required by the wheel limiting structure, and the guide groove is installed according to the position parameters required by the guide groove.

2. The method for installing a parking guidance device according to claim 1, characterized in that: A coordinate system is constructed with the installation axis of the automatic charging equipment mechanical arm as the coordinate origin, the direction parallel to the vehicle's forward direction as the X-axis, and the direction perpendicular to the vehicle's forward direction as the Y-axis; the rechargeable area is a square, and the position parameters of the rechargeable area include the rechargeable distance of the automatic charging equipment mechanical arm in the X-axis direction, the rechargeable distance in the Y-axis direction, the minimum rechargeable distance in the Y-axis direction, and the distance from the coordinate origin to one side of the rechargeable area close to the coordinate origin and perpendicular to the X-axis direction.

3. The method for installing a parking guidance device according to claim 1, characterized in that: Calculating the position parameters required by the parking guidance device based on the position parameters of the chargeable area and the tire width includes: According to the charging distance of the automatic charging equipment robot arm in the X-axis direction and the distance from the coordinate origin to the side of the charging area close to the coordinate origin and perpendicular to the X-axis direction, the distance between the wheel limiting structure and the robot arm coordinate origin in the X-axis direction is calculated.

4. The method for installing a parking guidance device according to claim 3, characterized in that: The distance between the wheel limiting structure and the robot coordinate origin in the X-axis direction is calculated by the following formula: x2=Dx / 2-x1 Among them, x2 is the distance between the wheel limiting structure and the coordinate origin of the robotic arm in the X-axis direction, Dx is the charging distance of the automatic charging equipment robotic arm in the X-axis direction, and x1 is the distance from the coordinate origin to one side of the charging area close to the coordinate origin and perpendicular to the X-axis direction.

5. The method for installing a parking guidance device according to claim 3, characterized in that: The method further comprises: calculating the position parameters required for the parking guidance device based on the position parameters of the chargeable area and the tire width; Calculate the maximum charging distance of the automatic charging device mechanical arm in the Y-axis direction according to the charging distance and the minimum charging distance of the automatic charging device mechanical arm in the Y-axis direction; According to the tire width, the minimum charging distance and the maximum charging distance of the automatic charging equipment robot arm in the Y-axis direction, the distances of the two guide grooves from the coordinate origin in the Y-axis direction are calculated.

6. The method for installing a parking guidance device according to claim 5, characterized in that: The distances of the two guide grooves from the coordinate origin in the Y-axis direction are calculated by the following formula: y2 ≥ y1 y3≤y1+Dy+L y3-y2>L Among them, y3 and y2 are the distances between the two levels of the guide groove and the coordinate origin in the Y-axis direction, y1 is the minimum charging distance of the automatic charging equipment robot in the Y-axis direction, y1+Dy is the maximum charging distance of the automatic charging equipment robot in the Y-axis direction, Dy is the charging distance of the automatic charging equipment robot in the Y-axis direction, and L is the tire width.

7. The method for installing a parking guidance device according to claim 1, characterized in that: The wheel limiting structure is perpendicular to the forward direction of the vehicle, and the guide groove is parallel to the forward direction of the vehicle.

8. The method for installing a parking guidance device according to any one of claims 1 to 7, characterized in that: The wheel limiting structure is two limiting rods for limiting the two rear wheels respectively or one limiting rod for limiting the two rear wheels simultaneously.

9. The method for installing a parking guidance device according to any one of claims 1 to 7, characterized in that: The automatic charging device is located at one side of the parking space.

10. A parking space using the method for installing a parking guidance device according to any one of claims 1 to 9, characterized in that: It comprises a parking space guiding device, and the parking guiding device comprises a wheel limiting structure and a guiding groove.

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